Difference between revisions of "Getting Started"
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==Allegro Application Studio Installation== | ==Allegro Application Studio Installation== | ||
| − | ==CAN Interface | + | ==CAN Interface== |
To use your new Allegro Hand with Allegro Application Studio (AAS), a controller area network (CAN) interface must be used. Out of the box, the Allegro Hand and AAS communicate via any of four CAN interface products:<br> | To use your new Allegro Hand with Allegro Application Studio (AAS), a controller area network (CAN) interface must be used. Out of the box, the Allegro Hand and AAS communicate via any of four CAN interface products:<br> | ||
*National Instruments (NI) USB-8473s High-Speed CAN<br> | *National Instruments (NI) USB-8473s High-Speed CAN<br> | ||
Revision as of 17:15, 3 October 2012
Contents |
System Requirements
| CPU | Intel® Core™2 Duo or higher |
| RAM | at least 2GB |
| HDD | at least 2GB |
| Graphics | OpenGL 3.0 H/W Acceleration enabled with at least 64Mb of video RAM |
| OS | MS Windows® XP, MS Windows® Vista, MS Windows® 7 |
| Additional S/W | MS Visual Studio® |
| CAN Interface | NI, Softing, Kvaser or ESD CAN Note: Any CAN interface can be user-configured for use with the Allegro Hand. |
Allegro Application Studio Installation
CAN Interface
To use your new Allegro Hand with Allegro Application Studio (AAS), a controller area network (CAN) interface must be used. Out of the box, the Allegro Hand and AAS communicate via any of four CAN interface products:
- National Instruments (NI) USB-8473s High-Speed CAN
- Softing CAN-AC2-PCI
- Kvaser PCIcan 4xHS
- ESD CAN-PCI/266
All four of these CAN interface solutions can be purchased from SimLab along with the Allegro Hand.
Product and driver information for each of these four interfaces can be found below.
Note: Other CAN interfaces may also be used but communication must be configured by the user.
NI USB-8473s CAN
1-Port, High-Speed CAN, USB Interface with Synchronization -NI
- NI Product Website
- USB-8473s Data Sheet:
- USB-8473s Software Manual:
Product Description
From NI's website
- Hi-Speed USB-compliant, bus-powered
- CAN 2.0A (11-bit) and extended CAN 2.0B (29-bit) arbitration ID
- Philips SJA1000 CAN controller and ISO 11898 physical layer
- Philips TJA1041 high-speed CAN transceiver
- Hardware timestamping: 1 µs reading resolution
- Log 100% bus loads at 1 Mbits/s with no dropped frames
Driver
NI-CAN 2.7.4 (Windows 7)
- NI Driver Page
- Direct Download:
Softing CAN-AC2-PCI
Active, two-channel CAN bus PCI interface card to connect a PC to two independent CAN networks. The card is suited both to control and visualization tasks and to parameterization and analysis applications. For instance, this enables the PC to be integrated into hierarchical network structures. -Softing
- Softing Product Page
- CAN-AC2-PCI Data Sheet:
- CAN-ACx-PCI Hardware Notes:
- D-PDU API Data Sheet:
Product Description
From Softing's website
- Active card with its own microcontroller
- CAN API, optional CANopen API
- Optional D-PDU API according to ISO 22900-2
- Local buffering and preprocessing
- High performance, takes over time-critical tasks from the PC
- Transfer rate of up to 1 Mbps
- 2 independent channels
- Onboard switchable bus terminator
- Same API for all form factors
- Basis for powerful applications and analysis tools
- Windows drivers for Vista, XP, 2000, NT, 9x; Linux drivers for Kernel 2.4 and 2.6
- The following realtime environments are supported:
- Ardence RTX for Windows XP/2000
- Windows CE.NET 4.0, 4.1, 4.2 and 5.0
Driver
Softing CAN Drivers (Windows 7)
- Direct Download:
Kvaser PCIcan 4xHS
The Kvaser PCIcan product family is a family of CAN/PCI interface boards and comprises three members: Kvaser PCIcan 4xHS, PCIcan HS/HS and PCIcan HS. -Kvaser
- Kvaser Product Page
- PCIcan 4xHS Data Sheet:
- PCIcan 4xHS Hardware Reference Manual:
Product Description
From Kavaser's website
- Compliant with PCI 2.2
- Dimensions 140 x 100 mm (approx. 5.5 x 4 in.)
- I/O mapped
- Quick and easy plug-and-play installation (even under Windows NT 4.0!)
- CAN Controllers: SJA1000 from Philips, with 64-byte receive FIFO
- Supports CAN 2.0 A and 2.0 B (active)
- High-speed ISO 11898 compliant driver circuits
- Interfaces the CAN bus with DSUB CAN connector
- CAN oscillator frequency: 16 MHz
- Galvanic isolation between the CAN-controller and the CAN-driver
- The CAN controllers can individually be connected to a common CAN bus on the card
- The common CAN bus has a built-in optional termination
Driver
Kavaser CAN Drivers
- Click "Downloads"
- Direct Download (Windows 7):
- Direct Download (Linux):
ESD CAN-PCI/266
The module CAN-PCI/266 is a low cost PC board designed for 66 MHz PCI bus systems that uses a PCI bus width of 32 bits or in 33 MHz PCI bus systems at a bus speed of 33 MHz. -ESD
- CAN-PCI/266 Data Sheet:
- CAN-PCI/266 Hardware Installation and Technical Data:
- ESD CAN API Guide:
Product Description
From ESD's website
- PCI-CAN interface with 1 OR 2 CAN channel
- PCI 2.2 interface, 32 bit, 66 MHz at 3.3 V signal voltage or 33 MHz at 5.0 V
- CAN controller SJA1000 (CAN 2.0 A/B)
- CAN interfaces electrically isolated, designed acc. to ISO 11898, bit rate up to 1 Mbit/s
- Suitable for CANOpen and J1939
- Attention: Passive CAN module without a microcontroller on board - the performance may be limited by the host system!
Driver
ESD CAN Driver
- ESD Driver Page
- Direct Download (Windows 7 / Linux):
Directions & Offsets
Allegro Application Studio
communication configuration through roboticslab/bin/controls/ERHand_RT.lua
function Awake()
print("Begin Allegro Hand")
version()
-- If you just want to simulate, comment "rtTimer" and "createRTSystem"-- and uncomment loadModel-- to change CAN interface, change "createRTSystem" line--loadModel("hand", "models/Etc/ERHand/ERHand.aml")rtTimer = createTimer("RTTimer", rTimer_MODE_REAL_WIN32)
print(rtTimer)
createRTSystem("models/Etc/ERHand/1_ERHand_RT_NICAN.aml", "RTSys", rtTimer)
createController("RTController", "RTSys") --, 1, "controls/control_ERHand.xdl", "")
setControlAlgorithm("RTController", "controls/control_ERHand.xdl")
--setNominalSystem("HandController", "")end
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