ottoragam / tarocco Goto Github PK

Maybe I've gone crazy but for the life of me I can't find the main loop of code in the latest commit. The Firmware and Bootloader folders seem to have identical code, maybe there was a mistake while uploading?

also, congrats on getting fully funded!

Hi,

Driving the servo with this code (python, pyserial):

#!/usr/bin/env python
# Tarocco test code

import serial

port = "/dev/ttyUSB0" # eg. "COMx"
ser = serial.Serial()
ser.baudrate = 19200
ser.port = port
ser.timeout = 2.0
ser.open()
for i in range(5):
	ser.write(b"u1;")

It just stops sending data at the 5th iteration. I think the MCU has crashed while processing serial data, this is just one way to easily reproduce a crash.

i have flashed the tarocco succesfully , but i have trouble to set PID settings.
the board is connected with a programm named hterm. i used the info from your user manual to connect it and i can read the incoming data.
i tried to set mostly the p settings (tried i and d too) but i cannot see any difference.
The controller is connected to a 24V Motor with 7600rpm.
the encoder is labeled as: encoder response frequency 100kHZ ; base pulse count 11
the range i want to use the setup is from 10-8192Hz wich is given from a sps (fx14nt).
i tried using the programm suggested at crowdsupply but i couldnt figure out to send data from there nor i was able to see anything while i was connected and motor was running.
with hterm i tried to set values but couldnt see any difference, maybe slightly im not sure.
I also changed setting in firmware itself, build it and flashed it, but same problem.
It would help me a lot if someone could give me some clues what i am doing wrong, or where the problem is.
Greets, Henry

Hello.
Iam using tarocco driver for X axis of a trotec 8003 laser(<50w motor / 500 lines encoder) that has very minimal mechanic load on x axis (head has very low mass and all the system has low mass)
With original driver this laser has 2000mm/s rapid speed and enough acceleration to achieve this speed.
The following error was minimal with original drivers..
I have tried various values for P/I/D and seems that pid tuning is pure.
I and D values does not have much effect for fine tuning..
With P values around 2500-3000 and no I/D is the least following error that i can get
but the following error is too much >> 1mm so does not have accuracy in high speed/acceleration
Seems that PID algorithm is pure because with original driver the accuracy on high speed/acceleration following error is much better.
Now encoder is 500 lines if i change it with 2048 i will see improvement in following error ?
Of course with low acceleration/speed following error improves but then the machine is slow..
Where in the source is the code is the that does the pid tuning ?
Thanks,

Hi, I bought one Tarocco board with the proposed motor and encoder. Configuration of the board via serial interface is working well, but I am not able to control it via the STEP/DIR interface. I tried it by generating a square wave signal with an Arduino. Can you give me an advice on that? Special initialization procedure needed?

Hi,

The documentation mentions use of an HKT30 encoder and doesn't provide the pinout, but the HKT30 docs mention 5 pins, and there are 4 on the actual hardware.

Could you document it?

Thanks,

It looks like everything is done in the main.c loop, quite unusual.
Usually the control loop runs as a periodic timer ISR, and the serial port management remains in low priority in the main loop.
Having the control loop running when a timer overflows ensures that the delta-t is (almost) constant.
Right now, a PID controller is running with no consideration for the time step.

Hi, Many thanks for interesting and useful project.

I made Tarocco board by design v1.1 And now facing issue to flash firmware into board. I used Arduino as USB to serial adapter. 5V, GND and RX,TX are connected from Arduino to appreciated inputs at Tarocco. When I connecting serial adapter to Tarocoo, I didn't see any LED blinking on Tarocco. And at Bootloader Host application I got (Communication port reported error 'Unable to read data from the target device'.)

So I suppose that trouble comes because MCU has no bootloader inside. I would say that I follow You procedure from manual, with selecting all files from repo, but without success. So is other procedure how to flash it correctly?

Thanks a lot for Your help.

Bom calls out Cypress CY8C4245PVI, which I assume is correct.
Schematic uses the part number CY8C4545PVI

https://youtu.be/Y-sH2tY315Y

Please watch the video showing the problem, I cannot describe it. Programming via UART via FTDI without any problems. Then the problem with the PID setting
Everything is done as in the manual. Uploaded bootloader using CY8CKIT-059 - no problems, then uploaded firmware via UART also without any problems. I started this set and the motor keeps torque, you can't move it with your fingers so the pcb works. After starting Termite to set the PID, what you see in the movie happens. baudrate set to 19200, data bits 8, no parity bits, one stop bit. It does not work.

Hi, I just bought 3 of your drivers from Crowd Supply. I am new to servos, is there a set of directions on tuning? The manual is pretty limited.
I have gotten one driver/motor working with Mach3, but the PID needs tuning. I'm using 30V Globe Motors with 2000 PPR US Digital encoders and a 36V power supply. Mach3 is set to give 2000 pulses per and 100 IPM.
I'm using a PL2303 TA based USB to serial converter. It does the echo test using Tera Term, but I am not sure the Tarocco is doing anything. This cable supplies 5v to the driver but uses 3.3V on TX and RX, according to what I read. Is this enough or should it be 5V? I have tried swapping the TX and RX with no effect. Looking forward to your response, thanks.

Hi,

The doc mentions using "just a USB-to-serial converter", but doesn't mention the voltage levels (serial can be 1.8V, 3.3V, 5V, 12V... I have 3 different kinds around me right now) I'm not familiar with the Cypress PSoC and I'd like to be on the safe side, so could you precise what kind of standard is used or an example of dongle that works?

The PSoC datasheet is stating that GPIO voltage is the VDDD voltage, which I would assume would mean that the chip is sending 5V if powered by 5V... and so a TTL dongle wouldn't work... but a TTL dongle powering the chip VLOGIC could work... again, I assume, didn't try yet.

Regards,

Hi! How do I interface a stepper motor with the Tarocco? I went through the manual and cabling PDF's. The board seems to have only two motor outputs whereas a stepper needs four. I own an additive manufacturing and automation OEM startup. Contact me on [email protected]? Have much to discuss.

Having a command to reset errors would be nice, errors probably happen a lot when doing PID tuning.
Also, the maximum error is not much...

Tarocco Project Manual refers to PID Resource section that does not exit.
Suggestion: provide some initial PID values for Tarocco Crowd Supply 24V motor as a reference.
(With firmware default values the 24v motor will start pulsing evermore strongly when encountering increased resistance - a novice might assume there is something wrong)

Hi,

Do You know if is possible to increase PWM switching frequency from 6 kHz to 24 kHz (or above 20 kHz) to reduce noise? In my system, I have very low encoder error (less then 3 points) but sometimes motor stay at final position, and it looks that regulation still keeping to get target and this leads to noise.

Do You have such experience?
Thanks,
Ros.

Suggest to add .gitignore to not store in SCM some files/folders which are auto-generated, temporary, or otherwise useless since PSoC creator is needed to build:

/Firmware/Tarocco.cydsn/codegentemp
/Firmware/Tarocco.cydsn/Generated_Source
/Firmware/Tarocco.cydsn/CortexM0/ARM_GCC_493/Debug/*.o
/Firmware/Tarocco.cydsn/CortexM0/ARM_GCC_493/Debug/*.lst
/Firmware/Tarocco.cydsn/CortexM0/ARM_GCC_493/Debug/BUILD.log
/Firmware/Tarocco.cydsn/CortexM0/ARM_GCC_493/Debug/LINK_options.txt
/Firmware/Tarocco.cydsn/CortexM0/ARM_GCC_493/Debug/.deps

Hi,

At BOM is R5 resistor not present, on the Schematic is included as 200k. Several pictures of assembled board is without. So what is correct ? Thanks.

Hi,

Trying to troubleshoot issues and reload the firmware, I'm following the SOP:

0. PSoC Creator installed, ...
1. Configure serial port 57600-8N1, select file [...].cyacd in the Bootloader Host
2. Wait for LED lockstep
3. Immediately load (F5)

And I get errors, like Communication port reported 'unable to read data from the target device', The flash row is not valid for the selected array.
It could be my mistake, but it seems simple enough...

Hi, would you contact me on [email protected]? Thanks!