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cerebot_mc7:refmanual [2015/06/03 17:24] – [Table] Marthacerebot_mc7:refmanual [2022/10/04 11:38] (current) – external edit 127.0.0.1
Line 156: Line 156:
 The half bridge connections between the bridge output signals and the Motor Control PWM module are configured in the following way: The half bridge connections between the bridge output signals and the Motor Control PWM module are configured in the following way:
  
 +<code>
 VMOT1 PWM1H, PWM1L VMOT1 PWM1H, PWM1L
 VMOT2 PWM2H, PWM2L VMOT2 PWM2H, PWM2L
 VMOT3 PWM3H, PWM3L VMOT3 PWM3H, PWM3L
 VMOT4 PWM4H, PWM4L VMOT4 PWM4H, PWM4L
 +</code>
  
 These outputs from the bridges are available on connectors J14 & J15 or J16 & J18.  Connectors J14 & J15 are screw terminal connectors for wire attachment. Connectors J16 & J18 are 6-pin JST connectors used by the gear head motors available from Digilent. These outputs from the bridges are available on connectors J14 & J15 or J16 & J18.  Connectors J14 & J15 are screw terminal connectors for wire attachment. Connectors J16 & J18 are 6-pin JST connectors used by the gear head motors available from Digilent.
Line 186: Line 188:
 The current/voltage monitoring signals are connected to the A/D converter inputs in the following way: The current/voltage monitoring signals are connected to the A/D converter inputs in the following way:
  
 +<code>
 IMON1 AN0 IMON1 AN0
 IMON2 AN1 IMON2 AN1
Line 195: Line 198:
 VMON3 AN12 VMON3 AN12
 VMON4 AN13 VMON4 AN13
 +</code>
  
 ---- ----
Line 610: Line 613:
 | 5.5                | 2.2             | | 5.5                | 2.2             |
 | 6                  | 2.321           | | 6                  | 2.321           |
-| Over current trip  | 5.99A           |+| **Over current trip**  | 5.99A           |
  
  
Line 632: Line 635:
 | 6                      | 2.344           | | 6                      | 2.344           |
 | **Over current trip**  | 5.87            | | **Over current trip**  | 5.87            |
 +
 +
 +==== Half Bridge 3: IMON3 ====
 +
 +{{:cerebot_mc7:hb_imon3.png |}}
 +
 +^ Current (amps)         ^ Voltage (amps)  ^
 +| 0                      | 1.003           |
 +| 0.5                    | 1.113           |
 +| 1                      | 1.218           |
 +| 1.5                    | 1.326           |
 +| 2                      | 1.43            |
 +| 2.5                    | 1.537           |
 +| 3                      | 1.644           |
 +| 3.5                    | 1.752           |
 +| 4                      | 1.861           |
 +| 4.5                    | 1.973           |
 +| 5                      | 2.092           |
 +| 5.5                    | 2.205           |
 +| 6                      | 2.328           |
 +| **Over current trip**  | 5.95            |
 +
 +
 +==== Half Bridge 4: IMON4 ====
 +
 +{{:cerebot_mc7:hb_imon4.png |}}
 +
 +
 +^ Current (amps)         ^ Voltage (amps)  ^
 +| 0                      | 0.967           |
 +| 0.5                    | 1.077           |
 +| 1                      | 1.181           |
 +| 1.5                    | 1.282           |
 +| 2                      | 1.389           |
 +| 2.5                    | 1.493           |
 +| 3                      | 1.6             |
 +| 3.5                    | 1.707           |
 +| 4                      | 1.816           |
 +| 4.5                    | 1.926           |
 +| 5                      | 2.039           |
 +| 5.5                    | 2.158           |
 +| 6                      | 2.278           |
 +| **Over current trip**  | 6.15            |
 +