Difference between revisions of "Getting Started"
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*CAN-AC2-PCI Data Sheet:<br> | *CAN-AC2-PCI Data Sheet:<br> | ||
:''[[File:Softing_CAN-AC2-PCI_Data_Sheet.pdf]]''<br> | :''[[File:Softing_CAN-AC2-PCI_Data_Sheet.pdf]]''<br> | ||
| + | *CAN-ACx-PCI Hardware Notes:<br> | ||
| + | :''[[File:CAN-ACx-PCI_Hardware_Notes.pdf]]''<br> | ||
*D-PDU API Data Sheet:<br> | *D-PDU API Data Sheet:<br> | ||
:''[[File:Softing_D-PDU_API_Data_Sheet.pdf]]''<br> | :''[[File:Softing_D-PDU_API_Data_Sheet.pdf]]''<br> | ||
Revision as of 15:31, 3 October 2012
Contents |
System Requirements
Allegro Application Studio Installation
CAN Interface Installation
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 Produt Page:
- 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
- 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 Product Page:
- CAN-AC2-PCI Data Sheet:
- CAN-ACx-PCI Hardware Notes:
- D-PDU API Data Sheet:
Product Description
From Softings'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:
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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