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 |
| 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.
| 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.
| Note that the profile velocity is only applied to joints operating in Position Mode. |
| 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.
| Note that the profile acceleration is only applied to joints operating in Position Mode. |
| 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.
| 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 |
|---|---|---|
|
No |
Not supported |
|
|
Yes |
Fully supported |
|
|
No |
Not supported |
|
|
Yes |
Fully supported. |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
No |
Not supported |
|
|
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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