Today I would like to present you with the latest firmware changes for AMC. The difference is so big that I thought it makes a nice piece for the news page.
I was hopping to fix the really noisy ADC function for several years, and I finally got it. Now it follows closely the potentiometer and the measurements are not affected by motor power noise or other parasitic noise from environment.
To achieve that noise reduction I made my own routine to access directly the ADC registers and handle their sampling timing with a interrupt. This gave me a great deal of freedom to make the sampling time of each channel as fast as 7us (microseconds) or 0.000007sec. Just for comparison, before was 250us using standard library code.
This allowed me to also increase the program cycle speed up to 9000 times (when not receiving), and up to 7000 times per second when receiving data from the computer.
See the comparison video and the timing diagrams below:
AMC1.6 firmware 1.1h timings1.png (61.21 KiB) Viewed 3551 times
AMC1.6 firmware 1.1h timings2.png (60.53 KiB) Viewed 3551 times
AMC1.6 firmware 1.1h timings3.png (54.25 KiB) Viewed 3551 times
The Xsim community would thank you and will thank you.Your amc1.6 is awesome. Thanks a lot , the amc works already great with ac motors , I can't imagine what could be better than great , better than awesome. Best Regards Gilles
I tested the new amc1.6 firmware h with the the 2 DOF simulator with ac motors.Look at the link below for the simulator. I was very impressed by the result .The simulator is dynamic for acceleration and braking and smooth for lateral effect. I setup the uso parser with 1 and 5 ms and both values worked great.
I post my last test with the amc1.6 last firmware h. I changed the KP settings and I was so surprised by the result.First I climbed to KP 5 from my originaly setup with KP parameterised to 3.But with KP setting to 5 the motion was too much violent and too much dynamic ( yes too much dynamic in fact unreal). Finally I dropped to KP 4 both axis and very happy with the result. I couldn't imagine that so little KP point will be change so hard the motion. A video from the result on the awesome Nordschleife ...