questions about pwm and servo control

[bcrepet]

Hi,

I have a servopod and I would like to use the 26 pwm pins.

I read on a previous post that TA0 to TA3 and TB0 to TB3 on J10 could be used as pwm outputs, but on the documentation I downloaded on this site there are no TA0-3 nor TB0-3 mentioned on J10. Where are these pins?

On the same post, it was said that TD0 to TD3 on J11 could be used as pwm. On my servopod, it does not work for TD3 (while it does for the others TD'). I get this message returned: TD3?
Is this normal? If it is, where is the 26'th pwm pin? :

Other question:

I would like to control at the same time the position and the speed of the servos. I know it is not recommended to use commands like "DO LOOP" because it breaks isostructure. So is there a simple way to control the servos speed with the isomax language?

Thank you.

[RMDumse]

I have a servopod and I would like to use the 26 pwm pins.

Yes, this should be doable.

I read on a previous post that TA0 to TA3 and TB0 to TB3 on J10 could be used as pwm outputs, but on the documentation I downloaded on this site there are no TA0-3 nor TB0-3 mentioned on J10. Where are these pins?

Look closer on the schematic at J10. The TA0-TA3 share pins with the quadrature signals PhaseA0,PhaseB0,Index0,Home0 and TB0-TB3 share pins with the quadrature signals PhaseA1,PhaseB1,Index1,Home1.

On the same post, it was said that TD0 to TD3 on J11 could be used as pwm. On my servopod, it does not work for TD3 (while it does for the others TD'). I get this message returned: TD3?
Is this normal? If it is, where is the 26'th pwm pin? :

You might need an update. We are shipping V.82 now. V.62 I think had TD3 as the system timer, and we moved that to TC2&3, which have no output pins, so all other timers which have pins could be used for PWM, etc.

SO what version does the software say upon reset?

I would like to control at the same time the position and the speed of the servos. I know it is not recommended to use commands like "DO LOOP" because it breaks isostructure. So is there a simple way to control the servos speed with the isomax language?

Well the slowest normal update period of the background task is twice as fast as an RC Servo normall updates. So it is likely you don't have to worry about DO LOOPs to control the speed of your RC Servos. Basically the way we control the speed of RC Servos is by running a profiler in the background that outputs a new position for the servo to move to each update period.

I think if you look at the L5 Arm code as an example you can see how we can pick the trapezoidal profiling of the servos, determining how quickly the accelerate, and max velocity they are allowed to move at, and again how we slow them down as they approach their target position.

[bcrepet]

Thank you for your answers. I found the TA0-3 and TB0-3 pins...

I have the isomax 0.6 version. If this version is not the good one, one can I change it?

[nmitech]

bcrepet,

1. You can email your order info to nmiproduction@newmicros.com and request for an RMA# to send the 'Pod back for a free software upgrade.

2. Or purchase a Jtag cable, http://www.newmicros.com/cgi-bin/store/order.cgi?form=prod_detail&part=JTAG-Cable-10P
and sign the software upgrade license agreement,
http://www.newmicros.com/cgi-bin/store/order.cgi?form=prod_detail&part=IsoMax%5BPod%5D
to obtain a copy of IsoMax Srecord file and you can upgrade by yourself