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NMotion Documentation

website·Indexed 31 days ago

https://docs.nmotion.in

Technical documentation for NMotion hardware and software, including the NMotion Transport Library (v0.1.10-beta), ndrive-z1 motor drivers, smart actuators, NCoder-CAN encoders, and NIMU IMUs. Provides C/C++ and Python API references, firmware configuration guides, and operational procedures for CAN Bus and USB communication via the NLink Adapter.

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What's inside NMotion

  1. Overview of NCoder 5047 Magnetic Encoder Breakout

    The NCoder 5047 is a breakout board for the AS5047P high-resolution rotary position sensor. It supports angle measurement up to 28krpm over a full 360-degree range and features Dynamic Angle Error Compensation. It provides 14-bit absolute angle position data via SPI and incremental movements via ABI signals. Note: This hardware version is not recommended for new designs.

  2. Overview of NCoder 730 Magnetic Encoder Breakout

    The NCoder 730 is a breakout board for the MPS MagAlpha MA730 high-resolution rotary position sensor. It supports angle measurement over a full 360-degree range for high-speed applications (up to 60krpm). It can be used in end-of-shaft or off-axis (side-shaft) mounting configurations. The device provides three primary output methods: 14-bit absolute angle via SPI, 12-bit ABZ Quadrature interface (programmable 1 to 1024 PPR), and a 14-bit PWM output.

  3. Overview of NCoder 5047 Breakout Board

    The NCoder 5047 is a breakout board for the AS5047P high-resolution rotary position sensor. It supports angle measurement over a full 360-degree range at speeds up to 28krpm. It features Dynamic Angle Error Compensation and can be interfaced with a microcontroller via SPI for 14-bit absolute angle data and non-volatile settings, or via quadrature signals (ABI) for incremental movement.

  4. Overview of nMotion Smart Actuators

    nMotion Smart Actuators are all-in-one integrated packages consisting of a BLDC Motor, Harmonic Gearbox, and Motor Driver. They are designed to be connected to an NLink Adapter via a Controller Area Network (CAN) Bus. Control and movement are managed using the provided Software SDK.

  5. NCoder 600 Overview and Capabilities

    The NCoder 600 is a breakout board for the MPS MagAlpha MA600 magnetic rotary encoder. It provides a high-resolution rotary position sensor capable of measuring angles over a full 360° range. Key capabilities include:

    • 16-bit absolute angle position data via SPI.
    • 14-bit incremental ABZ quadrature output with programmable pulses per revolution (1 to 4096).
    • On-chip non-volatile memory for storing zero reference angles and ABZ settings.
    • Support for both end-of-shaft and off-axis (side-shaft) mounting.

  6. Understand the Cascaded Controller Structure

    The actuator uses a cascaded PID controller structure. The active loops depend on the selected control mode:

    • Position/Trajectory Control: All three loops (Position $ ightarrow$ Velocity $ ightarrow$ Current) are active.
    • Velocity Control: Position loop is bypassed; Velocity $ ightarrow$ Current loops are active.
    • Torque Control: Only the Current control loop is active.

    If gain values cause system instability, the driver will trigger a UNSTABLE_CONTROLLER_GAIN error.

  10. NMotion Transport Library architecture overview

    The NMotion Transport Library facilitates communication between a main system and NMotion components (e.g., Actuators, NDrive Z1). It is structured into two abstraction layers:

    1. Interface Layer: Manages USB or native CAN interface operations and communication protocols.
    2. Device Layer: Abstracts device-level functionalities, including data handling and device management.

    The core library is implemented in C++, with a high-level Python wrapper available. Currently, USB communication requires the NLink Adapter.

  12. NCoder 732 Overview

    The NMotion NCoder 732 is a breakout board for the MPS MagAlpha MA732 magnetic rotary encoder. It is designed for high-speed (up to 60krpm) angle measurement over a full 360-degree range. The device supports 14-bit absolute angle position data via SPI and 12-bit incremental ABZ quadrature output (programmable from 1 to 1024 pulses per revolution). It is suitable for both end-of-shaft and off-axis mounting.