=From: Brian Kieft Subject: RE: LabView interface to the pitch pack Date: November 28, 2016 at 1:34:34 PM PST To: "Mathieu Kemp" , "Brett Hobson" Cc: "Ben Raanan" Hey all,   So Ben is familiar with the report t(ouch) and report m(odify) commands. They’ll return values from any variable. I’ve copied the ones you’ll be interested in below. I put a line between the ones you’ll likely want and those that will be of little value. To actually command a value, you could use the following command: “maintain control verticalControl.massPositionAction cm”   VerticalControl.massPositionLimitFwd (millimeter) VerticalControl.massPositionLimitAft (millimeter) VerticalControl.massPositionAction (meter) VerticalControl.massPositionCmd (meter) VerticalControl.massDefault (centimeter) MassServo.overloadTimeout (millisecond) MassServo.accel (none) MassServo.velocity (none) MassServo.totalTks (count) MassServo.tksPerMM (count_per_millimeter) MassServo.platform_mass_position (meter) MassServo.component_voltage (volt) MassServo.component_avgVoltage (volt) MassServo.component_current (milliampere) MassServo.component_avgCurrent (milliampere)   MassServo.durationOfLastRun (second) MassServo.deviationDistance (millimeter) MassServo.loadControl (none) MassServo.uart (none) MassServo.baud (bit_per_second) MassServo.loadAtStartup (bool) MassServo.simulateHardware (bool) MassServo.powerOnTimeout (second) MassServo.currLimit (percent) MassServo.limitHi (count) MassServo.limitLo (count)    Let me know if you have any questions. I think it would reduce duplication of work to highlight the specific values you’re looking at (guessing it’s about 5 of them) and then we can output them via LCM. If you’re not planning to exercise the interface for a month or so this might be the way to go. We’ve just got all the hooks in the code to output LCM so I’m happy to add these values.   -bk-   From: Mathieu Kemp [mailto:mkemp@mbari.org] 
Sent: Monday, November 28, 2016 10:17 AM
To: Brett Hobson
Cc: Brian Kieft; Ben Raanan
Subject: Re: LabView interface to the pitch pack   11 it is. Thanks! MK       On Nov 28, 2016, at 9:47 AM, Brett Hobson wrote:   How about 11 am, after our weekly meeting.   Here's some info now: We use a: Battery mass: 31kg Maxon motor #110138 Maxon planetary gearbox #110357, 84:1 Maxon encoder MR-201935: 32 counts/rev Nook ball leadscrew with a 1mm pitch EZServo EZSV23 motor controller with a RS-485 interface         We'll describe the homing procedure, current range of motion and options for interfacing at the meeting     ***************************************** Brett Hobson Mechanical Engineer Monterey Bay Aquarium Research Institute 7700 Sandholdt Road Moss Landing, CA 95039 (831) 775-1941 hobson@mbari.org https://scholar.google.com/citations?user=S33lvhAAAAAJ&hl=en     From: "Mathieu Kemp" 
To: "Brett Hobson" , "Brian Kieft" 
Cc:  "Ben Raanan" 
Sent: Monday, November 28, 2016 8:56:09 AM
Subject: LabView interface to the pitch pack   Ben and I are writing a requirements document for the LabView to pitch-pack interface that Dale Graves will write. We need a bunch of design info on the components: •             motor specs, •             encoder specs, •             gearbox reduction ratio, •             pitch of the screw, •             battery weight, •             range of motion - including position of limit switches if any •             homing procedure at startup •             list of pitch-pack errors currently monitored by the s/w •             physical interfaces to external user, •             s/w interfaces to external user: commanded position, actual position, and motor current.   Can you guys meet late morning or early afternoon for about an hour?    MK           From: Brett Hobson Subject: Re: LabView interface to the pitch pack Date: November 28, 2016 at 9:47:24 AM PST To: Mathieu Kemp Cc: Brian Kieft , Ben Raanan Reply-To: Brett Hobson How about 11 am, after our weekly meeting. Here's some info now: We use a: Battery mass: 31kg Maxon motor #110138 Maxon planetary gearbox #110357, 84:1 Maxon encoder MR-201935: 32 counts/rev Nook ball leadscrew with a 1mm pitch EZServo EZSV23 motor controller with a RS-485 interface We'll describe the homing procedure, current range of motion and options for interfacing at the meeting ***************************************** Brett Hobson Mechanical Engineer Monterey Bay Aquarium Research Institute 7700 Sandholdt Road Moss Landing, CA 95039 (831) 775-1941 hobson@mbari.org https://scholar.google.com/citations?user=S33lvhAAAAAJ&hl=en   From: "Mathieu Kemp" To: "Brett Hobson" , "Brian Kieft" Cc: "Ben Raanan" Sent: Monday, November 28, 2016 8:56:09 AM Subject: LabView interface to the pitch pack Ben and I are writing a requirements document for the LabView to pitch-pack interface that Dale Graves will write. We need a bunch of design info on the components: • motor specs, • encoder specs, • gearbox reduction ratio, • pitch of the screw, • battery weight, • range of motion - including position of limit switches if any • homing procedure at startup • list of pitch-pack errors currently monitored by the s/w • physical interfaces to external user, • s/w interfaces to external user: commanded position, actual position, and motor current. Can you guys meet late morning or early afternoon for about an hour?  MK