pitsco Tetrix Max Betriebsanleitung
44678
TETRIX® myRIO Programming Tools for LabVIEW™
Content advising by Paul Uttley.
SolidWorks® Composer™ and KeyShot® renderings by Tim Lankford, Brian Eckelberry, and Jason Redd.
Desktop publishing by Todd McGeorge.
©2018 Pitsco, Inc., 915 E. Jefferson, Pittsburg, KS 66762
All rights reserved. This product and related documentation are protected by copyright and are distributed under licenses
restricting their use, copying, and distribution. No part of this product or related documentation may be reproduced in any
form by any means without prior written authorization of Pitsco, Inc.
All other product names mentioned herein might be the trademarks of their respective owners.
A downloadable PDF of the most recent version of this guide can be found at
https://www.pitsco.com/TETRIX-myRIO-Control-Board-Adapter.
V1.0
02/18
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions:
(1) this device may not cause harmful interference, and (2) this device must accept any interference
received, including interference that may cause undesired operation.
Overview
This document provides guidance on installation of the TETRIX® myRIO programming tools for LabVIEW™ to be used with
the TETRIX MAX DC and Servo Motor Expansion Controllers, and it gives a brief overview of each virtual instrument (VI).
You must first have installed LabVIEW and configured your myRIO. Information for installing LabVIEW for myRIO is included
with the myRIO hardware or can be accessed at www.ni.com/myrio. Please reference the instructions and resources
included with myRIO for help on completing these items. After that has been done, the TETRIX myRIO programming VIs can
be found at https://www.pitsco.com/TETRIX-myRIO-Control-Board-Adapter.
Preparing files
Download and unzip the file “TETRIX_LV_myRIO_ToolKit” to a folder on your computer. Open the folder and find the VI
Package installer. There will be a version number at the end of the file name; however, the version number can change as
new releases become available. Also included in the .zip file is a LabVIEW project with several code examples demonstrating
how to use the VI tools using LabVIEW and myRIO to control TETRIX DC motors and servos. If you are new to LabVIEW and
myRIO programming, it is recommended that you start with these examples.
Installing the programming tools
To begin installation, double-click the VI Package file. If you have not already installed the VI Package Manager software,
you will be prompted to do so. Simply follow the prompts on the screen to guide you through the process. After the VI
Package Manager software is installed, double-click the VI Package file once more to start the installation of the tools.
Follow the prompts on the screen to complete the installation. After the installation is finished, the installed TETRIX myRIO
programming VIs can be located on the LabVIEW functions palette.
Each of these VIs can be used to construct a LabVIEW
program for controlling a TETRIX robot equipped with
TETRIX DC and Servo Motor Expansion Controllers and
myRIO. An adapter interface board developed by Pitsco
and included in each WRO TETRIX myRIO bundled kit
must be used to ensure proper connection and i2C
communication between the TETRIX expansion motor
controllers and the myRIO controller.
Connecting controllers
The TETRIX motor expansion controllers connect via the Pitsco adapter to the i2C bus of the myRIO controller. The motor
controllers are connected in a daisy chain hookup with the first controller in the chain designated as Position 1. Subsequent
controllers are set to Positions 2, 3, and 4. A maximum of four controllers can be connected in a single daisy chain to each
myRIO MXP port.
+3.3 V expansion
port
Built-in logic-level
shifting circuit
for connection
of TETRIX motor
controllers to NI
myRIO i2C bus
LEGO data-style i2C port connector
for connection of TETRIX motor
controllers
2x Grove sensor
family connections
GND expansion
port
34-pin NI myRIO I/O
expansion port
+5 V expansion
port
34-pin MXP connector to NI myRIO
2x Grove sensor
family connections
The i2C connection cables are the LEGO® data-style cables, which are included with each motor controller. Power to the
myRIO is fed from the open battery position terminals on the last controller box in the daisy chain. A DC-barrel-jack-to-
terminal adapter is included in each WRO TETRIX myRIO bundled set.
To connect power, attach a red jumper wire between the positive terminals on the motor controller battery terminal
strip and the DC barrel jack adapter, and then attach a black jumper wire between the negative terminals on the motor
controller and DC barrel jack adapter. Plug the DC barrel jack into the myRIO power input port. This will provide battery
power to the myRIO controller.
Typical hookup diagram. Multiple controllers may be daisy-chained together.
Overview of TETRIX myRIO VIs
A VI is a programming tool in LabVIEW that models the appearance and function of a physical instrument. VIs can exist at
multiple levels. Smaller VIs can be combined to create larger VIs. The following blocks are smaller VIs created specifically to
access the TETRIX motor expansion controllers and will be used to create larger VIs that control your robots. The bullets are
terminal inputs and outputs that define the paramenters of the VI.
Section 1: DC Motor Expansion Controller VIs
TETRIX Enable DC Expansion Controller
Initializes and enables the DC motor expansion controller. Place this VI at the beginning of the program.
• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected
• Error/Flow In – program execution flow in from previous VI block
• Error/Flow Out – program execution flow out to next VI block
• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are
reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.
TETRIX Set Motor Power
Sets the motor power level parameter for the selected DC motor channel.
• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected
• Error/Flow In – program execution flow in from previous VI block
• Error/Flow Out – program execution flow out to next VI block
• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are
reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.
• Select Channel – This selects Motor 1 or Motor 2.
• Power (-100 to 100) – This sets the motor power level parameter for the selected channel. Range is -100 to 100.
The +/- sign controls the direction of motor rotation. Setting the power level to 0 stops the motor in a coast mode.
Setting the power level to 125 stops the motor in a braking mode.
TETRIX Enable DC Expansion Controller
[TETRIX_Enable_DC_Controller_myRIO.vi]
myRIO MXP Port A/B
Error/Flow In
Controller ID# (i2C Address)
Error/Flow Out
TETRIX Set Motor Power
[TETRIX_Set_Motor_Power_myRIO.vi]
myRIO MXP Port A/B
Error/Flow In
Controller ID# (i2C Address)
Select Channel
Power (-100 to 100) 0 = Co...
Error/Flow Out
TETRIX Set Motor Power(s)
Simultaneously sets the motor power level parameter for each DC motor channel.
• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected
• Error/Flow In – program execution flow in from previous VI block
• Error/Flow Out – program execution flow out to next VI block
• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are
reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.
• Motor 1 Power (-100 to 100) – This sets the motor power level parameter for DC motor channel 1. Range is -100
to 100. The +/- sign controls the direction of motor rotation. Setting the power level to 0 stops the motor in a coast
mode. Setting the power level to 125 stops the motor in a braking mode.
• Motor 2 Power (-100 to 100) – This sets the motor power level parameter for DC motor channel 2. Range is -100
to 100. The +/- sign controls the direction of motor rotation. Setting the power level to 0 stops the motor in a coast
mode. Setting the power level to 125 stops the motor in a braking mode.
TETRIX Set Motor Speed
Sets the constant speed parameter for the selected DC motor channel. This VI uses the motor encoder to implement
constant-speed PID control.
• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected
• Error/Flow In – program execution flow in from previous VI block
• Error/Flow Out – program execution flow out to next VI block
• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are
reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.
• Select Channel – This selects Motor 1 or Motor 2.
• Constant Speed – This sets the constant speed parameter for the selected channel. The constant speed parameter
is set in degrees per second. The maximum speed that can be set depends on the type of rpm and gearing of
the motor. For best constant-speed PID performance, a maximum speed setting of about 75% of the full motor
rpm rating is recommended. For the TETRIX TorqueNADO™ motor, the maximum constant speed parameter is
approximately 450 degrees per second.
TETRIX Set Motor Speed
[TETRIX_Set_Motor_Speed_myRIO.vi]
myRIO MXP Port A/B
Error/Flow In
Controller ID# (i2C Address)
Select Channel
Constant Speed (Degrees per...
Error/Flow Out
TETRIX Set Motor Power(s)
[TETRIX_Set_Motor_Power(s)_myRIO.vi]
myRIO MXP Port A/B
Error/Flow In
Controller ID# (i2C Address)
Motor 1 Power (-100 to 100)
Motor 2 Power (-100 to 100)
Error/Flow Out
TETRIX Set Motor Speed(s)
Simultaneously sets the constant speed parameter for each DC motor channel. This VI uses motor encoders to implement
constant-speed PID control.
• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected
• Error/Flow In – program execution flow in from previous VI block
• Error/Flow Out – program execution flow out to next VI block
• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are
reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.
• Motor 1 Speed – This sets the constant speed parameter for motor channel 1. The constant speed parameter is set
in degrees per second. The maximum speed that can be set depends on the type of rpm and gearing of the motor.
For best constant-speed PID performance, a maximum speed setting of about 75% of the full motor rpm rating is
recommended. For the TETRIX TorqueNADO motor, the maximum constant speed parameter is approximately 450
degrees per second.
• Motor 2 Speed – This sets the constant speed parameter for motor channel 2. The constant speed parameter is set
in degrees per second. The maximum speed that can be set depends on the type of rpm and gearing of the motor.
For best constant speed PID performance, a maximum speed setting of about 75% of the full motor rpm rating is
recommended. For the TETRIX TorqueNADO motor, the maximum constant speed parameter is approximately 450
degrees per second.
TETRIX Set Motor Target
Sets the constant speed and encoder target parameters for the selected DC motor channel. This VI uses the motor encoder
to implement constant velocity and position hold control.
• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected
• Error/Flow In – program execution flow in from previous VI block
• Error/Flow Out – program execution flow out to next VI block
• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are
reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.
• Select Channel – This selects Motor 1 or Motor 2.
• Encoder Units – This sets the target units as either degrees or encoder counts. For the TETRIX TorqueNADO motor
encoder, 1 encoder count is equal to 1/4 degree. When using encoder counts, 1,440 counts equal 360 degrees, or
one full motor shaft revolution.
• Constant Speed – This sets the constant speed parameter for the selected channel while it is moving to the encoder
target. The constant speed parameter is set in degrees per second. The maximum speed that can be set depends
on the rpm of the motor being controlled. For best constant-speed PID performance, a maximum speed setting of
about 75% of the full motor rpm rating is recommended. For the TETRIX TorqueNADO motor, the maximum constant
speed parameter is approximately 450 degrees per second.
• Motor Encoder Target – This sets the targeting parameter for the DC motor channel. Depending on the encoder
units selected, this parameter can be expressed in degrees or encoder counts.
TETRIX Set Motor Speed(s)
[TETRIX_Set_Motor_Speed(s)_myRIO.vi]
myRIO MXP Port A/B
Error/Flow In
Controller ID# (i2C Address)
Motor 1 Speed (Degrees per...
Motor 2 Speed (Degrees per...
Error/Flow Out
TETRIX Set Motor Target
[TETRIX_Set_Motor_Target_myRIO.vi]
Constant Speed (Degrees per...
myRIO MXP Port A/B
Error/Flow In
Controller ID# (i2C Address)
Select Channel
Encoder Units
Motor Encoder Target
Error/Flow Out
TETRIX Set Motor Target(s)
Simultaneously sets the constant speed and encoder target parameters for each DC motor channel. This VI uses motor
encoders to implement constant velocity and position hold control.
• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected
• Error/Flow In – program execution flow in from previous VI block
• Error/Flow Out – program execution flow out to next VI block
• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are
reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.
• Encoder Units – This sets the target units as either degrees or encoder counts. For the TETRIX TorqueNADO motor
encoder, 1 encoder count is equal to 1/4 degree. When using encoder counts, 1,440 counts equal 360 degrees, or
one full motor shaft revolution.
• Motor 1 Constant Speed – This the constant speed parameter for DC motor channel 1 while it is moving to the
encoder target. The constant speed parameter is set in degrees per second. The maximum speed that can be set
depends on the type of rpm and gearing of the motor. For best constant-speed PID performance, a maximum
speed setting of about 75% of the full motor rpm rating is recommended. For the TETRIX TorqueNADO motor, the
maximum constant speed parameter is approximately 450 degrees per second.
• Motor 2 Constant Speed – This sets the constant speed parameter for DC motor channel 2 while it is moving to
the encoder target. The constant speed parameter is set in degrees per second. The maximum speed that can be
set depends on the type of rpm and gearing of the motor. For best constant-speed PID performance, a maximum
speed setting of about 75% of the full motor rpm rating is recommended. For the TETRIX TorqueNADO motor, the
maximum constant speed parameter is approximately 450 degrees per second.
• Motor 1 Encoder Target – This sets the targeting parameter for DC motor channel 1. Depending on the encoder
units selected, this parameter can be expressed in degrees or encoder counts.
• Motor 2 Encoder Target – This sets the targeting parameter for DC motor channel 2. Depending on the encoder
units selected, this parameter can be expressed in degrees or encoder counts.
TETRIX Set Motor Target(s)
[TETRIX_Set_Motor_Target(s)_myRIO.vi]
Motor 2 Encoder Target
Motor 1 Encoder Target
myRIO MXP Port A/B
Controller ID# (i2C Address)
Error/Flow In
Encoder Units
Motor 1 Constant Speed (Degrees per...
Motor 2 Constant Speed (Degrees per...
Error/Flow Out
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