Clocks Analog Inputs Analog Outputs Digital Inputs Digital Outputs Encoder Inputs PWM Outputs Other Inputs Other Outputs Interrupts Watchdog Board-Specific Options Properties Targets See Also navigation bar

QArm Mini

The QArm Mini is a 4 DOF serial robotic manipulator with a tendon-based two-stage gripper, designed specifically for modern engineering education.

The QUARC driver name for this card is qarm_mini.

To select the QArm Mini HIL board, select the QUARC qarm_mini board type from the drop-down list on the Main tab of the HIL Initialize block.

The QArm Mini I/O channels are described below.

Clocks

There are currently no configuration options for the QArm Mini clocks.

Analog Inputs

The QArm Mini currently supports 5 analog inputs.

The five analog inputs measure the current or load to each servo motor joint in Amperes or Percentage. Refer to the table below for a list of all analog input channels and their respective maximum ranges:

Channel

Description

Range

0

Present Load - Yaw Joint

±100%

1

Present Current - Shoulder Joint

±3.21A

2

Present Current - Elbow Joint

±3.21A

3

Present Current - Wrist Joint

±3.21A

4

Present Load - Gripper

±100%

Analog Outputs

The QArm Mini card does not support analog outputs.

Digital Inputs

The QArm Mini supports 25 digital inputs. They represent the error conditions that are reported by the joint motors. The full suite of digital inputs are enumerated in the following table:

Channel

Description

0

Yaw Joint Input Voltage Error.

1

Yaw Joint Overheating Error

2

Yaw Joint Motor Encoder Error

3

Yaw Joint Electrical Shock Error

4

Yaw Joint Overload Error

5

Shoulder Joint Input Voltage Error.

6

Shoulder Joint Overheating Error

7

Shoulder Joint Motor Encoder Error

8

Shoulder Joint Electrical Shock Error

9

Shoulder Joint Overload Error

10

Elbow Joint Input Voltage Error.

11

Elbow Joint Overheating Error

12

Elbow Joint Motor Encoder Error

13

Elbow Joint Electrical Shock Error

14

Elbow Joint Overload Error

15

Wrist Joint Input Voltage Error.

16

Wrist Joint Overheating Error

17

Wrist Joint Motor Encoder Error

18

Wrist Joint Electrical Shock Error

19

Wrist Joint Overload Error

20

Gripper Input Voltage Error.

21

Gripper Overheating Error

22

Gripper Motor Encoder Error

23

Gripper Electrical Shock Error

24

Gripper Overload Error

Digital Outputs

The QArm Mini card does not support digital outputs.

Encoder Inputs

The QArm Mini card does not support encoder inputs.

PWM Outputs

The QArm Mini card does not support PWM outputs.

Other Inputs

The QArm Mini currently supports 15 other input channels, which are enumerated in the table below. SI units are used.

Channel

Description

1000

Angular Position in rad - Yaw Joint

1001

Angular Position in rad - Shoulder Joint

1002

Angular Position in rad - Elbow Joint

1003

Angular Position in rad - Wrist Joint

1004

Angular Position as a percentage - Gripper (0.0 to 1.0 representing 0% to 100%, with 0% = fully open and 100% = fully closed)

3000

Angular Velocity in rad/s - Yaw Joint

3001

Angular Velocity in rad/s - Shoulder Joint

3002

Angular Velocity in rad/s - Elbow Joint

3003

Angular Velocity in rad/s - Wrist Joint

3004

Angular Velocity as a percentage of the no-load speed (0.0 to ±1.0 representing 0% to 100%) - Gripper

10000

Temperature in °C - Yaw Joint

10001

Temperature in °C - Shoulder Joint

10002

Temperature in °C - Elbow Joint

10003

Temperature in °C - Wrist Joint

10004

Temperature in °C - Gripper

11000

Present PWM reading as a percentage (0.0 to ±1.0 representing 0% to 100%) - Yaw Joint

11001

Present PWM reading as a percentage (0.0 to ±1.0 representing 0% to 100%) - Shoulder Joint

11002

Present PWM reading as a percentage (0.0 to ±1.0 representing 0% to 100%) - Elbow Joint

11003

Present PWM reading as a percentage (0.0 to ±1.0 representing 0% to 100%) - Wrist Joint

11004

Present PWM reading as a percentage (0.0 to ±1.0 representing 0% to 100%) - Gripper

Other Outputs

The QArm Mini currently supports 10 other output channels. The first 5 channels control the angular position of each joint that is operating in Position Mode. The next channels control the PWM value of each joint that is operating in PWM Mode. Refer to the table below for a list of the channels. SI units are used.

Channel

Description

Range

1000

Desired Angular Position in rad - Yaw Joint

±3

1001

Desired Angular Position in rad - Shoulder Joint

±ℼ/2

1002

Desired Angular Position in rad - Elbow Joint

-1.74, +1.39

1003

Desired Angular Position in rad - Wrist Joint

±3

1004

Desired Angular Position as a percentage - Gripper

0.0 to 1.0 representing 0% to 100%, with 0% = fully open and 100% = fully closed

11000

Desired PWM value of the Yaw joint as a percentage.

0.0 to ±1.0 (representing 0% to 100%)

11001

Desired PWM value of Shoulder joint as a percentage.

0.0 to ±1.0 (representing 0% to 100%)

11002

Desired PWM value of Elbow joint as a percentage.

0.0 to ±1.0 (representing 0% to 100%)

11003

Desired PWM value of Wrist joint as a percentage.

0.0 to ±1.0 (representing 0% to 100%)

11004

Desired PWM value of the Gripper motor as a percentage.

0.0 to ±1.0 (representing 0% to 100%)

Interrupts

The QArm Mini card, or its driver, does not support any interrupt sources.

Watchdog

The QArm Mini card does not support a watchdog timer.

Board-Specific Options

The QArm Mini has a number of board-specific options to control specialized functionality of the arm. These options configure the operating mode and trajectory profile of each joint.

Each joint can be individually configured in the board-specific options by selecting its numerical designator and replacing the X variable in the approriate option name with this designator. The Gripper simply uses the designator gripper. See the table below for the enumerated designator values.

Joint

Value

Yaw

0

Shoulder

1

Elbow

2

Wrist

3

jX_mode, gripper_mode

This option configures the operating mode of each joint. The valid values can be found in the table below.

Operating Mode

Value

Position Mode

0

PWM Mode

1

Warning

When operating any of the joints in PWM Mode, you will be using the QArm Mini at your own risk! Please proceed with caution.

jX_profile_config, gripper_profile_config

This option sets the base for the appropriate joint's trajectory profile. Valid values are 0 and 1, where 0 selects a Velocity-based profile and 1 selects a Time-based profile.

Warning

Note that the profile configuration is only applied to joints operating in Position Mode.

jX_profile_velocity, gripper_profile_velocity

This option sets the maximum velocity or time span of the appropriate joint's trajectory profile, depending on the base selected in the profile configuration option mentioned above. For a Velocity-based profile, valid values range from 0.0 rad/s to 785.0 rad/s. A value of 0 sets no limit to the maximum velocity. For a Time-based profile, valid values range from 0.0 s to 32.7 s.

Warning

Note that the profile velocity is only applied to joints operating in Position Mode.

Warning

For maximum joint velocities exceeding ℼ/2 rad/s, you will be using the QArm Mini at your own risk! Please proceed with caution.

jX_profile_acceleration, gripper_profile_acceleration

This option sets the maximum acceleration or accelerating time of the appropriate joint's trajectory profile, depending on the base selected in the profile configuration option mentioned above. For a Velocity-based profile, valid values range from 0.0 rad/s2 to 12271.0 rad/s2. A value of 0 sets no limit the maximum acceleration. For a Time-based profile, valid values range from 0.0 s to 32.7 s.

Warning

Note that the profile acceleration is only applied to joints operating in Position Mode.

Warning

For maximum joint accelerations exceeding ℼ/3 rad/s2, you will be using the QArm Mini at your own risk! Please proceed with caution.

Properties

The QArm Mini driver currently supports a number of double properties used to tune the internal Position Controller gains found in the joint servo motors.

Warning

Note the double properties are only applied to joints operating in Position Mode.

The double properties are enumerated in the table below.

Description

Property Value

Range

Position P Gain - Yaw Joint

128

0.0 - 127.0

Position P Gain - Shoulder Joint

129

0.0 - 127.0

Position P Gain - Elbow Joint

130

0.0 - 127.0

Position P Gain - Wrist Joint

131

0.0 - 127.0

Position P Gain - Gripper

132

0.0 - 127.0

Position I Gain - Yaw Joint

133

0.0 - 0.24

Position I Gain - Shoulder Joint

134

0.0 - 0.24

Position I Gain - Elbow Joint

135

0.0 - 0.24

Position I Gain - Wrist Joint

136

0.0 - 0.24

Position I Gain - Gripper

137

0.0 - 0.24

Position D Gain - Yaw Joint

138

0.0 - 1023.0

Position D Gain - Shoulder Joint

139

0.0 - 1023.0

Position D Gain - Elbow Joint

140

0.0 - 1023.0

Position D Gain - Wrist Joint

141

0.0 - 1023.0

Position D Gain - Gripper

142

0.0 - 1023.0

Feedforward Velocity Gain - Yaw Joint

143

0.0 - 4095.0

Feedforward Velocity Gain - Shoulder Joint

144

0.0 - 4095.0

Feedforward Velocity Gain - Elbow Joint

145

0.0 - 4095.0

Feedforward Velocity Gain - Wrist Joint

146

0.0 - 4095.0

Feedforward Velocity Gain - Gripper

147

0.0 - 4095.0

Feedforward Acceleration Gain - Yaw Joint

148

0.0 - 4095.0

Feedforward Acceleration Gain - Shoulder Joint

149

0.0 - 4095.0

Feedforward Acceleration Gain - Elbow Joint

150

0.0 - 4095.0

Feedforward Acceleration Gain - Wrist Joint

151

0.0 - 4095.0

Feedforward Acceleration Gain - Gripper

152

0.0 - 4095.0

Targets

Target

Supported

Comments

QUARC Win32 Target

No

Not supported

QUARC Win64 Target

Yes

Fully supported

QUARC Linux Nvidia Target

No

Not supported

QUARC Linux QBot Platform Target

Yes

Fully supported.

QUARC Linux QCar 2 Target

No

Not supported

QUARC Linux QDrone 2 Target

No

Not supported

QUARC Linux Raspberry Pi 3 Target

No

Not supported

QUARC Linux Raspberry Pi 4 Target

No

Not supported

QUARC Linux Raspberry Pi ARM64 Target

No

Not supported

QUARC Linux RT ARMv7 Target

No

Not supported

QUARC Linux x64 Target

No

Not supported

QUARC Linux DuoVero Target

No

Not supported

QUARC Linux DuoVero 2016 Target

No

Not supported

QUARC Linux Verdex Target

No

Not supported

QUARC QNX x86 Target

No

Not supported.

Rapid Simulation (RSIM) Target

Yes

Supported with no communication to the hardware.

Normal simulation

Yes

Supported with no communication to the hardware.

See Also

 

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