T eball de Fi de Màs e
Doble màs e uni e si a i en enginye ia indus ial i
au omà ica i obò ica
Se o d i es implemen a ion o obo ’s
mo o con ol
REPORT
Janua y 27, 2025
Au ho : Ye ay Na a o Sole
Supe iso : Da id Caballe o Flo es
Call: Feb ua y 2025
Escola Tècnica Supe io
d’Enginye ia Indus ial de Ba celona
Se o d i es implemen a ion o obo ’s mo o con ol i
ii Repo
Resum
Aques p ojec e es udia la millo a dels con olado s de mo o s dels obo s del CDEI, simpli i-
can el sis ema de con ol en edui el nomb e d’elemen s que el componen, i pe an el pes,
augmen an ambé l’e iciència del obo . Pe e això, s’anali za l’ús i la implemen ació dels
se o d i es E he CAT de l’emp esa Ingenia, en conc e els models EVS-NET-E i EVE-XCR-E.
Els objec ius p incipals del p ojec e són: p ime , la alidació del co ec e uncionamen d’una
placa de ci cui imp ès (PCB) que inco po a el d i e EVS-NET-E, assegu an que pe me el con-
ol en emps eal d’un mo o b ushless; i segon, el desen olupamen del p og ama de con ol
pe pode implemen a aques s disposi ius als obo s. A més, s’es ableix una me odologia pe
in eg a aques s d i es als obo s, apo an guies de con igu ació i exemples de p og amació.
Pe alida la PCB s’ha u ili za el p og ama Mo ionLab3, mi jançan el qual es po con igu a el
d i e inco po a . Du an la con igu ació s’han anali za les di e en s uncionali a s del d i e, i
pe an ambé la dels seus ci cui s associa s, modi ican -los quan ha es a necessa i. Pel disseny
del p og ama de con ol, s’han e se i les uncions de la llib e ia ingeniamo ion de Py hon, i
s’ha desen olupa el codi seguin un p océs i e a iu pe assegu a el seu co ec e uncionamen
en o momen . Aques p og ama s’ha esc i en Py hon, i pos e io men s’ha implemen a a ROS.
Pe eali za la alidació del codi s’han du a e me p o es amb el mo o eal i una simulació del
mo imen del obo .
L’anàlisi de la PCB indica que, enca a que algunes de les pa s han es a e i icades, com les
comunicacions i el eedback, pe ob eni una placa uncional és necessa i eali za un es udi més
de alla de la placa pe pode de e mina la causa del mal uncionamen a l’ho a de con ola
el mo o . El disseny del p og ama de con ol ha conclòs amb l’ob enció d’un codi modula i
e sà il, que acili a modi icacions i po se u ili za amb qualse ol dels con olado s d’Ingenia.
A més, s’han c ea codis d’exemple pe il·lus a les di e en s uncionali a s dels d i es usa s.
Pe an , enca a que han so gi algunes di icul a s du an l’anàlisi de la PCB, el p ojec e demos a
la iabili a d’implemen a els se od i es E he CAT d’Ingenia als obo s, ob enin els bene icis
que això compo a, com la millo a en les se es p es acions i una p og amació de o el sis ema
més senzilla.
Se o d i es implemen a ion o obo ’s mo o con ol iii
Resumen
Es e p oyec o es udia la mejo a de los con olado es de mo o es de los obo s mó iles del CDEI,
simpli icando el sis ema de con ol al educi el núme o de elemen os que lo componen, y en
consecuencia el peso, consiguiendo una mejo a en la e iciencia del obo . Pa a ello, se analiza
la implemen ación y uso de los se o d i es E he CAT de la emp esa Ingenia, en conc e o los
modelos EVS-NET-E y EVE-XCR-E.
Los obje i os p incipales del p oyec o son: p ime o, la alidación del co ec o uncionamien o
de una placa de ci cui o imp eso (PCB) que inco po a el d i e EVS-NET-E, asegu ando que
pe mi e el con ol en iempo eal de un mo o b ushless; y segundo, el desa ollo del p og ama
de con ol pa a pode implemen a es e disposi i o en los obo s. Además, se es ablece una
me odología pa a in eg a es os d i es en obo s, apo ando guías de con igu ación y ejemplos
de p og amación.
Pa a alida la PCB se ha u ilizado el p og ama Mo ionLab3, median e el cual se puede con ig-
u a el d i e acoplado. Du an e la con igu ación, se analizan las di e en es uncionalidades del
d i e y, po an o, ambién de los ci cui os asociados, modi icandolos cuando ha sido necesa io.
Pa a el diseño del p og ama de con ol, se han u ilizado las unciones de la lib e ía ingeniamo-
ion de Py hon, y se ha desa ollado el código median e un en oque i e a i o pa a asegu a su
co ec o uncionamien o en odas sus ases. Es e p og ama de con ol se ha esc i o en Py hon,
y pos e io men e se ha implemen ado en ROS. Pa a la alidación del código se han ealizado
p uebas con el mo o eal y una simulación del mo imien o del obo .
El análisis de la PCB indica que, aunque algunas pa es se han podido e i ica , como las co-
municaciones y el eedback, pa a ob ene una placa uncional se debe hace un análisis más
p o undo y de allado de la placa pa a pode iden i ica la causa del mal uncionamien o a la
ho a de con ola el mo o . El diseño del p og ama de con ol ha concluido con la ob ención de
un código modula y e sá il, que acili a su modi icación, y puede se usado con cualquie a
de los con olado es de Ingenia. Además, se han c eado códigos de ejemplo pa a mos a las
di e en es uncionalidades de los d i es usados.
Po lo an o, apesa de algunasdi icul adesencon adasdu an eelanálisis delaPCB, elp oyec o
ha demos ado la iabilidad de in eg a los d i es E he CAT de Ingenia en los obo s, ob e-
niendo los bene icios que es o compo a, como la mejo a en sus p es aciones y una p og a-
mación de odo el sis ema más sencilla.
i Repo
Abs ac
This p ojec explo es he enhancemen o mo o con olle s in he mobile obo s de eloped
by he CDEI, simpli ying he con ol sys em by educing he numbe o elemen s and, con-
sequen ly, he weigh , while imp o ing he obo s’ o e all e iciency. To achie e his, he s udy
e alua es he implemen a ion and use o Ingenia E he CAT se o d i es, speci ically he EVS-
NET-E and EVE-XCR-E models.
The e a e wo p ima y objec i es o he p ojec : i s , o alida e he p ope unc ioning o a
p in ed ci cui boa d (PCB) ha in eg a es he EVS-NET-E d i e, ensu ing i enables eal- ime
con ol o a b ushless mo o ; and second, o de elop a con ol p og am o ins alling his de ice
in he obo s. Addi ionally, he p ojec es ablishes a me hodology o in eg a ing hese d i es
in o obo s, including con igu a ion guidelines and p og amming examples.
To alida e he PCB, he Mo ionLab3 so wa e was employed, allowing he con igu a ion o he
a ached d i e. Du ing his p ocess, he a ious unc ionali ies o he d i e and i s associa ed
ci cui s we e analyzed, making he necessa y modi ica ions. Fo he design o he con ol p o-
g am, he ucn ions o he Py hon Ingeniamo ion lib a y we e used. The de elopmen o he
code ollowed an i e a i e app oach o ensu e p ope unc ionali y a all s ages. The con ol
p og am was w i en in Py hon and subsequen ly implemen ed in ROS. Valida ion o he code
was ca ied ou h ough es s wi h he ac ual mo o and simula ions o he obo ’s mo emen .
The analysis o he PCB e ealed ha while some componen s, such as communica ion and
eedback ci cui s, we e success ully e i ied, achie ing a ully unc ional boa d equi es a mo e
de ailed analysis o iden i y and add ess he causes o mo o con ol issues. The design o he
con ol p og am esul ed in he c ea ion o a inal modula and e sa ile con ol p og am ha
allows o easy modi ica ions and is compa ible wi h any o he Ingenia con olle s. Addi ion-
ally, example codes we e c ea ed o demons a e he a ious unc ionali ies o he d i es.
The e o e, despi e some challenges encoun e ed du ing he PCB analysis, he p ojec demon-
s a ed he easibili y o in eg a ing Ingenia E he CAT d i es in o he obo s, ob aining he ben-
e i s ha his in ol es, such as imp o ed pe o mance and educed o e all p og amming com-
plexi y.
Se o d i es implemen a ion o obo ’s mo o con ol
i Repo
Con en s
1 In oduc ion 1
1.1 Mo i a ion ......................................... 1
1.2 Objec i es ......................................... 2
1.3 Scope ............................................ 2
1.4 Repo s uc u e ...................................... 3
I Theo e ical amewo k 4
2 Theo e ical concep s 5
2.1 Mo ion con ol sys ems .................................. 5
2.1.1 PLC ......................................... 5
2.1.2 B ushless mo o s ................................. 6
2.1.3 Se o d i es .................................... 7
2.1.4 Feedback ...................................... 8
2.2 Communica ion p o ocols ................................ 9
2.2.1 Compa ison be ween E he CAT and CANopen ................ 11
2.3 P in ed Ci cui Boa ds concep s ............................. 12
3 Backg ound and cu en s a e 14
3.1 Ha dwa e o CDEI obo s ................................ 14
3.2 So wa e o CDEI obo s ................................. 15
4 S a e o he A 16
4.1 P in ed Ci cui Boa ds .................................. 16
4.2 E he CAT d i es in mo ion con ol ........................... 17
4.3 Imp o emen o he cu en mo o con olle s a CDEI ................ 19
5 Desc ip ion o he se o d i es 20
5.1 Main componen s ..................................... 20
5.1.1 E e es S NET E (EVS-NET-E) ......................... 20
5.1.2 E e es XCR E (EVE-XCR-E) .......................... 21
5.2 Compa ison be ween EVS-NET-E and EVE-XCR-E .................. 22
5.3 Con ol a chi ec u e .................................... 23
5.4 Sa e To que O ...................................... 24
5.5 Regis e dic iona y .................................... 24
6 Desc ip ion o he PCB 25
6.1 Main ea u es ....................................... 25
6.2 Al ium design and schema ics .............................. 27
6.2.1 STO and ol age moni o ci cui s ........................ 27
6.2.2 DC bus and e e se pola i y p o ec ion ci cui s ................ 28
II Me hodology 29
7 Desc ip ion o he ools employed 30
7.1 Tools and equipemen used o he modi ica ion o he PCB ............. 30
Se o d i es implemen a ion o obo ’s mo o con ol ii
7.2 So wa e used o he PCB Valida ion .......................... 30
7.2.1 TwinCAT ...................................... 30
7.2.2 Mo ionLab3 .................................... 30
7.3 So wa e used o he con ol p og am implemen a ion ............... 35
7.3.1 Py hon ....................................... 35
7.3.2 Visual S udio Code ................................ 36
7.3.3 ROS2 ........................................ 36
7.3.4 So wa e ins alla ion ............................... 36
8 Me hodology o he PCB alida ion 38
8.1 Expe imen al se up .................................... 38
8.1.1 Ma e ials used .................................. 38
8.1.2 Componen s connec ions ............................ 38
8.2 PCB alida ion p ocedu e ................................ 41
8.2.1 Communica ion ci cui .............................. 41
8.2.2 Sa e To que O ci cui .............................. 42
8.2.3 Feedback ci cui .................................. 43
8.2.4 Con olle con igu a ion (se o d i e EVS-NET-E) .............. 43
9 Me hodology o he con ol p og am implemen a ion 46
9.1 Expe imen al se up .................................... 46
9.2 Con ol p og am implemen a ion p ocedu e ..................... 46
9.2.1 Con olle con igu a ion (se o d i e EVE-XCR-E) ............. 47
9.2.2 S udy o he ingeniamo ion lib a y ....................... 48
9.2.3 Code implemen a ion .............................. 49
9.2.4 Code unc ionali y e i ica ion ......................... 52
III Resul s 53
10 Resul s o he PCB alida ion 54
10.1 Communica ion ci cui .................................. 54
10.2 Sa e To que O ci cui .................................. 54
10.3 Feedback ci cui ...................................... 56
10.4 Con olle con igu a ion (se o d i e EVS-NET-E) .................. 57
10.4.1 Comp ehensi e PCB e iew ........................... 57
10.4.2 Mo o con igu a ion es ............................. 57
10.4.3 Powe Supply ci cui analysis .......................... 58
11 Resul s o he con ol p og am implemen a ion 60
11.1 Con olle con igu a ion (se o d i e EVE-XCR-E) .................. 60
11.2 Resul s o he code implemen a ion ........................... 63
11.2.1 Windows ...................................... 64
11.2.2 Ubun u ....................................... 69
12 Analysis and discussion 74
12.1 Discussion o he esul s ................................. 74
12.2 P oposals o u u e wo k ................................ 74
iii Repo
IV Supplemen a y assessmen s 76
13 Planning o he p ojec 77
14 Economic assessmen 79
15 En i onmen al assessmen 81
16 Social and gende equali y assessmen 82
Conclusions 83
Acknowledgmen s 84
V Appendices 93
A Con ol loops 94
A.1 Cu en con ol ...................................... 94
A.2 Veloci y con ol ...................................... 95
A.3 Posi ion con ol ...................................... 95
B PCB schema ic 97
C PCB layou s 99
D So wa e Ins alla ion Guide 107
D.1 TwinCAT ..........................................107
D.2 Mo ionLab3 ........................................107
E Guide o es ablish PC-D i e-Mo ionLab3 communica ion 108
E.1 Communica ion wi h he compu e ...........................108
E.1.1 Po con igu a ion ................................108
E.1.2 D i e connec ion o TwinCAT ..........................109
E.1.3 D i e i mwa e upda e ..............................112
E.2 D i e connec ion o Mo ionLab3 ............................114
F Guide on manual uning h ough Mo ionLab3 117
G Main unc ions o he ingeniamo ion lib a y 119
G.1 Communica ion ......................................119
G.2 Con igu a ion .......................................120
G.3 Mo ion ...........................................120
H C ea ed codes 122
H.1 d i e _connec ion .....................................122
H.2 load_sa e_con ig.py ....................................123
H.3 se _ge _ egis e s.py ....................................125
H.4 eloci y_mo ion.py ....................................126
H.5 posi ion_mo ion.py ....................................129
H.6 p og am_ eloci y_keys.py ................................131
2 Repo
pe o mance and adap abili y o demanding applica ions in ag icul u e and cons uc ion.
F om a pe sonal pe spec i e, my main mo i a ion o unde aking his wo k s ems om my
deep in e es in obo ics, elec onics, and p ocesscon ol. Thesea e b anches o enginee ing ha
a e closely in e connec ed and ha e ei he been a pa o my li e o as long as I can emembe
o became passions as I p og essed h ough my deg ee in Indus ial Technologies.
Wi h my in e es s clea ly de ined and my ansi ion in o he p o essional wo ld app oaching,
I wan ed my Mas e ’s Thesis o be bo h ul illing and a aluable oppo uni y o deepen my
knowledge. Tha ’s when I disco e ed he CDEI, which o e ed me he chance o wo k on an
exci ing p ojec encompassing bo h elec onics and con ol, a eas I would no ha e been able o
explo e so ho oughly on my own. I was d awn o his oppo uni y immedia ely and eage ly
emba ked on his jou ney.
1.2 Objec i es
This wo k has wo main objec i es: he alida ion o he co ec ope a ion o an elec onic boa d
designed o mo o con olle s, and he de elopmen o a con ol p og am o hese de ices.
The con olle s selec ed o he s udy a e he Ingenia se o d i es. Among he a ailable models,
he EVS-NET-E and he EVE-XCR-E ha e been used, wi h he o me equi ing an elec onic
boa d o i s ope a ion, which is he p ima y ocus o alida ion in his p ojec .
The e o e, he speci ic objec i es o he p ojec a e:
1. Valida e he unc ioning o he elec onic boa d. In pa icula , ensu e ha he boa d acili-
a es communica ion be ween he d i e and he compu e , enables mo o con ol h ough
he d i e, and allows eal- ime moni o ing o sys em pa ame e s such as mo o speed and
posi ion.
2. P opose imp o emen s o u u e i e a ions o he boa d design.
3. De elop a modula and e sa ile con ol p og am, making i applicable o any Ingenia
con olle .
4. Es ablish a me hodology o in eg a ing hese d i es in o obo s, including guidelines o
p og amming hem using i s speci ic so wa e and designing he con ol code o smoo h
and ouble- ee implemen a ion.
1.3 Scope
The ime ame and a ailable esou ces de ine he scope o his p ojec . I does no aim o s udy
he con olle s cu en ly ins alled on he obo o hei con ol p og ams. Simila ly, he assembly
and use o he new con olle s on he ac ual obo a e beyond he scope o his wo k.
The unc ion and design o he elec onic boa d will be analyzed; howe e , a comple e edesign
o manu ac u ing o he boa d is no included. The ime equi ed o hese p ocesses makes
hem un easible wi hin he ime cons ain s o his p ojec .
In summa y, his wo k con ibu es o imp o ing mo o con ol in CDEI obo s h ough he in-
eg a ion o Ingenia d i es, deli e ing a con ol p og am wi hin he me hodological and con-
Se o d i es implemen a ion o obo ’s mo o con ol 3
ex ual limi a ions ou lined.
1.4 Repo s uc u e
Due o he ex ensi e numbe o sec ions and concep s co e ed in his wo k, as well as he com-
bina ion o heo e ical s udy, p ac ical wo k, and p og am de elopmen , his sec ion p o ides a
b ie desc ip ion o he s uc u e o he documen . The aim is o se e as a guide o he eade .
•Theo e ical amewo k: This sec ion includes he ollowing:
–An in oduc ion o heo e ical concep s ela ed o mo ion con ol, communica ion
p o ocols, and p in ed ci cui boa ds. This p o ides he eade wi h a basic unde -
s anding o he opics add essed in ollowing sec ions.
–A summa y o he cu en con ol sys em used in CDEI obo s, along wi h an expla-
na ion o he cu en s a e o he imp o emen p ocess o hese obo s.
–A desc ip ion o he p in ed ci cui boa d de eloped a CDEI, which is essen ial o
unde s anding he s udy conduc ed in his wo k.
–An explana ion o he cha ac e is ics o he con olle s used in he p ojec .
•Me hodology: This sec ion ou lines he de elopmen p ocess and expe imen al p oce-
du es ollowed o bo h alida ing he PCB and designing he con ol p og am used o
ope a e a mo o wi h Ingenia d i es. The me hodology is p esen ed in a way ha enables
eade s o eplica e he p ocedu es and achie e simila esul s.
•Resul s: This sec ion desc ibes and explains he esul s ob ained. Due o he na u e o
he p ojec , he esul s a e di ided in o wo pa s: one o he alida ion o he PCB and
ano he o he implemen a ion o he con ol p og am. I de ails he unc ions and code
de eloped o mo ion con ol, he d i e con igu a ions used, and he execu ion esul s o
he codes. Addi ionally, i includes a discussion o he esul s and p oposals o u u e
wo k.
•Supplemen a y assessmen s: This sec ion p esen s subsequen analyses, such as eco-
nomic, en i onmen al, o social e alua ions.
Pa I
Theo e ical amewo k
Se o d i es implemen a ion o obo ’s mo o con ol 5
2 Theo e ical concep s
This sec ion in oduces he heo e ical concep s wi hin he scope o his wo k o p o ide he
eade wi h he necessa y con ex ega ding he e ms and elemen s e e enced h oughou
he epo . I is di ided in o h ee sec ions co esponding o he main opics add essed in he
p ojec .
2.1 Mo ion con ol sys ems
A mo ion con ol sys em is any sys em ha egula es he ene gy low o gene a e mechanical
mo ion. These sys ems a e composed by he ollowing key componen s [6]:
•Mo ion con olle : This componen akes ins uc ions om he so wa e, combines hem
wi h eedback om he mo o , and sends commands o he mo o d i e. An example o a
mo ion con olle is a PLC.
•Mo o d i e: The mo o d i e con e s he low ene gy signals om he con olle in o
high ene gy signals used o mo e he mo o . In some cases, hese a e buil in o mo ion
con olle s, such as in se o d i es.
•Mo o : Con e s he elec ical ene gy in o mechanical ene gy o gene a e mo ion.
•Feedback senso s: These senso s p o ide in o ma ion abou he posi ion o he mo o and
di ec ion o he mo ion. Encode s a e he mos common eedback senso s.
Figu e 1: Mo ion con ol sys em scheme. Sou ce: [6].
2.1.1 PLC
P og ammable Logic Con olle s (PLCs) a e elec onic sys ems designed o con ol sys ems
o applica ions au onomously, op imizing p ocesses. Thei main componen s include a p o-
g ammable memo y, a p ocessing uni , and an inpu /ou pu module [7]. By ecei ing inpu
signals om senso s and o he de ices, he PLC can moni o he sys em’s s a e. This in o ma-
ion is p ocessed o gene a e ac ions, ac i a ing o deac i a ing ou pu s o con ol ac ua o s and
execu e speci ic unc ions as dic a ed by i s p og amming. PLCs a e p og ammed in ad ance
using a compu e and specialized so wa e, which in mos cases i inc eases complexi y on he
sys em [8].
Due o hei high lexibili y, PLCs a e widely used in p ocess au oma ion. They a e commonly
ound in p oduc ion plan s, ele a o s, escala o s, and e en in medical applica ions [8].
6 Repo
2.1.2 B ushless mo o s
B ushless mo o s a e cha ac e ized by a o o consis ing o a pe manen magne and a s a o
ha gene a es an elec omagne ic ield h ough coupled coils. These mo o s do no p oduce
ic ion, which ex ends hei li espan, educes hea ing, and enhances pe o mance. Howe e ,
hey equi e a con olle , such as a se o d i e, o manage he o a ion o he elec omagne ic
ield [9,10].
Mo o o a ionis achie ed by changing he di ec ion o he magne ic ield p oduced by he s a o
coils. To con ol his o a ion, he magni ude and di ec ion o he cu en lowing h ough he
s a o coils mus be adjus ed [11]. Fo ins ance, in a mo o wi h h ee s a o coils, wo coils a e
exci ed simul aneously, as illus a ed in Figu e 2. The esul ing magne ic ield causes he o o o
align wi h he magne ic ield’s di ec ion (pole N a he ip o he a ow). Con inuous o a ion is
main ained by sequen ially exci ing he coils, o cing he pe manen magne o cons an ly align
wi h he changing magne ic ield [11,12].
Figu e 2: Magne ic ield gene a ed by he exci a ion o wo coils. Sou ce: [11].
This me hod o mo o o a ion con ol is known as apezoidal commu a ion, which is he sim-
ples echnique. I allows o only six dis inc di ec ions o he magne ic ield, as shown in
Figu e 3. T ansi ioning om one di ec ion o ano he causes he o o mo emen o be sligh ly
une en, making i less sui able o applica ions equi ing p ecise con ol a low speeds [11,13].
Figu e 3: Possible magne ic ield di ec ions. Sou ce: [11].
An al e na i e is sinusoidal commu a ion, whe e a ying lux magni udes a e applied o each
coil by adjus ing he cu en lowing h ough hem a all imes. The applied cu en s ollow
sinusoidal wa e o ms ha a e 120°ou o phase. This app oach allows o smoo he mo o
Se o d i es implemen a ion o obo ’s mo o con ol 7
mo emen by p o iding a mo e con inuous and p ecise a ia ion in he magne ic ield di ec ion,
as shown in Figu e 4. Howe e , his echnique equi es accu a e posi ion eedback, which is
ypically ob ained using encode s o simila de ices [11,13].
Figu e 4: Sinusoidal commu a ion. Sou ce: [11].
Finally, o egula e he speed o he mo o , he ol age and cu en o i s coils mus be adjus ed.
This can be achie ed in se e al ways, wi h he mos common me hods being [14]:
•Analog signal con ol: The ol age o cu en gene a ed by he mo o con olle is ad-
jus ed using ex e nal analog signals p o ided by he ope a o .
•Pulse equency con ol: This me hod a ies he equency o he pulse signal emi ed by
he elec onic con olle ha d i es he mo o .
•Pulse Wid h Modula ion (PWM) con ol: The ol age in he coils is adjus ed by gene a -
ing a a iable wid h pulse signal. By modi ying he du y cycle, he e ec i e mo o ol age
is al e ed, which in u n changes he mo o speed. Inc easing he du y cycle is equi alen
o inc easing he e ec i e ol age, aising he mo o speed as shown in Figu e 5.
Figu e 5: Pulse Wid h Modula ion con ol. Sou ce: [11].
2.1.3 Se o d i es
Se o d i es a e elec onic de ices designed o he p ecise con ol o he mo emen o elec-
ic mo o s. Thei p ima y unc ion is o con ol he speed, posi ion, and o que o he mo o .
This p ocess is achie ed by compa ing he desi ed mo o beha io wi h i s ac ual beha io and
adjus ing he ene gy supplied o he mo o o pe o m he desi ed mo emen s wi h p ecision
[15,16].
8 Repo
These de ices ansla e he ope a o ’s commands o he mo o , and hei ope a ion in ol es
se e al elemen s [15]:
•Inpu signal: Recei es he ope a o ’s command speci ying he posi ion, speed o o que.
•Feedback signal: P o ides in o ma ion abou he cu en speed and posi ion o he mo o .
Feedback is a c ucial elemen supplied by ex e nal de ices such as encode s o simila
senso s.
•Mo o beha io adjus men : Based on he ecei ed commands and eedback, he se o
d i e adjus s he mo o ’s beha io by a ying he cu en supplied o achie e he desi ed
pe o mance.
Se o d i es ope a e in closed-loop con ol sys ems, con inuously moni o ing mo o pa ame e s
and co ec ing any de ia ions based on he eedback ecei ed. These de ices a e highly aluable
due o hei p ecision and speed in mo ion con ol, which also educes he ene gy consump ion
o sys ems.
2.1.4 Feedback
Feedback de ices allow he posi ion o he mo o o o o be con inuously moni o ed, enabling
he o a ional speed o be deduced in eal ime. These de ices can be ins alled in e nally wi hin
he mo o housing o ex e nally a ached o he mo o sha .
Typical de ices ha pe o m he eedback unc ion include:
•Resol e s: Analog de ices ha do no con ain any elec onics o op ics. Thei design
makes hem highly obus agains high empe a u es, ib a ions, and shocks. Resol e s
a e o a y powe ans o me s ha gene a e a comple e sine and cosine wa e o each
e olu ion o he mo o sha . Using hese ol age wa es, he mo o ’s o a ion can be
calcula ed [17].
•Encode s: Digi al de ices ha inco po a e op ical o magne ic senso s o de ec he o o ’s
posi ion, as illus a ed in Figu e 6. Encode s p o ide highe accu acy han esol e s, and
he e a e wo ypes [18,17]:
– Inc emen al encode s: These senso s gene a e wo pulse signals ha p o ide in o -
ma ion abou displacemen and mo emen di ec ion. As he name sugges s, hey
only measu e changes in posi ion. To de e mine he absolu e posi ion, a e e ence
poin (home posi ion) mus be es ablished. When he sys em powe s o , he en-
code loses ack o he posi ion and mus e u n o he e e ence poin o de e mine
he absolu e posi ion. A simpli ied diag am o an inc emen al encode disk is shown
in Figu e 6b.
– Absolu e encode s: These encode s p o ide he exac posi ion o he mo o wi hou
equi ing a e e ence poin . Addi ionally, hey e ain he cu en posi ion e en when
he sys em powe s o , as hei ou pu alue is unique o each posi ion. A simpli ied
diag am o an absolu e encode disk is shown in Figu e 6c.
•Hall e ec senso s: These senso s de ec he magne ic ield gene a ed by he mo o o-
o and p oduce elec ical signals p opo ional o he o o ’s speed and di ec ion o o a-
Se o d i es implemen a ion o obo ’s mo o con ol 9
ion [19].
(a) In e nal s uc u e. Sou ce: [18]
(b) Inc emen al Encode .
Sou ce: [20]
(c) Absolu e Encode . Sou ce:
[20]
Figu e 6: In e nal s uc u e and disks o an encode .
2.2 Communica ion p o ocols
Communica ion p o ocols a e a se o o mal ules and guidelines ha desc ibe he ansmission
and exchange o da a, especially o e a ne wo k. P o ocols enable e icien and secu e commu-
nica ion be ween de ices and sys ems by de ining he cha ac e is ics o communica ion [21].
The main cha ac e is ics o communica ion p o ocols a e [22,23]:
•Ne wo k opology: De ines he s uc u e o he ne wo k and he add essing schemes used
o da a ansmission.
•Da a o ma : Speci ies he s anda dized o ma o he da a o ensu e i is unde s andable
by all de ices on he ne wo k. I also de ines he s uc u e o he messages being ans-
mi ed.
•Da a ansmission: Es ablishes how da a is ansmi ed e icien ly, including e o de ec-
ion and co ec ion mechanisms. Da a mus a i e comple e, o de ed, and unco up ed
o be co ec ly unde s ood. I e o s occu , he ansmission p ocess is es a ed.
•Secu i y: Inco po a es measu es such as enc yp ion and da a p o ec ion mechanisms o
sa egua d in o ma ion du ing ansmission.
•Synch oniza ion: Ensu esde ices a esynch onized oa oid communica ion issues. Flow
con ol me hods a e included o handle di e ences in p ocessing speeds be ween de ices.
The c i ical impo ance o ope a ional e iciency and eliabili y in indus ial au oma ion has
made communica ion p o ocols a co e elemen o he ield. These p o ocols acili a e smoo h
ope a ions in ac o ies and machines by enabling communica ion be ween sys ems and de ices.
Below a e some o he p ima y indus ial au oma ion p o ocols [23,24,25]:
10 Repo
Table 1: Communica ion p o ocols and hei ea u es.
P o ocol Fea u es
Modbus
One o he oldes and open sou ce p o ocols.
Simple and highly compa ible.
Ope a es on a mas e -sla e model wi h se ial and E he ne communica ion.
Commonly used wi h PLCs, compu e s, d i es, senso s, e c.
PROFINET
A mode n p o ocol based on E he ne o e ing high lexibili y and pe o mance.
Suppo s high speed and eal ime communica ion.
Wo ks wi h a ious ne wo k opologies such as s a , ee, and ing
Allows in eg a ion o a la ge numbe o de ices.
Ope a es wi h a cen al con olle and pe iphe al nodes.
E he NET/IP
P o ides obus secu i y and high compa ibili y wi h E he ne .
Enables smoo h exchange o in o ma ion be ween de ices.
Ope a es on a node o node communica ion model.
De iceNET
A simple, cos e ec i e p o ocol wi h easy ins alla ion and wi ing.
Based on CAN (Con olle A ea Ne wo k) echnology.
Commonly used wi h simple ac ua o s and senso s.
Figu e 7: P ima y communica ion p o ocols. Sou ce: p opia.
CANopen
Based on he CAN s anda d, CANopen enables eal- ime communica ion o complex de ices
and sys ems. I is known o i s obus ness and abili y o ope a e in ha sh en i onmen s wi h
high le els o in e e ence. CANopen is cha ac e ized by simplici y o connec ions, e iciency,
high eliabili y, and he abili y o expand he communica ion ne wo k easily and a low cos . I
ypically uses a s a opology, wi h di e en de ices connec ed a each node [26].
The CAN bus consis s o wo wi es and ope a es as a b oadcas sys em, meaning da a is ans-
mi ed o all nodes ega dless o hei unc ion (con olle s, senso s, ac ua o s, e c.). Each ans-
mi ed message con ains an iden i ie ha de e mines i s p io i y in case wo de ices ansmi
in o ma ion simul aneously. CANopen is widely used in ehicles, equipmen , and machin-
e y [24].
De ices on he CAN bus a e no s ic ly de ined as mas e o sla e; ins ead, hey can pe o m
bo h oles simul aneously in ela ion o o he de ices. This lexibili y allows o a wide a ie y
o sys ems o be connec ed. Howe e , o connec a compu e di ec ly o he CAN bus, an in e -
media e de ice is o en equi ed. This de ice ansla es CAN bus messages in o a o ma he
Se o d i es implemen a ion o obo ’s mo o con ol 11
compu e can unde s and [25]. A simpli ied s uc u e o a CANopen ne wo k can be seen in
Figu e 8.
Figu e 8: CANopen: Ope a ing schema ic. Sou ce: [27].
E he CAT
E he CAT is an open sou ce, high pe o mance p o ocol based on E he ne . I is alued o i s
high speed (low la ency) and high p ecision communica ion, making i ideal o eal- ime and
p ecise con ol applica ions, such as obo ics and mo ion con ol. E he CAT suppo s a ious
ne wo k opologies, inc easing i s lexibili y and adap abili y o exis ing E he ne ne wo ks, in o
which i can be in eg a ed. I connec s o a wide ange o de ices, om mo o con olle s o
complex con ol sys ems and compu e s [25,24].
E he CAT o e s simple and low cos implemen a ion by using s anda d E he ne ha dwa e in
i s ieldbus sys em. I is pa icula ly sui able o mo ion applica ions equi ing a la ge numbe
o p ecisely synch onized mo ions o axes [23].
E he CAT uses a mas e -sla e communica ion model wi h a unique mode o ope a ion based
on he "on- he- ly p ocessing" p inciple, which inc eases sys em communica ion e iciency and
speed [26,28]. In his model, a single eleg am (da a ame) is sen h ough all connec ed de-
ices ins ead o sending indi idual messages o each node. The eleg am con ains da a o each
sla e de ice, which eads i s designa ed messages as he ame passes h ough and simul a-
neously w i es esponse da a. Once he ame has passed h ough all he sla es, i e u ns o
he mas e de ice wi h all he collec ed esponses [29,28]. This se ies connec ion o he sal es
simpli ies ne wo k wi ing.
To connec an E he CAT sla e o a mas e compu e , no in e media e de ice is equi ed, hanks
o E he ne compa ibili y. Howe e , in some cases, speci ic so wa e may be needed o es ablish
communica ion, as will be discussed in la e sec ions. A simpli ied s uc u e o an E he CAT
ne wo k can be seen in Figu e 9.
Figu e 9: E he CAT: Ope a ing schema ic. Sou ce: [27].
2.2.1 Compa ison be ween E he CAT and CANopen
E he CAT p o ides signi ican ly highe communica ion speeds han CANopen, enabling as e
upda e cycles and be e synch oniza ion o c i ical applica ions. E he CAT can also handle
a la ge numbe o nodes wi hou sac i icing pe o mance, while CANopen has limi a ions e-
18 Repo
Recen esea ch on E he CAT d i es, such as [47] and [48], has demons a ed ha his echnol-
ogy i s capable o pe o ming high-p ecision mul i-axis mo ion con ol hanks o i s high-speed
communica ion and eliable synch oniza ion.
Nowadays, E he CAT echnology has made a signi ican impac on p oduc i i y and e iciency,
wi h o e 100.000 E he CAT ne wo ks a ound he globe [46]. Gi en he la ge ma ke o his
echnology, he e a e se e al companies ha specialize in manu ac u ing hese de ices, being
Ingenia a dis inguished one.
Ingenia is a ecognized company in he ield o mo ion con ol and is pa o Cele a Mo ion, a
di ision o No an a Inc., which ope a es globally. The company specializes in he design and
manu ac u e o high-powe -densi y, compac , and highly e icien se o d i es. I s p oduc s a e
widely used in obo ic and indus ial applica ions whe e space and e iciency a e c i ical, such
as obo ic join s and mobile obo s, p o iding p ecise and eliable mo o con ol [49].
(a) Ingenia. Sou ce: [50]. (b) No an a. Sou ce: [51].
Figu e 18: Companies p o iding he se o d i es used.
Ingenia o e s a wide a ie y o se o d i es, including cus omized op ions o mee he speci ic
equi emen s o hei applica ions. Thei se o d i es a eo ganized in o se ies(Denali, Cap ain,
E e es ), each con aining di e en models.
Some models equi e an elec onic boa d o ope a e (pluggable, such as he EVS-NET), while
o he s a e eady o use and only equi e he necessa y cables o be connec ed o he app op ia e
e minals (connec ion- eady, such as he EVE-XCR).
Each se ies includes models compa ible wi h bo h CANopen and E he CAT communica ion
p o ocols, allowing use s o choose he mos sui able op ion. Addi ionally, some d i es suppo
Sa e y o e E he CAT, a p o ocol ha in eg a es sa e y unc ions in o E he CAT communica ion,
ensu ing eliable da a ansmission o c i ical applica ions in indus ial au oma ion.
Fo each se o d i e, ex ensi e documen a ion is a ailable in h ee manuals: he P oduc Man-
ual, which desc ibes he echnical speci ica ions o he de ice, including i s pinou , dimensions,
and sa e y ecommenda ions; he Re e ence Manual, which de ails he egis e dic iona ies,
communica ion p o ocols, and con igu a ion op ions, as well as he con olle ’s in e nal unc-
ioning and e o managemen ; and he Applica ion Guide, which p o ides a basic guide and
ecommenda ions o c ea ing he schema ic and layou o he PCB ha con ains he d i e.
Addi ionally, i mwa e iles and egis e dic iona ies o a ious models can be downloaded
di ec ly om he documen a ion.
Ingenia also o e s ee access o Mo ionLab3, i s p op ie a y so wa e o con igu ing any o i s
d i es easily. This p og am ea u es anin ui i e andhighly con igu able use in e ace, allowing
use s o e i y he p ope unc ioning o he mo o con ol sys em. A guide o using Mo ionLab3
is accessible a [52], and he so wa e is desc ibed in Sec ion 7.2.2.
Se o d i es implemen a ion o obo ’s mo o con ol 19
Finally, Ingenia p o ides addi ional ex ensi e documen a ion [53], including oubleshoo ing
guides, ips, and FAQs. All he documen a ion men ioned is accessible and cen alized a [54].
4.3 Imp o emen o he cu en mo o con olle s a CDEI
The p ocess o imp o ing he mo o con olle s o he CDEI obo s began las yea wi h he
p oposal o design a p in ed ci cui boa d capable o including he EVS-NET-E se o d i e om
Ingenia, which uses he E he CAT communica ion p o ocol. This elec onic boa d was designed
o enable he con ol o bo h b ushed and b ushless DC mo o s [55].
The design p ocess consis ed o se e al phases, s a ing wi h he c ea ion o he PCB ci cui
using Al ium so wa e, whe e bo h he schema ics and layou o he boa d we e de ined. The
designs we e ca ied ou ollowing he ins uc ions and ecommenda ions p o ided by Ingenia
ega ding connec ion aces, as well as he placemen o componen s and connec o s, as speci-
ied in hei online documen a ion [56] and [57].
The PCB was hen manu ac u ed by he JLCPCB company. Al hough commonly used elec onic
componen s we e selec ed du ing he design p ocess, some we e una ailable h ough he man-
u ac u e . These componen s we e sou ced om o he supplie s and manually solde ed on o
he boa d o comple e i s assembly.
The e o e, a he s a o his p ojec , he CDEI al eady possessed a PCB capable o in eg a ing
an E he CAT se o d i e. Howe e , his boa d is an ini ial design and has no been es ed and
so i s ill equi es alida ion o e i y i s p ope ope a ion, a s udy ha will be conduc ed as pa
o his wo k. A de ailed desc ip ion o he p in ed ci cui boa d is p o ided in Sec ion 6.
20 Repo
5 Desc ip ion o he se o d i es
This sec ion p o ides a b ie desc ip ion o he se o d i es used in he p ojec , including hei
main componen s and ea u es. Two di e en d i es om Ingenia we e used, bo h o which a e
desc ibed and compa ed below.
The de ices used in his p ojec belong o he Summi se o d i e se ies om Ingenia, speci i-
cally he E e es S Ne and E e es XCR models. Thei de ails a e p esen ed below.
5.1 Main componen s
The unc ional componen s o bo h se o d i es a e di ided in o ou g oups:
•Con ol uni : Includes he in eg a ed p ocesso ha execu es eal- ime con ol algo i hms
and i s auxilia y componen s.
•Powe connec ion: Con ains bo h he DC powe supply o ope a ing he d i e and he
powe i deli e s o he mo o o con ol i s ope a ion.
•Communica ion in e ace: Comp ises elemen s ha enable in e ac ion be ween he con-
olle and i s en i onmen .
•Memo y uni : S o es he de ice’s con igu a ion and he eal- ime a iable alues du ing
ope a ion. The con igu a ion is sa ed in he pe sis en memo y, while he o he a iables
a e s o ed in he ola ile memo y, which loses i s da a when powe is disconnec ed.
5.1.1 E e es S NET E (EVS-NET-E)
The E e es S NET digi al se o d i e (Figu e 19a) is a high powe , ul acompac uni designed
o be in eg a ed in o a p in ed ci cui boa d o speci ic applica ions. I ea u es high ene gy
e iciency hanks o i s nex gene a ion powe s age. This de ice suppo s bo h E he CAT and
CANopen communica ion p o ocols, wi h he model EVS-NET-E co esponding o E he CAT
echnology [58].
The main echnical speci ica ions o his model can be ound in Table 2, and he ull da ashee
is a ailable in he ca alog [59].
The d i e includes an inpu o a mo o empe a u e senso and sa e y sys ems such as p o-
ec ions agains sho ci cui s, o e empe a u e, o e cu en , and o e ol age. These limi s a e
p e-se by Ingenia bu can be also con igu ed o enhance he de ice’s sa e y. Due o he high
empe a u es i may each du ing ope a ion, i is ecommended o use hea sinks whene e
possible o p e en he mal o e load.
The physical s uc u e and pinou o he d i e o i s connec ions a e shown in Figu e 19b. Con-
nec o P1 supplies powe o he de ice, while P2 connec s o he mo o . The la e consis s o
h ee pins co esponding o he phases o b ushless mo o s. Connec o P3 accommoda es en-
code s, digi al halls, and he empe a u e senso . Connec o P4 includes E he CAT communi-
ca ion and digi al inpu /ou pu connec ions. Some eedback and in e ace pins should emain
disconnec ed by o de o he manu ac u e [60].
Se o d i es implemen a ion o obo ’s mo o con ol 21
(a) Se o d i e. Sou ce: [58]. (b) EVS-NET-E Connec o s. Sou ce: [60].
Figu e 19: Summi se o d i e E e es S NET E he CAT.
5.1.2 E e es XCR E (EVE-XCR-E)
The E e es XCR digi al se o d i e (Figu e 20a) is a high powe , ully in eg a ed uni eady o
use. This de ice includes all he connec o s and elec onic in e aces equi ed o i s ope a ion.
Like he EVS-NET-E, i ea u es high ene gy e iciency due o i s nex gene a ion powe s age
and suppo s bo h E he CAT and CANopen communica ion p o ocols. The EVE-XCR-E model
co esponds o E he CAT echnology [61].
The main echnical speci ica ions o his model can be ound in Table 2, and he ull da ashee
is a ailable in he ca alog [62].
This d i e also includes an inpu o a mo o empe a u e senso and ea u es he same sa e y
sys ems as he EVS-NET-E. These limi s can also be con igu ed o enhance sa e y. Due o he
high empe a u es i may each du ing ope a ion, hea sinks a e also ecommended.
(a) Se o d i e. Sou ce: [61]. (b) EVE-XCR-E Connec o s. Sou ce: [63].
Figu e 20: Summi se o d i e E e es XCR E he CAT model.
The physical s uc u e and pinou o he d i e a e shown in Figu e 20b. Connec o P1 supplies
powe o he de ice, while P2 connec s o he mo o . The la e consis s o h ee pins co espond-
ing o he phases o b ushless mo o s. Connec o J1 is used o encode s and digi al halls, while
J2 includes digi al inpu /ou pu connec ions and he empe a u e senso . Connec o s J3 and J4
22 Repo
se e as he E he CAT communica ion ou pu and inpu , espec i ely [63].
5.2 Compa ison be ween EVS-NET-E and EVE-XCR-E
Table 2summa izes he main echnical speci ica ions o each o he d i es used in his p ojec ,
acili a ing hei compa ison.
Table 2: Technical speci ica ions o he d i es. Sou ce: [58], [61]
EVS-NET-E EVE-XCR-E
Supply Vol age 12 - 80 VDC 12 - 80 VDC
Max Con inuous Cu en Up o 45 A Up o 45 A
Peak Cu en 60 A o 1 s 60 A o 1 s
Ope a ing Tempe a u e -20 o 85 ºC -20 o 85 ºC
E iciency 99% 98%
PWM F equency 10 - 100 kHz 10 - 100 kHz
Suppo ed Mo o s B ushed DC mo o s
B ushless o a y mo o s
B ushed DC mo o s
B ushless o a y mo o s
Suppo ed Feedbacks
Digi al halls
Inc emen al encode :
up o 2 simul aneously
Absolu e encode (BiSS-C, SSI):
up o 2 simul aneously
Digi al halls
Inc emen al encode : single
Absolu e encode (BiSS-C, SSI):
up o 2 simul aneously
Simul aneous Feedbacks Up o 4 Up o 4
Con ol Modes
Cu en
Veloci y
Posi ion
Cu en
Veloci y
Posi ion
Inpu s 4x digi al
2x analog
4x digi al
1x analog
Ou pu s 4x digi al 4x digi al
P o ec ions
Sho ci cui
Vol age
Cu en
Tempe a u e
Sho ci cui
Vol age
Cu en
Tempe a u e
Dimensions 34.5 x 26 x 14.59 mm342 x 29 x 23.2 mm3
Weigh 18 g 38 g
P ice 535 €869 €
As shown in he able, he wo d i es sha e many simila p ope ies, hough he EVS-NET-E
suppo s a g ea e a ie y o eedback ypes. The p ima y di e ence lies in he ac ha he
EVE-XCR-E is eady o use, equi ing only he app op ia e connec ions o he applica ion. In
con as , he EVS-NET-E equi es a PCB o ope a ion, as i lacks in eg a ed sa e y elemen s.
This di e ence is also e lec ed in hei p ices, wi h he plug-and-play EVE-XCR-E being mo e
expensi e.
While eady- o-use de ices elimina e he need o PCB design, hey also limi lexibili y ega d-
ing connec ions and elec onic ci cui s. The EVS-NET-E, by equi ing a cus om-designed PCB,
allows o a pe sonalized ci cui and componen layou based on he applica ion equi emen s.
Se o d i es implemen a ion o obo ’s mo o con ol 23
Fo example, when connec ing mul iple EVE-XCR-E d i es in se ies o mul i-axis con ol, ca-
bles a e equi ed o link hem. Howe e , wi h he EVS-NET-E, i is possible o design a PCB
ha in eg a es mul iple d i es, wi h hei communica ion and connec ions handled in e nally
h ough PCB aces.
5.3 Con ol a chi ec u e
This sec ion desc ibes he in e nal ope a ion o he d i es, which allows hem o p ocess use
commands and adjus mo o beha io acco dingly. This desc ip ion does no aim o explain
con ol heo y bu a he o p esen he con ol s uc u e in eg a ed in o he de ice ha go e ns
i s ope a ion.
The Summi se ies d i es om Ingenia ha e an a chi ec u e based on a cascaded iple con ol
loop (posi ion - eloci y - cu en ) [64]. Each o hese h ee le els con ains he p e ious ones,
o de ed by hei p ocessing eloci y, as shown in he simpli ied diag am in Figu e 21.
Figu e 21: Cascaded iple con ol loop a chi ec u e. Sou ce: au ho .
The lowes le el is he cu en con ol loop, which ope a es a he highes p ocessing equency
since changes in his a iable occu e y apidly. This means ha cu en commands can be
sen di ec ly o he d i e, which will con e hem in o ol age o he mo o (V), achie ing he
desi ed mo emen [65].
The nex le el is eloci y con ol, which ope a es slowe han he cu en loop bu as e han he
posi ion loop. In his case, eloci y commands sen o he d i e a e con e ed in o mo o o que
(Nm) [66]. The ou e le el is posi ion con ol, which is he slowes o all. Posi ion commands
inpu o he d i e a e con e ed in o eloci y ( e /s) [67].
Due o he cascade s uc u e, he con ol loops mus be con igu ed app op ia ely and in o de ,
s a ing wi h he as es loop. Fil e s and o se s can be de ined du ing con igu a ion o modi y
he beha io o he desc ibed loops o a g ea e o lesse ex en . The con igu a ion p ocess will
be explained la e in he documen .
Fo eade s in e es ed o look o e bo h he comple e con ol schemes and he implemen ed PID
model o each o he loops as de ined by he manu ac u e , please e e o Appendix A, which
includes hese diag ams. Fo mo e de ailed in o ma ion on his aspec , he o icial documen a-
ion is ecommended [64].
24 Repo
5.4 Sa e To que O
Ingenia d i es a e equipped wi h h ee inpu s dedica ed o he Sa e To que O (STO) sa e y
sys em. The STO is a unc ional sa e y mechanism designed o p e en mo o o que in eme -
gency si ua ions while main aining he d i e’s powe supply. When he STO is ac i a ed, he
powe s age supplying he mo o is disconnec ed h ough ha dwa e, o e iding any con ol
commands o de ice i mwa e. I is impo an o no e ha his disconnec ion does no b ake
he mo o (unless an ex e nal b ake is p og ammed o his pu pose), ins ead, he mo o will
decele a e o a s op due o he in e ac ion o ic ional o ces and ine ia.
I he STO inpu s a e no ac i e, he powe s age is disconnec ed, and an STO aul is epo ed.
To enable he powe s age, bo h inpu s mus be ac i e simul aneously, ypically a a high ol age
le el (commonly 5V). I he wo inpu s a e no ac i a ed o deac i a ed simul aneously, an STO
aul is also igge ed, as his may indica e an abno mal condi ion. To clea hese e o s and
esume no mal ope a ion, he powe supply mus be ese .
5.5 Regis e dic iona y
The memo y and unc ionali y o he d i es a e based on a egis e dic iona y, which is a s an-
da dized s uc u e con aining all pa ame e s ha de ine he de ice’s beha io . This a chi ec u e
is lexible and suppo s a wide ange o opologies, om simple single-axis de ices o complex
mul i-axis sys ems.
The dic iona y includes gene al egis e s o communica ion p o ocols and speci ic egis e s o
mo ion con ol. When mul iple d i es a e connec ed in cascade o mul i-axis con ol, each
axis has i s own speci ic mo ion con ol egis e s, while sha ed gene al egis e s apply o all
connec ed d i es.
The egis e s o each d i e a e de ailed in i s dic iona y, a ile wi h he .xd ex ension. This
ile p o ides a comple e o e iew o all a ailable egis e s, including hei ca ego y, name, de-
sc ip ion, and da a ype, among o he de ails. I also indica es i he egis e can be w i en o
is ead-only, as shown in Figu e 22. The egis e s s o e bo h he d i e’s con igu a ion pa am-
e e s and a ious s a us a iables, such as he cu en ol age, and he posi ion and eloci y
measu ed by he encode .
Figu e 22: Dic iona y egis e s. Sou ce: au ho .
Se o d i es implemen a ion o obo ’s mo o con ol 25
6 Desc ip ion o he PCB
This sec ion desc ibes he p in ed ci cui boa d designed o inco po a e he E e es S NET E
d i e o con olling b ushed o b ushless DC mo o s [55].
6.1 Main ea u es
The PCB has been designed o include all he ea u es p o ided by he d i e, summa ized as
ollows:
•Inpu s/Ou pu s: Digi al (4 inpu s and 4 ou pu s) and an analog inpu o eading mo o
empe a u e.
•Feedback: Absolu e encode s (x2), inc emen al encode s (x2), and digi al halls (x3).
•Communica ions: E he CATandCAN. Thela e isincluded o compa ibili ywi h CANopen
de ices.
•Sa e To que O (STO): Func ional sa e y ea u e.
•Mo o b ake: In eg a ed b ake con ol.
•S a us signaling: Indica ed ia LEDs.
The PCB also includes p o ec ions agains e e se pola i y and o e ol age, adding an ex a
laye o sa e y o he d i e. Addi ionally, since he componen s equi e 5V o 3.3V powe , ol -
age di ide ci cui s a e implemen ed o achie e hese alues. The PCB also p o ides a 5V ou pu
o powe ing auxilia y componen s i necessa y.
These ea u es co espond o speci ic pa s o he PCB, which include he componen s ha im-
plemen hem. The unc ional pa s, as well as he eigh connec o s ha o m he communica-
ion in e ace, a e shown in Figu es 23 and 24. In hese images, he g oups o componen s o
each unc ional uni a e ma ked in ed, while he connec o s a e iden i ied in blue.
The unc ions o each connec o shown in Figu es 23 and 24 a e as ollows:
•Powe connec o (CA): Powe supply o he PCB, p o iding he necessa y powe o he
d i e and all PCB componen s.
•E he ne connec o (CE): Enables communica ion be ween he PCB and he compu e , as
well as be ween o he d i e boa d. The inpu po (ma ked "E") connec s o he compu e ,
while he ou pu po (ma ked "S") connec s o ano he d i e in se ies.
•Mo o connec o (CM): Powe s and con ols mo o mo emen . The mo o phases (A, B,
C) and he g ound p o ec ion (PE) a e indica ed.
•Connec o 1 (C1): Used o an inc emen al encode .
•Connec o s 2 and 3 (C2 and C3): Used o absolu e encode s.
•Connec o 4 (C4): Con ains connec ions o an inc emen al encode and h ee digi al
26 Repo
halls.
•Connec o 5 (C5): Con ains digi al inpu and ou pu connec ions and he b ake connec-
ion.
Figu e 23: Top iew o he PCB wi h unc ional pa s. Sou ce: au ho .
Figu e 24: Bo om iew o he PCB wi h unc ional pa s. Sou ce: au ho .
The PCB is p ima ily designed o con ol b ushless DC mo o s. Howe e , since he d i e also
suppo s b ushed DC mo o s, his ea u e is included. To con ol b ushed mo o s, he mo o
Se o d i es implemen a ion o obo ’s mo o con ol 27
cables should be connec ed o e minals A and B o he CM connec o , lea ing e minal C dis-
connec ed.
Since he EVS-NET-E d i e is in eg a ed in o he PCB, i has been designed o suppo an inpu
ol age om 12 o 80V. Howe e , a maximum supply ol age o 48V is ecommended, as he
boa d has no been es ed a highe ol ages. The nominal ol age o 48V o he PCB and d i e
co esponds o he ba e y ol age used in he CDEI obo s.
Thedigi al inpu s suppo up o30V,wi hp o ec ionci cui susing ol agedi ide s oensu e he
ol age eaching he d i e’s inpu s mee s i s echnical limi a ions (5V). Logic low is de ec ed o
ol ages equal o o below 0.8V, while logic high is de ec ed o ol ages abo e 2.5V. The digi al
ou pu s can suppo loads o up o 48V and 1A.
The PCB is igid and mul ilaye ed, consis ing o six di e en laye s:
•Top Laye : Con ains componen s, signal aces, and powe connec ions.
•In e media e Laye 1: Fo ms he g ound (GND) coppe plane.
•In e media e Laye 2: Con ains signal aces and mo o phase A powe .
•In e media e Laye 3: Includes 5V powe and mo o phases B and PE.
•In e media e Laye 4: Con ains signal aces and mo o phases C and PE.
•Bo om Laye : Con ains componen s and signal aces.
6.2 Al ium design and schema ics
This sec ion p esen s only he pa s o he schema ic ha we e analyzed and s udied in de ail
du ing he e i ica ion p ocess. Fo he comple e schema ic and PCB layou documen s [55],
please e e o Appendices Band C.
6.2.1 STO and ol age moni o ci cui s
The ci cui o he Sa e To que O (STO) sa e y sys em is in eg a ed wi h he ol age moni o ,
and hei schema ics can be seen in Figu e 25.
The ol age moni o includes o e ol age p o ec ion (yellow block, e e ence LTC4360CSC8-
1#TRMPBF) and a MOSFET ac ing as an au oma ic swi ch o enable he STO ci cui .
The STO ci cui ’s key componen s include wo op ocouple s (pa TCMD1000), which elec i-
cally isola e he PCB inpu s ( h ee inpu s om connec o C5 in his case) om he d i e’s pins.
The ou e ci cui , co esponding o he PCB inpu s, includes p o ec ion diodes (pa s SD36C-
01FTG and BAS16P2T5G) and capaci o s o abso b empo a y ol age oscilla ions, ensu ing
smoo he inpu signals. The inne ci cui also con ains capaci o s o he same pu pose and
ol age di ide s o achie e he 5V equi ed o ac i a ing he STO on he d i e’s pins.
34 Repo
Fo his p ojec , he Fo ced me hod was chosen, as inc emen al encode s we e employed. A e
he con igu a ion, he commu a ion es was conduc ed o con i m ha he sys em beha ed
co ec ly.
Mechanical Tuning
In his phase, Mo ionLab3 con igu es he eloci y and posi ion con ol loops sequen ially.
Fi s , he p og am iden i ies he mechanical cha ac e is ics o he sys em, such as mo o ine ia
and ic ion, o gene a e a heo e ical model. Use s can pe o m his iden i ica ion manually o
allow Mo ionLab3 o execu e i au oma ically. Fo he eloci y con ol loop, Mo ionLab3 designs
he PID con olle based on he selec ed design me hod and speci ied pa ame e s. The Kp and
Ki alues can also be adjus ed manually o achie e he desi ed ansien esponse.
Finally, he p og am con igu es he posi ion con ol loop. The p ocess is simila o he eloci y
loop con igu a ion: a plan model is iden i ied (manually o au oma ically), and he PID con-
olle is calcula ed. The p og am also allows use s o modi y he pa ame e s o ine une he
loop’s beha io .
Applica ion
In his phase, Mo ionLab3 con igu es pa ame e s such as posi ioning modes, p o ec ions, and
e en s, speci ic o he applica ion.
Fo posi ioning modes, use s can speci y he mo o ’s beha io a de ined limi posi ions. The
p o ec ions sec ion allows use s o con igu e he mo o ’s esponse o eloci y and posi ion com-
mands. In he e en s sec ion, use s de ine how he d i e should espond o e o signals. Each
e o signal can be assigned a speci ic ac ion mode o ensu e sys em and en i onmen al sa e y.
Summa y
Once he con igu a ion is comple e, Mo ionLab3 allows he se ings o be sa ed as a ile. This ile
can be used o eplica e he con igu a ion on o he con olle s o he same model. The p og am
also p o ides op ions o es o e he d i e’s ac o y se ings o load a speci ic con igu a ion.
The menu op ions a ailable in his phase a e:
•Load all: Selec s a con igu a ion ile (.xc ) om he compu e and loads i in o he d i e’s
ola ile memo y.
•Sa e all: Sa es he cu en con igu a ion as a ile on he compu e .
•S o e all: Sa es he cu en con igu a ion in he d i e’s non ola ile memo y.
•Res o e all: Res o es he ac o y con igu a ion and sa es i in he ola ile memo y.
Du ing his p ojec , he con igu a ion was sa ed and s o ed o acili a e eplica ion on o he
d i es.
Se o d i es implemen a ion o obo ’s mo o con ol 35
Jog menu
Mo ionLab3 p o ides an in e ace o es he ope a ion o he d i e-mo o sys em using he com-
ple ed con igu a ion. The Jog menu, loca ed in he op ba , allows use s o es mo o beha io
by sending speed and posi ion commands h ough he d i e.
By p essing he Enable bu on in he Mo o sec ion o he Con ol panel, mo o mo emen is
ac i a ed. Adjus ing he Veloci y se -poin o Posi ion se -poin pa ame e s causes he mo o o
mo e acco dingly. These changes can be moni o ed using he au oma ic display by p essing he
play bu on in he Scope sec ion ( op le a ea).
Fo his p ojec , he Jog menu was used o e i y he mo o ’s beha io and ensu e ha he con-
igu a ion was co ec ly implemen ed.
7.3 So wa e used o he con ol p og am implemen a ion
When using he EVE-XCR-E d i e, i also equi ed p og amming. The e o e, TwinCAT and
Mo ionLab3 we e also used in his pa o he p ojec . Explana ions ela ed o hese p og ams
a e omi ed he e o a oid edundancy.
The p ima y goal o using Ingenia d i es is o implemen hem in he CDEI obo s, which a e
con olled h ough a compu e unning ROS2 on he Ubun u ope a ing sys em. Consequen ly,
he con ol p og am mus be implemen ed in ROS2 o allow he obo ’s onboa d compu e o
use i , in eg a ing he d i e con ol in o he obo ’s exis ing code. This app oach enables he
euse o exis ing code and a oids he need o a comple e ep og amming.
The e o e, bo h Windows and Ubun u ope a ing sys ems we e used o de eloping he con ol
p og am. Windows was u ilized o an ini ial e sion o he code and o e i y i s basic unc-
ionali y. This included checking he d i e con igu a ion pa ame e s using Mo ionLab3 and
TwinCAT, as hese p og ams a e no suppo ed on Ubun u. Ubun u, on he o he hand, was
used o he inal implemen a ion o he code in ROS2 o in eg a e i in o he obo s’ con ol
sys ems.
7.3.1 Py hon
Py hon was chosen as he p og amming language due o i s simplici y and because Ingenia
p o ides a lib a y o es ablishing communica ion wi h and con olling he d i e. This lib a y,
named ingeniamo ion, depends on o he lib a ies such as ingenialink-py hon and soe-mas e .
The e sions o hese lib a ies used we e 0.8.5, 7.3.5, and 0.1.3, espec i ely. Py hon 3.11 was e-
qui ed o use hese lib a ies, as compa ibili y issues could p e en ce ain unc ions om wo k-
ing in o he e sions.
C++ was no used o his p ojec , as i s po en ial speed and pe o mance bene i s a e negligible
wi h cu en compu ing powe . Addi ionally, Ingenia discon inued i s C++ lib a y, which is no
longe suppo ed o main ained due o he language’s complexi y.
Addi ional modules used
To implemen he desi ed unc ionali y in he con ol code, addi ional Py hon lib a ies we e
equi ed, as de ailed below:
36 Repo
•Keyboa d [72]:This module eads use commands ia he compu e keyboa d on Win-
dows. The is_p essed(’key’) unc ion de ec s speci ic key p esses wi hin a loop, and
condi ional s uc u es de e mine he p og am’s beha io based on he key p essed.
•Pynpu [73]:Thismodule pe o ms hesame unc iononUbun u. I usesa keyboa d.Lis ene
objec o lis en o key p esses wi h he on_p ess(key) unc ion. P og am beha io is de-
e mined h ough condi ional s uc u es.
•Th eading [74]:This module allows he c ea ion o sepa a e h eads o con ol ha exe-
cu e concu en ly wi h he main p og am. Fo ins ance, his enables simul aneous execu-
ion o commands o display esul s and con ol mo o speed.
•Na iga ion CDEI: This ROS2 package con ains all he codes o con olling he CDEI
obo s. I includes a simula ion ha allows use s o obse e obo mo emen , which can be
con olled wi h a joys ick. This package was used o conduc a inal expe imen wi h he
ROS2 nodes c ea ed in his p ojec , e i ying synch oniza ion be ween he obo ’s simu-
la ed mo emen and he mo o ’s mo emen . Ins alla ion ins uc ions o his package a e
de ailed in [75].
7.3.2 Visual S udio Code
Visual S udio Code was used as he edi o o de eloping he con ol p og am, hough simila
p og ams could pe o m he same asks. This edi o was chosen o i s open sou ce na u e and
ease o ins alla ion on bo h Windows and Ubun u. Addi ionally, i suppo s Py hon and o he
p og amming languages, making i sui able o ROS2 implemen a ion.
7.3.3 ROS2
ROS2 Humble was used o his p ojec , as i is he e sion employed by he CDEI obo s’ ex-
is ing codes. Using he same e sion ensu ed compa ibili y, simpli ying he in eg a ion o he
new con ol code wi h he exis ing sys em.
7.3.4 So wa e ins alla ion
The ins alla ion p ocesses o hese p og ams a e well-documen ed on hei espec i e o icial
websi es and a e no de ailed he e. Below a e he links o he ins alla ion ins uc ions o each
so wa e:
•Py hon 3.11.9: Download he ins alle om [76] and ollow he assis an ’s ins uc ions.
•ROS2 Humble: Ins all h ough he Ubun u e minal, ollowing he ins uc ions a [77].
Fo beginne s, i is ecommended o e iew he o icial documen a ion’s u o ials [78].
•Visual S udio Code: Download he ins alle om [79] and ollow he assis an ’s ins uc-
ions.
•Py hon lib a ies: Ins all ia e minal, ei he in Visual S udio Code o Ubun u, using he
ollowing commands:
–pip ins all ingeniamo ion [80]
Se o d i es implemen a ion o obo ’s mo o con ol 37
–pip ins all ingenialink [81]
–pip ins all soe-mas e [82]
In summa y, his p ojec used bo h Windows and Ubun u ope a ing sys ems. Py hon 3.11.9
was used o p og amming, by means o he Visual S udio Code edi o . ROS2 Humble was
employed on Ubun u o ensu e compa ibili y wi h he exis ing codes. Figu e 31 summa izes
he so wa e used in his pa o he p ojec and i s ela ionship wi h he esul ing codes.
Figu e 31: So wa e used o he con ol p og am implemen a ion. Sou ce: au ho .
38 Repo
8 Me hodology o he PCB alida ion
I is essen ial o e i y he unc ioning o he p in ed ci cui boa d expe imen ally, no only
h ough heo e ical s udies. This ensu es ha he d i e can con ol he mo o in eal ime wi h
i s ull capabili ies.
This sec ion de ails he expe imen al se up, he so wa e used, and he p ocedu e ollowed o
alida ing he PCB.
8.1 Expe imen al se up
8.1.1 Ma e ials used
The expe imen al se up used o alida ing he PCB is shown in Figu e 32.
Figu e 32: Expe imen al se up o he PCB alida ion. Sou ce: au ho .
The wi es used in he se up we e selec ed based on hei diame e , ensu ing hey could handle
he equi ed cu en . This speci ica ion can be e i ied using o icial documen a ion, such as he
desc ibed in [83].
8.1.2 Componen s connec ions
The schema ic o he elec ical connec ions be ween elemen s is shown in Figu e 33.
Figu e 33: Connec ion schema ic o he expe imen al se up. Sou ce: au ho .
Se o d i es implemen a ion o obo ’s mo o con ol 39
Fo his p ojec , he EVS-NET-E d i e was moun ed on o he PCB using i s in eg a ed connec-
o s. Addi ionally, i was solde ed o he PCB h ough i s powe supply and mo o powe pins.
This ensu ed a eliable connec ion be ween all componen s, a oiding addi ional esis ance o
i egula beha io caused by poo con ac .
Since his was a es ing phase and high mo o speeds we e no equi ed, he PCB was powe ed
wi h 24V supplied by a a iable powe sou ce. I could deli e up o 2A o cu en , which was
su icien o all es s and o powe ing he mo o . Fu he mo e, he powe sou ce ea u ed a
display o moni o ing o he applied ol age and he cu en d awn by he ci cui , allowing o
easy and isual con ol o hese a iables. The CA powe connec o had a unique o ien a ion,
and he PCB i sel indica ed he posi i e e minal. A e powe ing he PCB, he LED Supply
indica o was checked o ensu e i was illumina ed, as shown in Figu e 34.
Figu e 34: S a us o he Supply LED when he PCB is powe ed. Sou ce: au ho .
Al hough he cu en limi o he a iable powe sou ce was conside ed su icien p o ec ion, an
au oma ic swi ch was added o he PCB’s powe line a e he powe sou ce. This p o ided ad-
di ional p o ec ion agains po en ial cu en spikes du ing es ing ha could empo a ily exceed
he powe sou ce’s limi . This elemen was also used as a swi ch o he d i e, since he powe
sou ce p oduced a ol age spike exceeding he equi ed 24V du ing s a up. The addi ion o he
swi ch allowed he powe sou ce o emain on con inuously, a oiding he ol age luc ua ions
men ioned.
The compu e connec ion was done by an E he ne cable, connec ed o he PCB h ough he
inpu (E) o he CE connec o . I he compu e lacks an E he ne po o all po s a e occupied,
a USB adap e can be employed.
Two di e en b ushless mo o s om In ano we e used in his p ojec : he BLS072 and he
BR02 p esen ed in Figu e 35. Bo h mo o s included an inc emen al encode used as eedback.
The p ima y di e ence be ween hese mo o s, apa om hei echnical speci ica ions, was ha
he BLS072 had an in eg a ed b ake.
BLS072: The connec ion cables we e di ided in o wo bundles: an o ange bundle o powe
and a g een one o eedback. The o ange one con ained i e wi es, h ee o which we e labeled
(U, V, W) and connec ed di ec ly o he CM connec o o he PCB in alphabe ical o de (A-U,
B-V, C-W). The emaining wo wi es (b own and whi e) we e o he b ake and needed o be
connec ed o 24V and GND, espec i ely, o enable mo o mo emen .
40 Repo
(a) BLS072 Mo o . Sou ce: au ho . (b) BR02 Mo o . Sou ce: au ho .
Figu e 35: Mo o s used o he p ojec .
The g een bundle had addi ional wi es ha we e no connec ed: o ange, yellow, blue, whi e-
g een, and whi e-yellow. The emaining wi es we e connec ed o he PCB’s C4 connec o , ol-
lowing he con igu a ion ou lined in Table 3. The pin numbe ing o he C4 connec o is shown
in Figu e 36.
The encode cable connec ions o he BLS072 mo o a e shown in Figu e 37.
(a) F on iew. (b) Rea iew.
Figu e 37: Encode connec ions o he BLS072 mo o . Sou ce: au ho .
BR02: I s connec ion cables we e also di ided in o wo bundles. One o hem con ains only
ou cables, which a e he mo o phases and a e g ouped in a speci ic connec o wi h a unique
o ien a ion. In his case, he equi alence o colo s wi h he mo o phases is A- ed, B-blue, C-
g ey. The o he bundle o cables is di ec ly a ached o a speci ic connec o , since o iginally, his
Se o d i es implemen a ion o obo ’s mo o con ol 41
Table 3: BLS072 mo o connec ions o he C4 connec o .
Sou ce: [55].
C4 Connec o G een Cable Bundle
Pin 1 - A/ channel G ay
Pin 2 - A channel Whi e
Pin 3 - B/ channel Whi e/B own
Pin 4 - B channel Whi e/Black
Pin 5 - Z/ ma ke pulse Whi e/O ange
Pin 6 - Z ma ke pulse Whi e/Red
Pin 7 - Tempe a u e -
Pin 8 - Tempe a u e -
Pin 9 - Hall U Red
Pin 10 - Hall V G een
Pin 11 - Hall W Viole
Pin 12 -
Pin 13 -
Pin 14 -
Pin 15 - +5 V B own
Pin 16 - GND Black
Figu e 36: F on iew o C4 con-
nec o pins. Sou ce: au ho .
mo o was used wi h he EVE-XCR-E d i e. I has no been needed o modi y i since he mo o
has no been used wi h he encode using he EVS-NET-E d i e.
8.2 PCB alida ion p ocedu e
The alida ion p ocess o he p in ed ci cui boa d was di ided in o ou phases:
•Communica ion ci cui : con igu ing he compu e po and es ablishing communica ion
be ween he d i e and he so wa e p og ams TwinCAT and Mo ionLab3.
•Sa e To que O ci cui : oubleshoo ing and epai ing he STO ci cui .
•Feedback ci cui : e i ying he ope a ion o he inc emen al encode ci cui .
•Con olle con igu a ion (se o d i e EVS-NET-E): se ing up he d i e pa ame e s o
con ol he mo o using Mo ionLab3.
Th oughou he p ocess, any e o s de ec ed in he boa d we e add essed by making he neces-
sa y changes o he PCB componen s and connec ions.
8.2.1 Communica ion ci cui
To keep he p ojec epo concise, his sec ion p o ides a summa y o he p ocedu e, ocusing
on he key poin s o each phase. De ailed s ep by s ep ins uc ions a e a ailable in he c ea ed
guide included in Pa V, speci ically in Appendix E.
Compu e Po Con igu a ion
To use he E he ne connec ion be ween he compu e and he d i e, he ne wo k adap e had
42 Repo
o be con igu ed o ma ch he con olle ’s subne . The adap e ’s IP add ess (TCP/IP 4) was se
o 192.168.2.26, and he subne mask o 255.255.255.0. This con igu a ion can empo a ily make
he po inaccessible o o he ne wo ks o de ices unless he se ings a e e e ed, bu hese
changes a e no i e e sible in any case. De ailed ins uc ions o his p ocess can be ound in
Appendix E.1.1.
Communica ion wi h TwinCAT
The d i e was connec ed o TwinCAT by c ea ing a new p ojec and adding an E he CAT Mas-
e objec . This objec scanned he adap e o which he de ice was connec ed, de ec ing he
con olle as ei he a BOX o D i e elemen in he p ojec . To es ablish p ope communica ion,
he IP add ess o he sla e was changed o 192.168.2.0, and he ga eway was se o 192.168.2.26
( he IP assigned o he po ).
Once he p ojec was eloaded using he Reload De ices op ion, he d i e communica ed success-
ully, indica ed by he blinking o bo h he E he ne po LED and he RUN LED. This p ocess
in ol ed addi ional s eps and complexi y, de ailed in Appendix E.1.2.
To upda e he d i e’s i mwa e, he la es e sion was downloaded om [84] and [85] o he
EVS-NET-E and EVE-XCR-E, espec i ely. Fi mwa e iles wi h ex ensions .l u and .s u we e
used. The upda e was pe o med h ough TwinCAT using he File o e E he CAT (FoE) p o o-
col. The p ocess in ol ed boo ing he de ice in o Boo mode, loading he i mwa e ile in o i s
memo y and es a ing i . Speci ic ins uc ions o upda ing he i mwa e o each d i e model
a e p o ided in Appendix E.1.3.
Communica ion wi h Mo ionLab3
Once communica ion be ween he compu e and he d i e was es ablished, i was de ec ed and
connec ed o he Mo ionLab3 con igu a ion so wa e. This can be done ei he au oma ically o
manually.
When Mo ionLab3 s a ed, i scanned he compu e ’s ne wo ks o au oma ically de ec con-
nec ed d i es. De ec ed ones appea ed on he p og am’s home sc een, and he connec ion was
es ablished wi hin seconds, a e which he d i e was eady o con igu a ion.
I he con olle was no de ec ed au oma ically o i communica ion pa ame e s needed adjus -
men , i could be connec ed manually by selec ing he E he CAT EoE (using ex e nal Mas e )
op ion and en e ing he de ice’s IP add ess. A e a ew seconds, he d i e was connec ed and
eady o con igu a ion.
De ailed ins uc ions a e a ailable in Appendix E.2.
8.2.2 Sa e To que O ci cui
Fo he STO o be disabled and allow mo o mo emen , he d i e’s STO1 and STO2 inpu s need
o de ec a high ol age (>2.5V) and should no exceed 50mA o ensu e de ice sa e y.
The connec ions and componen s we e inspec ed and ol ages a a ious ci cui poin s we e
analyzed, which e ealed unexpec ed alues. The Vol age Moni o ci cui was emo ed by des-
olde ing i s wo componen s o isola e he issue. This ci cui was a edundan sa e y measu e
and no c i ical o he con olle ope a ion. To ensu e a ol age close o 5V a he d i e inpu s,
Se o d i es implemen a ion o obo ’s mo o con ol 43
he ci cui esis o s we e ecalcula ed.
The ou e ci cui was analyzed i s . The op ocouple (TCMD1000) equi ed a cu en o a
leas 2.5mA bu less han 50mA o ac i a e. Since he ci cui beha ed as he se ies esis o s
unde s eady s a e condi ions, Ohm’s law was applied o de e mine he equi emen s:
IT CMD =V
R o al
>2.5 mA
IT CMD =V
R o al
<50 mA
Thein e nalci cui was hen analyzed unde he samecondi ions, using he simpli ied schema ic
in Figu e 38. Applying Ohm’s law yielded he ollowing equi emen s:
VST O =IST O ·Rpa allel >2.5 V
IST O =5 V
R o al
<50 mA
Figu e 38: Simpli ied schema ic o he STO ci cui . Sou ce: au ho .
Finally, he esis o s we e eplaced wi h he ecalcula ed alues and he ci cui ’s unc ionali y
was e i ied using he Mo ionLab3’s es .
8.2.3 Feedback ci cui
The d i e con inuously moni o s he signals ecei ed h ough i s pins and s o es he alues in
he co esponding egis e s. Using Mo ionLab3, he egis e alues we e checked o e i y he
inc emen al encode ’s pe o mance.
In he Feedback - Inc emen al Enc. 1 sec ion, he encode ’s cu en posi ion alue was displayed
in he uppe igh co ne . The eedback ci cui was e i ied by manually o a ing he mo o
sha and con i ming ha he posi ion alue upda ed acco dingly. Addi ionally, he encode ’s
esolu ion was e i ied by comple ing one ull o a ion o he mo o sha and checking ha he
egis e alue inc eased as expec ed.
8.2.4 Con olle con igu a ion (se o d i e EVS-NET-E)
In his inal s age, he con olle is con igu ed by means o he Mo ionLab3 so wa e. The con-
igu a ion p ocess ollows he s eps ou lined in he p og am’s a ious sec ions, as de ailed in
Sec ion 7.2.2.
50 Repo
–Allow mo o ac i a ion and modi ica ion o i s speed o posi ion a any ime. The
upda e equency should be de e mined o ul ill he applica ion equi emen s, bu
easily adjus able by he use .
To achie e his, he inal code o implemen a ion in ROS2 was de eloped i e a i ely, wi h suc-
cessi e app oxima ions leading o he inal e sion. Ini ially, a basic code was c ea ed, which
was p og essi ely e ined o e se e al phases o mee he expec ed equi emen s. This p ocess
was i s conduc ed on Windows be o e ansi ioning o Ubun u, wi h necessa y adjus men s
made due o he ans e .
The speci ic p ocesses and codes de eloped o Windows a e as ollows:
•Analysis o he unc ions and examples om he ingeniamo ion lib a y we e ollowed by
he c ea ion o speci ic pu pose codes:
–Func ion o es ablishing communica ion wi h he d i e ( eal o i ual).
–Code o sa ing and loading con igu a ion iles.
–Code o eading and w i ing speci ic egis e s.
–Code o mo o mo emen ia eloci y and posi ion commands.
•Code allowing he use o send eloci y commands h ough he compu e keyboa d.
•Code o connec ing o he d i e and sending eloci y commands o con ol he mo o .
The p ocesses and codes de eloped o Ubun u a e as ollows:
•T ans e o he inal Windows code o Ubun u o obse e i s beha io and make necessa y
adjus men s.
•C ea ion o a ROS2 node o ead use eloci y commands ia he compu e keyboa d. The
s uc u e and much o he code om Windows we e eused.
•C ea ion o a ROS2 node o con olle connec ion and ope a ion. This node eads he
eloci y commands sen and applies hem o he d i e o con ol he mo o . The s uc u e
and much o he code om Windows we e eused.
•Modi ica ion o he p e ious node o implemen a ion in he simula ion o he CDEI obo .
This node ecei es he same commands sen o he simula ion o mo e he obo ia a
joys ick con olle .
The example codes p o ided in he ingeniamo ion lib a y documen a ion [87] we e analyzed
and used. These we e modi ied o mee p ojec equi emen s and commen ed on o cla i y,
as he o icial documen a ion does no p o ide usage explana ions. These example codes we e
he s a ing poin o c ea ing he inal con ol code, enabling e i ica ion o indi idual lib a y
unc ionali ies.
All de eloped codes ollow he same s uc u e, consis ing o he ollowing componen s: module
and lib a y impo s, global a iable de ini ions, ini ial use con igu a ion, auxilia y unc ions,
Se o d i es implemen a ion o obo ’s mo o con ol 51
and he main unc ion.
The module and lib a y impo s a e s anda d in mos Py hon and ROS2 codes, as hey de ine
he unc ion modules used. Global a iable de ini ions we e placed a he beginning o easy
localiza ion and quicke alue modi ica ion. The ini ial use con igu a ion was handled h ough
he se up_command() unc ion, speci ying pa ame e s such as he dic iona y and he ype o
d i e o use.
Auxilia y unc ions we e c ea ed o enhance code unde s anding and modula i y. They in-
cluded unc ions om he ingeniamo ion lib a y and o he Py hon lib a ies. In simple codes,
his sec ion may be omi ed, wi h all unc ionali ies included in he main unc ion. The main
unc ion es ablishes he code’s execu ion low, de e mining which unc ion o call o which pa
o he code o execu e a any gi en momen .
The desc ip ion and esul s o he de eloped codes a e p esen ed in Pa III.
C ea ing he ROS2 wo kspace
In ROS2 nodes mus be included in a wo kspace o unc ion co ec ly. This wo kspace is c ea ed
con ained wi hin a olde using he Ubun u e minal commands. I p o ides he necessa y
s uc u e o ROS2 o execu e nodes, exp essing dependencies on o he modules, codes, and
iles, such as d i e dic iona ies.
A ROS2 package named eleop_node was c ea ed o include all necessa y iles and nodes. The
ollowing commands we e used o c ea e and con igu e he ROS2 wo kspace:
Lis ing 2: Commands o c ea e he ROS2 wo kspace
1mkdi -p ws_D i e s /s c
2cd ws_D i e s
3colcon build
4cd s c
5 os2 pkg c ea e --build - ype amen _py hon eleop_node
6cd eleop_node
7mkdi -p eleop_node
8 ouch eleop_node / __ini __ . py
I wo king in an en i onmen con aining only C/C++ code, he abo e commands would no be
sui able. Re e o he o icial documen a ion [88] in such cases.
Once he wo kspace is c ea ed, dependencies mus be speci ied in he se up.py ile loca ed in
he s c/ eleop_node olde . This ile lis s all de eloped nodes unde he en y_poin s sec ion
(see Lis ing 3). Dependencies a e also included in he package.xml ile in he same olde (see
Lis ing 4).
Lis ing 3: Final s uc u e agmen o se up.py
1en y_poin s={
2’console_sc ip s ’: [
3’ eleop_keyboa d = eleop_node . eleop_keyboa d :main ’,
4’mo o _con ol = eleop_node . mo o _con ol : main ’,
5’ mo o _con ol_joys ick = eleop_node . mo o _con ol_joys ick
:main ’,
6],
52 Repo
7}
Lis ing 4: Final s uc u e agmen o package.xml
1<exec_depend > clpy </ exec_depend >
2<exec_depend > geome y_msgs </ exec_depend >
3<exec_depend > s d_msgs </ exec_depend >
4<exec_depend > pynpu </ exec_depend >
Finally, he wo kspace mus be compiled when any changes on he iles a e made, by unning
he ollowing commands in he e minal:
Lis ing 5: Commands o compile he ROS2 wo kspace
1cd ~/ ws_D i e s
2colcon build
3sou ce ins all / se up . bash
To execu e any o he nodes, use he command os2 un eleop_node node_name. To un
mul iple nodes simul aneously, execu e he command in sepa a e e minals a e unning he
sou ce command.
The inal olde and ile s uc u e o he wo kspace is shown in Figu e 41.
Figu e 41: ROS2 wo kspace s uc u e. Sou ce: au ho .
9.2.4 Code unc ionali y e i ica ion
The e i ica ion o he codes p ope wo king o de and i s de elopmen we e pe o med simul-
aneously. The esul s o he codes a e p esen ed and discussed in Pa III.
Pa III
Resul s
54 Repo
10 Resul s o he PCB alida ion
The esul s ob ained in he a ious phases o he p in ed ci cui boa d alida ion p ocess a e
p esen ed below. I is wo h eminding he eade ha his ini ial s age was conduc ed wi h he
EVS-NET-E d i e coupled o he PCB.
10.1 Communica ion ci cui
The p ope unc ioning o he PCB’s communica ion ci cui was e i ied, as communica ion
wi h he compu e was success ul. The EVS-NET-E d i e was able o connec and communica e
h ough he PCB using bo h TwinCAT and Mo ionLab3 p og ams. Fu he mo e, he EVS-NET-
E d i e i mwa e was success ully upda ed.
10.2 Sa e To que O ci cui
The e o message ob ained in he e minal du ing he alida ion o he Sa e To que O (STO)
ci cui using he Mo ionLab3 es is displayed in Figu e 42. The ol age measu emen s a a ious
poin s in he ci cui a e shown in Figu e 43.
Figu e 42: E o du ing STO es ing. Sou ce: au ho .
Since he measu ed ol age alueswe eno co ec , heo e ical cu en swe e calcula ed, and he
esis ances we e adjus ed o mee he equi ed speci ica ions. A 5V inpu ol age was assumed
o he calcula ions.
Ou e ci cui
The cu en lowing h ough he op ocouple was calcula ed as ollows:
IT CMD =V
R o al
=5V
30kΩ= 0.167 mA <2.5mA −→ NO
Since he equi ed magni ude was no achie ed, he esis ance alue mus all wi hin he ol-
Se o d i es implemen a ion o obo ’s mo o con ol 55
Figu e 43: Measu ed ci cui ol ages. Sou ce: au ho .
lowing ange:
Rmin
o al =Vmax
Imax =36V
50 mA = 720 Ω
Rmax
o al =Vmin
Imin =5V
2.5mA = 2 kΩ
These calcula ions we e based on he minimum expec ed ol age (5V) and he ci cui ’s maxi-
mum suppo ed ol age (36V), main aining he cu en wi hin a sa e ange. Two 1kΩ esis o s,
which a e s anda d alues, we e selec ed.
Inne ci cui
The heo e ical ol age and cu en alues on he STO d i e’s pins we e calcula ed as:
VST O =I·R=5V
5Ω + 220Ω ·5Ω = 0.111 V<2.5V−→ Low le el
IST O =0.111V
5Ω = 0.022 A<50 mA −→ OK
Since hese alues we e no app op ia e, he pa allel esis ances we e adjus ed o 10kΩ. Wi h
his change, he new heo e ical alues a he d i e inpu s we e calcula ed as:
VST O =I·Rpa allel =5V
5kΩ+0.220kΩ·5kΩ=4.789 V>2.5V−→ High le el
IST O =4.785V
5kΩ= 0.958 mA <50 mA −→ OK
56 Repo
Wi h he speci ica ions me and he necessa y adjus men s made, he ci cui passed he Mo-
ionLab3 es success ully. All modi ica ions a e shown in he schema ic in Figu e 44 and on he
PCB in Figu e 45.
Figu e 44: Modi ica ions o he STO ci cui . Sou ce: au ho .
Figu e 45: STO ci cui modi ica ions on he PCB. Sou ce: au ho .
10.3 Feedback ci cui
In he Feedback - Inc emen al Encode 1 sec ion o Mo ionLab3, he cu en posi ion alue o
he encode was e i ied. As shown in Figu e 46, manually mo ing he ee sha o he mo o
upda es his alue in eal ime.
This e i ica ion can be pe o med wi hou p ope ly con igu ing he Elec ical Tuning sec ion,
as he d i e always ecei es he in o ma ion and s o es he encode alue in i s co esponding
egis e .
Se o d i es implemen a ion o obo ’s mo o con ol 57
Figu e 46: Ve i ica ion o he inc emen al encode ci cui . Sou ce: au ho .
10.4 Con olle con igu a ion (se o d i e EVS-NET-E)
10.4.1 Comp ehensi e PCB e iew
The esul s o his analysis we e a o able ega ding he PCB’s ope a ion, as no componen s
we e ound damaged. Howe e , de e io a ion was de ec ed in one o he mo o powe acks,
speci ically in phase A.
This de e io a ion esul ed in inc eased esis ance in he ace, p e en ing he cu en o low
app op ia ely. To esol e his, an ex e nal jumpe was implemen ed using a wi e, as shown in
Figu e 47. This p ocedu e was ca ied ou o all mo o phases o p e en po en ial u u e issues
in case he o he phases also de e io a e.
The d i e had o be eplaced because i s opped wo king, making i impossible o es ablish
communica ion h ough TwinCAT o Mo ionLab3.
Figu e 47: Powe phase jumpe s. Sou ce: au ho .
10.4.2 Mo o con igu a ion es
Two con igu a ions we e conduc ed, one o each o he wo In ano mo o s (BLS072 and
BR02). Table 4summa izes he pa ame e alues de ined in he Limi s and Mo o sec ions o
Mo ionLab3. When he pa ame e alue depends on he mo o used, bo h alues a e shown
sepa a ed by a slash. The alue on he le co esponds o he BLS072 mo o , and he alue on
he igh o he BR02 mo o .
This analysis was no en i ely conclusi e, since he elec ical iden i ica ion could no be pe -
o med wi h ei he mo o . The same o e ol age issues we e encoun e ed in bo h cases, con-
58 Repo
Table 4: Limi s and Mo o pa ame e s (EVS-NET-E). Sou ce: au ho .
Ca ego y Type Pa ame e Value
Limi s
Tempe a u e Use o e empe a u e le el 55 °C
Use unde empe a u e le el -20 °C
Vol age Use o e ol age le el 30 V
Use unde ol age le el 10 V
Cu en
Peak cu en 5 A
Peak cu en ime 2000 ms
Max. cu en 5 A
Cu en scaling gain ac o Senso gain 4
Veloci y
Max. eloci y 100 / 66 e /s
Veloci y ollowing e o window 1.0 e /s
Veloci y ollowing e o imeou 0 ms
Posi ion
Min. posi ion 0
Max. posi ion 0
Posi ion ollowing e o window 100.0 cn
Posi ion ollowing e o imeou 0 ms
Mo o Gene al
Commu a ion modula ion Sinusoidal
Ra ed cu en 20 / 8 A
Mo o pole pai s 4 / 10
i ming ha mo o con igu a ion is no he p ima y cause o he obse ed e o s.
10.4.3 Powe Supply ci cui analysis
This analysis con i med ha he powe supply ci cui was no esponsible o he obse ed is-
sues. Modi ying he ci cui did no al e he beha io o esol e he e o s du ing plan iden i-
ica ion, no did emo ing he e e se pola i y p o ec ion ci cui .
All modi ica ions a e shown in he schema ic in Figu e 48 and on he PCB in Figu e 49.
Figu e 48: Modi ica ions o he powe supply ci cui . Sou ce: au ho .
Se o d i es implemen a ion o obo ’s mo o con ol 59
Figu e 49: Powe supply ci cui modi ica ions on he PCB. Sou ce: au ho .
66 Repo
egis e will be displayed.
In he example, he alues o wo egis e s a e ead and displayed on he e minal. One o he
egis e s is hen modi ied, and he change is e i ied. The e minal messages gene a ed by his
p og am a e shown in Figu e 60.
Figu e 60: Resul s o he se _ge _ egis e s.py p og am. Sou ce: au ho .
• eloci y_mo ion.py
This code demons a es he me hod and unc ions o sending eloci y commands o he d i e.
I gene a es h ee di e en amps o inc ease (o dec ease) he eloci y un il eaching he a ge
eloci y. The p og am pauses he execu ion while wai ing o he mo o eloci y o each he
a ge alue.
To mo e he mo o , i is essen ial o de ine he equi ed mo ion mode, in his case, P o ile Ve-
loci y. Subsequen ly, o each amp in he p og am, he a ge eloci y and maximum allowed
accele a ions a e speci ied. Finally, he p og am execu ion pauses un il he eloci y is eached.
I is in e es ing o obse e he di e ence in execu ion imes be ween he eal and i ual d i es.
As shown in he esul s in Figu e 61, he i ual d i e has a much sho e execu ion ime com-
pa ed o he eal one. This is because he i ual pe o ms all calcula ions on he compu e ,
has a di e en con igu a ion, and does no ha e eal eedback, as is he case wi h he mo o .
The e o e, i s dynamics can be signi ican ly as e han hose o he eal one.
(a) Real d i e. (b) Vi ual d i e.
Figu e 61: Resul s o he eloci y_mo ion.py p og am. Sou ce: au ho .
Lis ing 7p o ides a summa ized iew o he p ocess ollowed by his p og am o pe o m one
o he eloci y amps.
Se o d i es implemen a ion o obo ’s mo o con ol 67
Lis ing 7: Veloci y amp summa ized p ocess code.
1mc. mo ion . se _ope a ion_mode ( Ope a ionMode . PROFILE_VELOCITY )
2mc. mo ion . mo o _enable ()
3mc. con igu a ion . se _p o ile ( accele a ion , decele a ion )
4mc. mo ion . se _ eloci y ( inal_ eloci y )
5mc. mo ion . wai _ o _ eloci y ( inal_ eloci y )
6mc. mo ion . mo o _disable ()
•posi ion_mo ion.py
This code demons a es he mo o ’s posi ion ope a ion mode. Se e al a ge posi ions a e de-
ined o he mo o o mo e o, pausing he execu ion un il he mo o eaches he a ge posi ion.
The posi ion alue mus be speci ied in pulses, which a e de e mined by he esolu ion o he
con igu ed posi ion senso . In his p ojec he mo o has a 1:80 gea box and an inc emen al
encode wi h a esolu ion o 8192 pulses. The e o e, he o al numbe o pulses o one ull e -
olu iono he mo o sha is 8192·80 = 655360. Fo ins ance, s a ing omposi ion 0and mo ing
he mo o sha by 30 deg ees equi es speci ying a a ge posi ion o 54613 (30 ·655360/360).
The mo ion mode is now de ined as P o ile Posi ion, and a he s a o he p og am, he inc e-
men al encode is assumed o be a posi ion ze o. I he ac ual posi ion is unknown, he d i e
can be powe ed o and back on, which ese s he inc emen al encode egis e alue o s a a
ze o. The e a e di e ences in execu ion imes be ween he eal and i ual d i e, as happened
wi h he eloci y p og am. The esul s o bo h cases a e shown in Figu e 62.
(a) Real d i e. (b) Vi ual d i e.
Figu e 62: Resul s o he posi ion_mo ion.py p og am. Sou ce: au ho .
Lis ing 8p o ides a summa ized iew o he p ocess ollowed by his p og am o pe o m one
o he posi ion changes.
Lis ing 8: Posi ion change summa ized p ocess code.
1mc. mo ion . se _ope a ion_mode ( Ope a ionMode . PROFILE_POSITION )
2mc. mo ion . mo o _enable ()
3mc. mo ion . mo e_ o_posi ion ( cu en _ a ge , blocking =T ue , e o =5 ,
imeou = None , in e al =0.2)
4mc. mo ion . mo o _disable ()
•p og am_ eloci y_keys.py
68 Repo
This code demons a es an example o using Py hon’s keyboa d lib a y. In his case, nume -
ical keys 1 and 2 a e de ined o inc ease and dec ease eloci y, espec i ely. To e mina e he
p og am, he Q key mus be p essed. Addi ionally, he p og am displays he cu en eloci y
alues in he e minal e e y second.
To enable simul aneous p ocesses, lis ening o keyboa d commands and display upda es, he
h eading module is used. This allows he main unc ion loop o execu e eloci y display com-
mands while a pa allel h ead lis ens o keyboa d inpu s o upda e he eloci y.
•p og am_ eloci y_keys_d i e.py
This code ep esen s he Windows e sion o he inal con ol p og am. In his case, wo h eads
a e de ined: one o con olling he a ge eloci y o he d i e and ano he o lis ening o key-
boa d inpu s. Since he codes we e designed wi h a single con olle in mind, only one eloci y
con ol is p esen ed. Each h ead execu es i s unc ion associa ed wi h i s speci ic ask.
The keyboa d h ead main ains he use o keys 1 and 2 o inc easing and dec easing eloci y,
while he Q key e mina es he p og am. The eloci y con ol h ead checks o changes in
he eques ed eloci y and upda es he a ge eloci y using he se _ eloci y() unc ion i
necessa y. This p e en s unnecessa y ope a ions when modi ying d i e egis e s wi h iden ical
alues. The e minal displays bo h he new a ge eloci y and eedback eloci y alues. The
upda e pe iod is se o 1 second o cla i y bu can be adjus ed o he obo ’s implemen a ion.
Fo sa e y, a secu e s op unc ion is also included. When e mina ing he p og am, he a ge
eloci y is i s se o ze o, hen, he p og am wai s o he mo o o come o a comple e s op
be o e disconnec ing he de ice.
The main unc ion connec s he d i e, se s he eloci y con ol mode, and enables he mo o .
Then, he h eads a e s a ed, each execu ing i s espec i e unc ion. The p og am wai s un il
he keyboa d h ead e mina es upon p essing he Q key. Finally, a secu e s op is pe o med,
and he con olle is disconnec ed.
The e minal ou pu is iden ical o bo h he eal and i ual d i es, and a e shown in Figu e 63.
Figu e 63: Resul s o p og am_ eloci y_keys_d i e.py. Sou ce: au ho .
Lis ing 9p o ides a summa ized s uc u e o he code p og am_ eloci y_keys_d i e.py.
Se o d i es implemen a ion o obo ’s mo o con ol 69
Lis ing 9: p og am_ eloci y_keys_d i e.py summa ized s uc u e.
1de se up_command ():
2# Dic iona y pa h and i ual d i e usage a gumen s
3
4de keyboa d_lis ene ():
5while unning:
6# Condi ional s uc u e o key inpu s
7# (" i keyboa d . is_p essed (’key ’):")
8
9de eloci y_con ol_loop(mc):
10 while unning:
11 i cu en _ eloci y != a ge _ eloci y :
12 mc. mo ion . se _ eloci y ( a ge _ eloci y )
13
14 de sa e_s op (mc):
15 mc. mo ion . se _ eloci y (0)
16 mc. mo ion . wai _ o _ eloci y (0)
17
18 de main(a gs):
19 mc = Mo ionCon olle ()
20 d i e _connec ion ( i ual_d i e_used , a gs , mc , use _selec ion )
21 mc. mo ion . se _ope a ion_mode ( Ope a ionMode . PROFILE_VELOCITY )
22
23 keyboa d_ h ead = h eading . Th ead ( a ge = keyboa d_lis ene )
24 con ol_ h ead = h eading . Th ead ( a ge = eloci y_con ol_loop )
25 keyboa d_ h ead . s a ()
26 con ol_ h ead.s a ()
27 keyboa d_ h ead . join ()
28 sa e_s op (mc )
29
30 mc. communica ion . disconnec ()
11.2.2 Ubun u
The las code was po ed o Ubun u and hei beha io was e i ied. Fi s , i was necessa y o
change he connec ion me hod be ween he d i e and he compu e . While using Windows, he
connec ion was es ablished di ec ly using he lap op’s E he ne po . Howe e , i was no pos-
sible o access he de ice h ough his po due o Ubun u’s pe mission handling. An E he ne -
USB con e e was used ins ead, as accessing hese po s only equi es being he sys em admin-
is a o .
Wi h his change, he d i e _connec ion() unc ion needed o be modi ied o se he pa hs o
he dic iona y iles as global pa hs so he p og am could loca e hem. Ano he equi ed change
was he eplacemen o he keyboa d module o eading keyboa d inpu s wi h he pynpu
module. On Ubun u, he keyboa d module equi es special pe missions o use de ices such as
he keyboa d, which could no be g an ed in his case.
The need o hese changes led o he c ea ion o wo new iles: d i e _connec ion_ubun u.py
and p og am_ eloci y_keys_d i e_ubun u.py. These iles ha e he same unc ionali y as hei
Windows coun e pa s bu use di e en unc ion nomencla u e. To a oid edundancy, hei
desc ip ions a e omi ed he e.
70 Repo
To implemen he codes using ROS2, he las men ioned ile was used as a s a ing poin . This
equi edc ea ing wonodes: one o con ol hed i e andmo o eloci y, andano he o gene a e
eloci y commands by lis ening o he keyboa d. The c ea ed nodes a e desc ibed below.
• eleop_keyboa d.py
The eleop_keyboa d node was c ea ed o lis en o eloci y commands and also gene a e wo
opics named cmd_ el and eleop_shu down. The i s opic sends eloci y commands en e ed
by he use , while he second sends he command o e mina e he p og am and disconnec
he d i e. The nume ical keys 1 and 2 a e also used o inc ease and dec ease mo o eloci y,
espec i ely, while he Q key is ese ed o e mina ing he p og am. This node also uses he
h eading module o lis en o keyboa d inpu s while publishing eloci y command messages
o he speci ic opic.
This node can be launched independen ly o send eloci y commands o he cmd_ el opic. I
no o he node subsc ibes o his opic, he commands will nei he be egis e ed no ac on any
sys em. Howe e , his node displays he eques ed eloci y in he e minal each ime i s alue
is modi ied.
Lis ing 10 p o ides a summa ized s uc u e o he node eleop_keyboa d.py. The messages
displayed on he e minal du ing i s execu ion a e shown in Figu e 64.
Lis ing 10: eleop_keyboa d node summa ized s uc u e.
1class TeleopKeyboa d(Node):
2de __ini __ ( sel ):
3sel . publishe _ = sel . c ea e_publishe ( Twis , ’cmd_ el’, 10)
4sel . shu down_publishe = sel . c ea e_publishe (Bool , ’ eleop_shu down ’,
10)
5sel . lis ene _ h ead = h eading . Th ead ( a ge = sel . keyboa d_lis ene )
6sel . lis ene _ h ead . s a ()
7
8de keyboa d_lis ene (sel ):
9# Condi ional s uc u e o key inpu s
10 # (" i hasa (key , ’cha ’) and key . cha == ’key ’:")
11 wi h keyboa d . Lis ene ( on_p ess = on_p ess ) as lis ene :
12 lis ene . join ()
13
14 de publish_ eloci y ( sel ):
15 sel . publishe _ . publish ( a ge _ eloci y )
16
17 de des oy_node(sel ):
18 sel . unning = False # s op he main loop
19 i sel . lis ene _ h ead . is_ali e ():
20 sel . lis ene _ h ead . join () # wai o he h ead o inish
21 supe ().des oy_node() # close he ROS node
22
23 de main(a gs=None):
24 clpy . ini ( a gs = a gs )
25 node = TeleopKeyboa d()
26 y :
27 while node . unning :
28 node . publish_ eloci y ()
29 ime . sleep (1) # publish a e
30 inally:
31 node . des oy_node ()
32 clpy . shu down ()
Se o d i es implemen a ion o obo ’s mo o con ol 71
Figu e 64: Resul s o he eleop_keyboa d node. Sou ce: au ho .
•mo o _con ol.py
The mo o _con ol node was c ea ed o handle he eloci y con ol o he mo o . This node
subsc ibes o he opics /cmd_ el and / eleop_shu down o ecei e hei messages. When a
eloci y command message is ecei ed, he cmd_ el_callback() unc ion is au oma ically ig-
ge ed, and he a ge eloci y alue is s o ed in he a ge _ eloci y a iable. When a con ol
e mina ion message is ecei ed, he shu down_callback() unc ion is igge ed, and he un-
ning a iable is se o False. The node hen p oceeds o shu down.
The basic ope a ion o his node is he same as he p e iously discussed d i e con ol p og am.
The a ge eloci y is upda ed i modi ied, and he eedback eloci y egis e alues a e ead o
compa ison. Addi ionally, his node also includes a sa e mo o s op unc ion. Upon ecei ing
he con ol e mina ion message, he eloci y con ol h ead and he mo o a e s opped, and he
con olle is disconnec ed. This node also uses he h eading module o simul aneously ecei e
eloci y commands and adjus he d i e’s eloci y.
Lis ing 11 p o ides a summa ized s uc u e o he node mo o _con ol.py. The messages dis-
played on he e minal du ing i s execu ion a e shown in Figu e 65.
Lis ing 11: mo o _con ol node summa ized s uc u e.
1class Mo o Con olle ( Node ):
2de __ini __ ( sel , a gs ):
3sel . c ea e_subsc ip ion (Twis , ’/ cmd_ el ’, sel . cmd_ el_callback , 10)
4sel . c ea e_subsc ip ion (Bool , ’ eleop_shu down’, sel .shu down_callback
, 10)
5
6sel .mc = Mo ionCon olle ()
7d i e _connec ion ( i ual_d i e_used , a gs , sel .mc , use _selec ion )
8sel .mc .mo ion . se _ope a ion_mode ( Ope a ionMode . PROFILE_VELOCITY )
9
10 sel . con ol_ h ead = h eading . Th ead ( a ge = sel . eloci y_con ol_loop
)
11 sel . con ol_ h ead . s a ()
12
13 de cmd_ el_callback ( sel , msg):
14 sel . a ge _ eloci y = msg . linea .x
15
16 de shu down_callback (sel , msg):
17 i msg. da a :
18 sel . unning = False
19 sel . des oy_node ()
20
72 Repo
21 de eloci y_con ol_loop(sel ):
22 while sel . unning :
23 i sel . cu en _ eloci y != sel . a ge _ eloci y :
24 sel .mc . mo ion . se _ eloci y ( sel . a ge _ eloci y )
25
26 de des oy_node(sel ):
27 i sel . con ol_ h ead . is_ali e ():
28 sel . con ol_ h ead . join () # wai o he h ead o inish
29
30 # Pe o ming sa e s op
31
32 sel .mc . communica ion . disconnec ()
33
34 supe ().des oy_node()
35
36 de se up_command ():
37 # Dic iona y pa h and i ual d i e usage a gumen s
38
39 de main(a gs=None):
40 clpy . ini ( a gs = a gs )
41 cli_a gs = se up_command ()
42 node = Mo o Con olle ( cli_a gs )
43 y :
44 clpy . spin ( node )
45 inally:
46 node . des oy_node ()
47 clpy . shu down ()
Figu e 65: Resul s o he mo o _con ol node. Sou ce: au ho .
•mo o _con ol_joys ick.py
Finally, he mo o _con ol_joys ick node was c ea ed o use he d i e and mo o wi h he
CDEI obo ’s na iga ion package. This package includes a simula ion ha can be execu ed o
obse e he obo ’s ope a ion, whe e i s mo emen can be con olled using he joys ick. The
mo o _con ol_joys ick node was designed o simul aneously obse e he obo ’s mo emen
in he simula ion and he mo o ’s mo emen , ensu ing hey ma ch. This node is iden ical o
he p e ious one bu eads eloci y commands om he cmd_ el_joy opic ins ead o cmd_ el.
The cmd_ el_joy opic is c ea ed by he na iga ion package nodes and includes he commands
Se o d i es implemen a ion o obo ’s mo o con ol 73
en e ed in o he sys em h ough he joys ick.
This node mus be launched alongside he simula ion nodes bu no o he nodes de eloped on
his p ojec . To pe o m his expe imen , he ollowing commands mus be execu ed in he
e minal:
Lis ing 12: Commands o launch he simula ion and joys ick node.
1 os2 launch ag i_bo joy_con ol . launch . py sim := ue wo ld := wa ehouse
2 os2 un eleop_node mo o _con ol_joys ick
Once he simula ion is unning, he joys ick can be used o mo e he obo . The commands will
also be ansmi ed o he d i e o mo e he mo o simul aneously. The esul s ob ained om
execu ing his code a e shown in Figu e 66.
Figu e 66: Resul s o he mo o _con ol_joys ick node. Sou ce: au ho .
Figu e 67: Simula ion. Sou ce: au ho .
74 Repo
12 Analysis and discussion
12.1 Discussion o he esul s
Fi s , al hough he p ope unc ioning o se e al pa s o he p in ed ci cui boa d has been
e i ied, such as he powe supply, communica ion, and inc emen al encode ci cui s, he issues
encoun e ed du ing he Elec ical Tuning con igu a ion phase ha e no been esol ed. These
p oblems, a ibu ed o he powe s age o he mo o in he PCB, cause oscilla ions in he supply
ol age p e en ing he ull alida ion o he PCB. Fu he mo e, he d i e was damaged and had
o be eplaced.
The e o e, he esul s ob ained in e i ying he unc ioning o he PCB a e un a o able and do
no mee he ini ially p oposed objec i es.
Second, a guided p ocedu e o p og amming Ingenia d i es using he Mo ionLab3 so wa e
has been es ablished. This p ocedu e is gene al and applicable o any o he company’s con-
olle s. Addi ionally, a con ol p og am capable o commanding mo o mo emen s h ough
hese de ices has been success ully designed. This has been demons a ed no only wi h he
i ual d i e bu also in an expe imen al se up wi h a eal mo o and in conjunc ion wi h he
obo na iga ion simula ion.
The codes de eloped a e also modula and gene al, as hey can be used wi h any Ingenia d i e
by simply eplacing he dic iona y ile associa ed wi h he speci ic de ice. All in e media e
codes de eloped ha e been p o ided o illus a e he capabili ies and beha io o a ious unc-
ions wi hin he ingeniamo ion lib a y. These esou ces can be bene icial o u u e wo k wi h
hese de ices.
The e o e, he esul s ob ained in designing he mo o con ol p og am a e highly a o able and
mee all p oposed objec i es.
Finally, he impac o his p ojec is posi i e, as i has been demons a ed ha E he CAT d i es
can be used a CDEI o con ol obo mo o s. This educes he weigh and space occupied by he
con ol sys em by elimina ing he PLC. Howe e , ce ain limi a ions emain, such as he lack o
a unc ional, cus om PCB ha in eg a es he con olle . Ne e heless, i has been shown ha
once he PCB’s echnical issues a e sol ed, implemen ing Ingenia d i es is highly easible.
The ollowing sec ion ou lines p oposed u u e wo k o guide he con inua ion o his p ojec
and comple e he imp o emen o mo o con olle s o CDEI obo s.
12.2 P oposals o u u e wo k
Rega ding he PCB design, he expe imen s ha e iden i ied se e al a eas o imp o emen . Fo
he nex i e a ions o PCB design and manu ac u ing, he ollowing p oposals a e sugges ed:
•Reduce he dimensions o he PCB along he ou e edges, allowing he connec ion po s
o ex end ou wa d, making i easie o place cables. In he cu en design, he connec ion
and disconnec ion o cables and connec o s a e complica ed because he po s o e lap on
he PCB. Ideally, hese po s should ex end beyond he edges.
•Res uc u e he Inpu s/Ou pu s o he C5 connec o . This connec o includes bo h signal
inpu s and mo o b ake connec ions, which a e powe lines. I is p oposed o sepa a e he
Se o d i es implemen a ion o obo ’s mo o con ol 75
powe pa s in o a di e en connec o o a oid po en ial in e e ences.
•S udy he placemen o he PCB wi hin he obo o enhance he mal dissipa ion o explo e
he possibili y o a aching a hea sink o he d i e.
•Combine mul iple d i es in o a single PCB o mul i-axis con ol sys ems. This would
elimina e he need o some E he ne po s, educing space consump ion and a oiding
he need o connec mul iple PCBs wi h cables, as hese connec ions would be in eg a ed
in o he PCB i sel .
Rega ding he de eloped code, he ollowing imp o emen s a e p oposed:
•Op imize he ROS2 code so ha eloci y command messages a e sen o he opic only
when a change occu s, a he han a p ede e mined in e als, o achie e as e con olle
esponse imes.
•Make he code obus agains po en ial ailu es, such as ele a ed mo o empe a u es o
ins an aneous communica ion e o s. These ypes o issues cu en ly cause he de ice o
s op ope a ion. A me hod could be inco po a ed o in o m he use o eco e able e o s
while allowing he d i e o con inue unc ioning no mally.
•Inco po a e he con ol o mul iple d i es in se ies o mul i-axis sys ems.
•Include mo o b ake con ol by adding he ele an commands.
82 Repo
16 Social and gende equali y assessmen
This sec ion p o ides a b ie c i ical analysis o he p ojec ’s impac on gende equali y and social
disc imina ion, e alua ing whe he he wo k is in luenced by disc imina o y di e ences based
on gende o social s a us.
E o s ha e been made o ensu e ha bo h he images and he language used in his wo k a e
inclusi e and non-sexis so ha anyone can ead i wi hou eeling disc imina ed. Addi ionally,
gende conside a ions ha e been aken in o accoun in he ci ed publica ions h oughou his
epo , wi h he au ho s’ ull names included o p omo e equi able ea men and a oid bias.
The echnology used in his p ojec is equally accessible o bo h men and women. Howe e ,
indi iduals wi h li le o no knowledge in he ields o obo ics and elec onics may ind i chal-
lenging o ully unde s and all he aspec s co e ed and de eloped in his wo k due o i s high
echnical le el.
Social g oups wi h lowe economic powe may also ace di icul ies accessing he echnology
used in his p ojec . In pa icula he d i es, due o hei high cos , which can di icul hei use
by companies o indi iduals wi h limi ed esou ces.
On he o he hand, he CDEI eam includes bo h men and women, al hough men a e in he ma-
jo i y. Ne e heless, women a e ep esen ed in leade ship posi ions; o example, Alba Pé ez,
he di ec o o CDEI. This gende imbalance is also in luenced by he enginee ing sec o , whe e
men p edomina e among p o essionals. This end is simila ly obse ed a UPC, whe e only
31.85% o s uden s en olled in enginee ing and a chi ec u e p og ams du ing he 2023-2024
academic yea we e women, as epo ed in [97]. Howe e , i is wo h no ing ha he pe cen -
age o women en olling in UPC p og ams inc eases e e y yea [98].
Se o d i es implemen a ion o obo ’s mo o con ol 83
Conclusions
Du ing he de elopmen o his p ojec , he eal challenges o alida ing a p in ed ci cui boa d
we e ob ious. The componen s a e ex emely small, wi h a high densi y o elemen s ha com-
plica e inspec ion. This is especially ue o mul ilaye PCBs, as in his p ojec , whe e inspec ing
in e nal aces is pa icula ly challenging.
Addi ionally, he expe ience highligh ed how communica ion wi h en i ies and hei echnical
suppo can slow down and delay p ojec p ocesses and ac i i ies. This equi ed adjus men s
o he ini ial plan o achie e he p ojec ’s objec i es.
A he conclusion o his p ojec , i can be s a ed ha a unc ional and op imized code has been
success ully designed o he con ol o a obo ’s b ushless mo o s using Ingenia se o d i es.
The de eloped code is modula , making i easy o modi y and adap able o any con olle model
o e company. Mo eo e , example codes ha e been p o ided o illus a e he unc ionali ies o
he d i es and he ingeniamo ion lib a y. These se e as a ounda ion o u u e code de elop-
men in his a ea.
On he o he hand, se e al ci cui s on he PCB we e alida ed, bu he boa d could no be made
ope a ional o con olling he obo ’s mo o s. The E he CAT communica ions, he STO sa e y
sys em, and he inc emen al encode eedback ci cui s allow he de ice o connec o he com-
pu e and ead he mo o ’s posi ion alue, e en hough he powe s age is no unc ional and
he mo o canno mo e. To add ess his, he nex s eps o ixing he PCB ha e been ou lined,
along wi h a se ies o imp o emen s p oposed o u u e PCB designs.
Las ly, he necessa y guides ha e been c ea ed so ha anyone can lea n o use hese con olle s
and eplica e he s eps aken du ing his p ojec , achie ing he same esul s.
In summa y, al hough he PCB equi es u he e ision o esol e i s issues and make i op-
e a ional, he de eloped code is ully unc ional o mo o con ol. The e o e, he easibili y o
using E he CAT d i es in CDEI obo s has been con i med, o e ing bene i s such as educed
weigh and simpli ied connec ions.
84 Repo
Acknowledgmen s
I would like o exp ess my deepes g a i ude o my ad iso , Da id Caballe o, o gi ing me he
oppo uni y o emba k on such a challenging and ascina ing p ojec . His con inuous suppo
and guidance ha e been essen ial o he success ul comple ion o my mas e ’s hesis.
I also ex end my since e hanks o Elena Villalba, whose knowledge and assis ance ha e been
in aluable h oughou his p ojec . He encou agemen and cons uc i e eedback ha e g ea ly
en iched he quali y o his wo k.
I would also like o exp ess special hanks o CDEI o p o iding access o he esou ces and
acili ies necessa y o my esea ch, as well as o gi ing me he oppo uni y o collabo a e wi h
such wonde ul p o essionals and pa icipa e in inspi ing p ojec s.
I am g a e ul o ETSEIB o p o iding me wi h he basic knowledge h oughou my academic
jou ney, which enabled me o b ing his p ojec o ealiza ion. This educa ion has been c ucial
in o e coming he challenges ela ed o elec onics and p og amming, and i has also helped
me gain a be e unde s anding o mysel .
On a pe sonal no e, I wan o hank my amily and iends o hei suppo , encou agemen ,
and unde s anding h oughou all phases o his challenging p ojec . Thei suppo has been
pi o al o he success ul ou come o his wo k.
Se o d i es implemen a ion o obo ’s mo o con ol 85
Re e ences
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h ml.
[90] Repsol. ¿Cuál es el consumo de un o denado ? [In e ne ];. [Úl imo ac-
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
9
9
10
10
11
11
12
12
D D
C C
B B
A A
11
2
2
C2
10 uF
12
C3
10 uF
12
C4
10 uF
12
C5
10 uF
12
C6
10 uF
12
C7
10 uF
DC Bus Inpu S age
2 1
D1
SMAT70A
Logic Supply 5V
2 1
D3
PTVS5V0S1UR
1 2
L1
220Z/2.5A
1 2
L2
220Z/2.5A
GND_D
5V_D
2 1
C10
100 nF
2 1
C11
100 nF
12
C12
10 uF
R2
100 k
2 1
D2
PTVS5V0S1UR,115
R5
100 k
1
34
Q1
SUM70101EL-GE3
In e se Pola i y P o ec ion
POW_SUP
+DC_BUS
POW_SUP
R14
24 k
R23
24 k
R15
24 k
R24
24 k
12
C19
100 pF
12
C23
100 pF
12
C20
100 pF
12
C24
100 pF
GND_D
IN1 GPI1
IN3
GND_D
GPI3
GND_D
GND_D
GPI2
GPI4IN4
IN2
Digi al Inpu s
2 1
D12
1N4148WS
1
3 2
Q3
5V_D
GPO1
GND_D
OUT1 2 1
D13
1N4148WS
1
3 2
Q4
ZXMS6004FFTA
5V_D
GPO2
GND_D
OUT2
2 1
D14
1N4148WS
1
3 2
Q5
ZXMS6004FFTA
5V_D
GPO3
GND_D
OUT3 2 1
D15
1N4148WS
1
3 2
Q6
ZXMS6004FFTA
5V_D
GPO4
GND_D
OUT4
Digi al Ou pu s
R33
1k
R34
1k
R35
1k
R36
1k
5 V Ou pu Supplies
12
C48
1 uF
2 1
C47
100 nF
2 1
C42
100 nF
2 1
D16
PTVS5V0S1UR,115
R61
100 k
5V_D
GND_D GND_D
+5V_OUT
D
1
GND 2
VCC
3
R
4
EN 5
CANL 6
CANH 7
RS
8
U9
SN65HVD234DR
2 1
C59
100 nF
12 R80
10 K
R82
0
R81120
CAN
Digi al Hall
2 1
C8
1 nF
Inc emen al Encode 1
2 1
C32
100 nF
12
C28
100 pF
LED Signaling
Absolu e Encode 1
R19
470 R
R17
470 R
R29
470 R
DS1
DS2
GND_D
ECAT_CAN_ERR
GND_D
ECAT_CAN_RUN
GND_D
FAULT_SIGNAL
GND_D
5V_D
GPIO
Mechanical S ando s
Te minal a ing = 11.2 A ms.
Powe Pluggable Con ac s
PH_A
PH_B
PH_C
POW_SUP
GND_P
1 2
R1
1 R
GND_A GND_D
GND_D
+3.3V_D
+3.3V_D CAN_TX
CAN_RX
+3.3V_D
CAN_P
CAN_N
GND_D
HALL_3
HALL_2
HALL_1
2 1
C17
100 nF
R4
1k
12 R3
10 K
1A
2A
+3.3V_D
2 1
C1
100 nF
GND_D
1A
GND_D
2 1
C9
1 nF
R7
1k
12 R6
10 K
2A
GND_D
2 1
C15
1 nF
R10
1k
12 R9
10 K
3A
GND_D
5V_D
-VIN
1
+VIN
2
R.C.
3
N.C._1
5
+VOUT
6
-VOUT
7
N.C._2
8
PS1 SPBW06G-12
IN
1
GND
2
EN
3
OUT 6
ILIM 5
FAULT 4
IC4
AP2553W6-7
GND_D
HALL_IN_1
HALL_IN_2
HALL_IN_3
VCC
1
GND
2
RO
3
B4
A5
IC2
MAX3280EAUK+T
1 2
R41 10
R51
2K
R45
220
DIG_ENC_1A
GND_D
+3.3V_D
1 2
R47 10
12
C29
100 pF
R52
2K
R37
2K GND_D
5V_D 21
C40
100 nF
GND_D
DIG_ENC_1A_N
DIG_ENC_1A_P
2 1
C49
100 nF
12
C43
100 pF
VCC
1
GND
2
RO
3
B4
A5
IC5
MAX3280EAUK+T
1 2
R66 10
R76
2K
R70
220
DIG_ENC_1B
GND_D
+3.3V_D
1 2
R72 10
12
C44
100 pF
R77
2K
R62
2K GND_D
5V_D
DIG_ENC_1B_N
DIG_ENC_1B_P
2 1
C64
100 nF
12
C60
100 pF
VCC
1
GND
2
RO
3
B4
A5
IC7
MAX3280EAUK+T
1 2
R85 10
R91
2K
R87
220
DIG_ENC_1Z
GND_D
+3.3V_D
1 2
R89 10
12
C61
100 pF
R92
2K
R83
2K GND_D
5V_D
DIG_ENC_1Z_N
DIG_ENC_1Z_P
R
1
RE
2
DE
3D
4
GND 5
A6
B7
VCC
8
U5
SN65HVD75DGKR
2 1
C38
100 nF
1 2
R39 10
12
C34
100 pF
12
C35
100 pF
GND_D
ABSENC1_CLK_P
ABSENC1_CLK_N
+3.3V_D
12
R49
10 K
1 2
R43 10
ABSENC1_CLK
R
1
RE
2
DE
3D
4
GND 5
A6
B7
VCC
8
U7
SN65HVD75DGKR
2 1
C55
100 nF
1 2
R59 10
12
C51
100 pF
12
C52
100 pF
GND_D
ABSENC1_DATA_P
ABSENC1_DATA_N
+3.3V_D
1 2
R68 10
R64
220
R55
2K
R56
2K
R74
2K
5V_D
ABSENC1_DATA
12
D6
CZRU52C3V9
12
D7
CZRU52C3V9
12
D8
CZRU52C3V9
12
D9
CZRU52C3V9
1 2
LED1
TLMG1100-GS08
1 2
LED2
TLMG1100-GS08
HIROSE_DF12(3.0)-60DS-0.5V(86)
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
51 52
53 54
55 56
57 58
59 60
Male connec o
(Pinou mi o ed on PCB o ma e he emale)
S2 S1
P3 HIROSE_DF12(3.0)-80DS-0.5V(86)
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
51 52
53 54
55 56
57 58
59 60
61 62
63 64
65 66
67 68
69 70
71 72
73 74
75 76
77 78
79 80
Male connec o
(Pinou mi o ed on PCB o ma e he emale)
S2 S1
P2
1.7
mm
H1
1.7
mm
H2
1.7
mm
H5
1.7
mm
H4
1.7
mm
H3
M1
M2
M3
M4
PE
PE
i
PE
PE
i
PE
PE
GND_A
GND_D
GND_D
GND_D
GND_D
GND_A
DIG_ENC_1A
DIG_ENC_1B
DIG_ENC_1Z
DIG_ENC_2A
DIG_ENC_2B
DIG_ENC_2Z
ABSENC1_CLK
ABSENC1_DATA
ABSENC1_MOSI
GND_D
GND_A
GND_D
MOTOR_TEMP
HALL_1
HALL_2
HALL_3
ABSENC1_TX_EN
GND_A
GND_D
GND_D
GND_D
GND_D
GND_D
GND_D
GND_D
5V_D
+3.3V_REF
GPO4
GPI2
ABSENC2_DATA
GPO1
GPO3
PWM_BRAKE
BOOT
CAN_TX
CAN_RX
ECAT_CAN_RUN
ETH0_LED_LINK
PHY0_TX_P
PHY0_TX_N
PHY0_RX_P
MAGNETICS_CT
STO1
PHY0_RX_N
GND_D
GND_D
GND_D
GND_D
GND_D
GND_D
GND_D
5V_D
GND_D
PHY1_RX_N
PHY1_RX_P
PHY1_TX_N
PHY1_TX_P
ETH1_LED_LINK
ECAT_CAN_ERR
FAULT_SIGNAL
STO2
GPI4
GPO2
ABSENC2_CLK
GPI3
GPI1
+1.65V_REF
+3.3V_D
1A
1
3Y
2
2A
3
GND
4
VCC 8
1Y 7
3A 6
2Y 5
IC1
74LVC3G17DP,125
12
C13
10 uF
2 1
C14
100 nF
VIN
3
VOUT 2
VOUT 4
GND 1
U1
LD1117S33CTR
5V_D
GND_D
Logic Supply 3.3V
+3.3V_D
R18
1.6 K
1 2
L3
1kZ/0.2A
GND_D GND_A
MOTOR_TEMP_RET
MOTOR_TEMP_IN
5V_D
MOTOR_TEMP
Mo o Tempe a u e
2 1
C22
100 nF
1 2
R20
10 K
i
PE
i
PE
GND_A & GND_D
2
1
P1
22284020
BOOT
1 2
R8 1.2 K
BOOT
GND_D
Signal Connec o s o EVEREST S NET
Inc emen al Encode 2
2 1
C33
100 nF
12
C30
100 pF
VCC
1
GND
2
RO
3
B4
A5
IC3
MAX3280EAUK+T
1 2
R42 10
R53
2K
R46
220
DIG_ENC_2A
GND_D
+3.3V_D
1 2
R48 10
12
C31
100 pF
R54
2K
R38
2K GND_D
5V_D 21
C41
100 nF
GND_D
DIG_ENC_2A_N
DIG_ENC_2A_P
2 1
C50
100 nF
12
C45
100 pF
VCC
1
GND
2
RO
3
B4
A5
IC6
MAX3280EAUK+T
1 2
R67 10
R78
2K
R71
220
DIG_ENC_2B
GND_D
+3.3V_D
1 2
R73 10
12
C46
100 pF
R79
2K
R63
2K GND_D
5V_D
DIG_ENC_2B_N
DIG_ENC_2B_P
2 1
C65
100 nF
12
C62
100 pF
VCC
1
GND
2
RO
3
B4
A5
IC8
MAX3280EAUK+T
1 2
R86 10
R93
2K
R88
220
DIG_ENC_2Z
GND_D
+3.3V_D
1 2
R90 10
12
C63
100 pF
R94
2K
R84
2K GND_D
5V_D
DIG_ENC_2Z_N
DIG_ENC_2Z_P
Absolu e Encode 2
R
1
RE
2
DE
3D
4
GND 5
A6
B7
VCC
8
U6
SN65HVD75DGKR
2 1
C39
100 nF
1 2
R40 10
12
C36
100 pF
12
C37
100 pF
GND_D
ABSENC2_CLK_P
ABSENC2_CLK_N
+3.3V_D
12
R50
10 K
1 2
R44 10
ABSENC2_CLK
R
1
RE
2
DE
3D
4
GND 5
A6
B7
VCC
8
U8
SN65HVD75DGKR
2 1
C56
100 nF
1 2
R60 10
12
C53
100 pF
12
C54
100 pF
GND_D
ABSENC2_DATA_P
ABSENC2_DATA_N
+3.3V_D
1 2
R69 10
R65
220
R57
2K
R58
2K
R75
2K
5V_D
ABSENC2_DATA
1 2
R21
10
1 2
R22
10
12
C27
10 uF
12 R11
15 K
R16
30 K
12 R12
15 K
R13
220 R
C18
10 nF 50
C21
10 nF 50
12
D4
SD36C-01FTG
12
D5
BAS16P2T5G
1
2
4
3
U2
TCMD1000
STO1_IN
STO_RET STO1
IN
1
GND 2
GND 3
GND 4
PWRGD
5
ON
6
OUT 7
GATE 8
U3
LTC4360ISC8-1#TRMPBF
4
15-6-7-8
2
3
Q2
SIR460DP-T1-GE3
5V_D
1 2
R31
10
1 2
R32
10
12 R25
15 K
R28
30 K
12 R26
15 K
R27
220 R
C25
10 nF 50
C26
10 nF 50
12
D10
SD36C-01FTG
12
D11
BAS16P2T5G
1
2
4
3
U4
TCMD1000
STO2_IN
GND_D
GND_D
STO2
Vol age Moni o
Sa e To que O
+1.65V_REF
Analog Inpu s
Connec o s
3A
Unused digi al ou pu should be le unconne ed
Unused digi al inpu s should connec ed o GND_D
Unused analog inpu s should be connec ed o 1.65V_REF
12
C16
10 uF
R30
1k
GND_P
GND_P
GND_D
Absolu e Encode s Inpu /Oupu s
A1
A1
A2
A2
A3
A3
A4
A4
A5
A5
A6
A6
A7
A7
A8
A8
A_GREEN_1
A9
K_GREEN_1
A10
A_YELLOW_1
A11
K_YELLOW_1
A12
B1
B1
B2
B2
B3 B3
B4 B4
B5 B5
B6 B6
B7 B7
B8 B8
A_GREEN_2 B9
K_GREEN_2 B10
A_YELLOW_2 B11
K_YELLOW_2 B12
MH1 MH1
MH2 MH2
MH3 MH3
J8
JXD0-2005NL
12
C77
1 nF
GND
1
I/O_1
2I/O_2 3
VDD 4
D18
CD143A-SR3.3
IN A1
1
IN A2
3
VCC
5
GND 2
OUT Y1 6
OUT Y2 4
U11
NL27WZ14DFT2G
R97
330
PHY0_TX_P
2 1
C69
100 nF
12
C68
1 uF
PHY0_TX_N
PHY0_RX_P
12
C70
1 uF
2 1
C71
100 nF
GND_D
PHY0_RX_N
CHASSIS
PHY1_TX_P
2 1
C67
100 nF
12
C66
1 uF
12
C72
1 uF
2 1
C73
100 nF
PHY1_TX_N
GND_D
GND_D
PHY1_RX_P
PHY1_RX_N
CHASSIS
LED_LINK_1_A
CHASSIS
MAGNETICS_CT
PHY1_TX_PPHY1_TX_N
GND
1
I/O_1
2I/O_2 3
VDD 4
D19
CD143A-SR3.3
MAGNETICS_CT
PHY1_RX_NPHY1_RX_P
GND
1
I/O_1
2I/O_2 3
VDD 4
D20
CD143A-SR3.3
MAGNETICS_CT
PHY0_TX_PPHY0_TX_N
GND
1
I/O_1
2I/O_2 3
VDD 4
D21
CD143A-SR3.3
MAGNETICS_CT
PHY0_RX_NPHY0_RX_P
5V_D
ETH0_LED_LINK
ETH1_LED_LINK R98
330
LED_LINK_1_A
MAGNETICS_CT
ETHERCAT
LED D i ing
CHASSIS decoupled
12
C78
1 nF
CHASSIS
GND_D
PE
POS
1
NEG
2
J7
XT60PW-M
+DC_BUS
GND_P
D_1
1
D_2
2
G
3
S_1
4
D_3 5
D_4 6
D_5 7
S_2 8
Q7
SSM6K361NU,LF
42
U10A
SN74LVC1G17DRYR
GND 3
VCC
6
NC
1NC 5
U10B
SN74LVC1G17DRYR
12
D17
V2PM12HM3_H
2 1
C76
100 nF
R95
220
R96
100 k
GND_D
5V_D
GND_D
PWM_BRAKE
BRAKE_DIODE_K
BRAKE_OUT
BRAKE
LED_LINK_0_A
LED_LINK_0_A
GND_D
GND_D
11
22
3
3
4
4
55
66
7
7
8
8
J4
1017533
PE
PH_B
PH_C
PH_A
11
22
33
44
55
66
77
88
99
10 10
11
11
12
12
13
13
14
14
15
15
16
16
17
17
18
18
19
19
20
20
J2
1844808
11
22
33
44
55
66
77
88
9
9
10
10
11
11
12
12
13
13
14
14
15
15
16
16
J1
1844785
11
22
33
44
55
66
77
88
9
9
10
10
J6
1821300
DIG_ENC_2Z_N
DIG_ENC_2Z_P
DIG_ENC_2B_N
DIG_ENC_2B_P
DIG_ENC_2A_N
DIG_ENC_2A_P
+5V_OUT
GND_D
11
22
33
44
55
66
7
7
8
8
J3
1821287
11
22
33
44
55
66
7
7
8
8
J5
1821287
ABSENC2_CLK_P
ABSENC2_CLK_N
ABSENC2_DATA_P
ABSENC2_DATA_N
+5V_OUT
GND_D Supply
GND_D
PEGND_D
+5V_OUT
IN1
IN2
IN3
IN4
+5V_OUT
OUT1
OUT2
CAN_P
CAN_N
BRAKE_DIODE_K
BRAKE_OUT
OUT3
OUT4
Mo o Phases
+5V_OUT
GND_D
ABSENC1_DATA_P
ABSENC1_DATA_N
ABSENC1_CLK_P
ABSENC1_CLK_N
DIG_ENC_1A_P
DIG_ENC_1A_N
DIG_ENC_1B_P
DIG_ENC_1B_N
DIG_ENC_1Z_P
DIG_ENC_1Z_N
HALL_IN_1
HALL_IN_2
HALL_IN_3
MOTOR_TEMP_IN
MOTOR_TEMP_RET+5V_OUT
GND_D STO2_IN
STO_RET
STO1_IN
MAGNETICS_CT
MAGNETICS_CT
MAGNETICS_CT
Se o d i es implemen a ion o obo ’s mo o con ol 99
C PCB layou s
In he ollowing pages, he layou o he PCB is shown along wi h he layou o each laye inde-
penden ly, o de ed om op o bo om.
PAC102
PAC101
COC1
PAC201
PAC202
COC2
PAC302
PAC301
COC3
PAC402
PAC401
COC4
PAC502
PAC501
COC5
PAC602
PAC601
COC6
PAC702
PAC701
COC7
PAC802
PAC801
COC8
PAC902
PAC901
COC9
PAC1002
PAC1001
COC10
PAC1102
PAC1101
COC11
PAC1202
PAC1201
COC12
PAC1301
PAC1302
COC13
PAC1401
PAC1402
COC14
PAC1502
PAC1501
COC15
PAC1602 PAC1601
COC16
PAC1701
PAC1702
COC17
PAC1801
PAC1802
COC18
PAC1902
PAC1901
COC19
PAC2002
PAC2001
COC20
PAC2101 PAC2102
COC21
PAC2202
PAC2201
COC22
PAC2302
PAC2301
COC23
PAC2402
PAC2401
COC24
PAC2501
PAC2502
COC25
PAC2601 PAC2602
COC26
PAC2702
PAC2701
COC27
PAC2801
PAC2802
COC28
PAC2901
PAC2902
COC29
PAC3001 PAC3002
COC30
PAC3101
PAC3102
COC31
PAC3201
PAC3202
COC32
PAC3302
PAC3301
COC33
PAC3402
PAC3401
COC34
PAC3502
PAC3501
COC35
PAC3602 PAC3601
COC36
PAC3702 PAC3701
COC37
PAC3801
PAC3802
COC38
PAC3902
PAC3901
COC39
PAC4001
PAC4002
COC40
PAC4101
PAC4102
COC41
PAC4202
PAC4201
COC42
PAC4301
PAC4302
COC43
PAC4401
PAC4402
COC44
PAC4501 PAC4502
COC45
PAC4601
PAC4602
COC46
PAC4702
PAC4701
COC47
PAC4801
PAC4802
COC48
PAC4902
PAC4901
COC49
PAC5001
PAC5002
COC50
PAC5102
PAC5101
COC51
PAC5202
PAC5201
COC52
PAC5302 PAC5301
COC53
PAC5402
PAC5401
COC54
PAC5501
PAC5502
COC55
PAC5601
PAC5602
COC56
PAC5701
PAC5702
COC57
PAC5801
PAC5802
COC58
PAC5902
PAC5901
COC59
PAC6001
PAC6002
COC60
PAC6101
PAC6102
COC61
PAC6201 PAC6202
COC62
PAC6301
PAC6302
COC63
PAC6402
PAC6401
COC64
PAC6501
PAC6502
COC65
PAC6602 PAC6601
COC66
PAC6701
PAC6702
COC67
PAC6802 PAC6801
COC68
PAC6901
PAC6902
COC69
PAC7002 PAC7001
COC70
PAC7101
PAC7102
COC71
PAC7202 PAC7201
COC72
PAC7301
PAC7302
COC73
PAC7401
PAC7402
COC74
PAC7501
PAC7502
COC75
PAC7601
PAC7602
COC76
PAC7702
PAC7701
COC77
PAC7801
PAC7802
COC78
PAD102
PAD101
COD1
PAD201
PAD202
COD2
PAD301
PAD302
COD3
PAD402
PAD401
COD4
PAD502
PAD501
COD5
PAD601
PAD602
COD6
PAD702
PAD701
COD7
PAD802
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COD8
PAD902
PAD901
COD9
PAD1002
PAD1001
COD10
PAD1102
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COD11
PAD1202 PAD1201
COD12
PAD1302
PAD1301
COD13
PAD1402
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COD14
PAD1502
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COD15
PAD1601
PAD1602
COD16
PAD1701
PAD1702
COD17
PAD1804
PAD1801
PAD1802
PAD1803
COD18
PAD1901
PAD1904
PAD1903
PAD1902
COD19
PAD2001
PAD2004
PAD2002
PAD2003
COD20
PAD2101
PAD2104
PAD2103
PAD2102
COD21
PADS102
PADS101
CODS1
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PADS201
CODS2
PAH101
COH1
PAH201
COH2
PAH301
COH3
PAH401
COH4
PAH501
COH5
PAIC101
PAIC103
PAIC106
PAIC108
PAIC104
PAIC107
PAIC105
PAIC102
COIC1
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PAIC202
PAIC205 PAIC204
PAIC203
COIC2
PAIC301
PAIC302
PAIC303
PAIC304
PAIC305
COIC3
PAIC402
PAIC401
PAIC403
PAIC406
PAIC405
PAIC404
COIC4
PAIC501
PAIC502
PAIC505 PAIC504
PAIC503
COIC5
PAIC601
PAIC602
PAIC603
PAIC604
PAIC605
COIC6
PAIC702
PAIC701
PAIC705 PAIC704
PAIC703
COIC7
PAIC801
PAIC802
PAIC803
PAIC804
PAIC805
COIC8
PAJ102
PAJ101 PAJ106
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PAJ1016
PAJ1015
PAJ104
PAJ103
PAJ107
PAJ108
PAJ109
PAJ1010
PAJ1011 PAJ1012
PAJ1013
PAJ1014
COJ1
PAJ209
PAJ2010
PAJ2011 PAJ2012 PAJ2018
PAJ2020
PAJ202
PAJ2019
PAJ2017
PAJ2016
PAJ2015
PAJ2014
PAJ2013
PAJ208
PAJ207
PAJ206
PAJ205
PAJ204
PAJ203
PAJ201
COJ2
PAJ301 PAJ302
PAJ303
PAJ304
PAJ305
PAJ306
PAJ308
PAJ307
COJ3
PAJ406
PAJ407
PAJ408
PAJ401
PAJ402
PAJ403
PAJ404
PAJ405
COJ4
PAJ506
PAJ505
PAJ504
PAJ503
PAJ502
PAJ501
PAJ507 PAJ508
COJ5
PAJ601 PAJ602
PAJ603
PAJ604
PAJ605
PAJ606 PAJ607 PAJ608
PAJ6010
PAJ609
COJ6
PAJ702
PAJ701
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PAJ70S1
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PAJ80A4
PAJ80MH1
PAJ80A3 PAJ80A2
PAJ80A1
PAJ80B10
PAJ80B6
PAJ80B5
PAJ80B8
PAJ80B4
PAJ80B3
PAJ80B2
PAJ80B1
PAJ80A10
PAJ80A8
PAJ80A6
PAJ80MH3
PAJ80A5
PAJ80A7
PAJ80A9
PAJ80A11
PAJ80A12
PAJ80B7
PAJ80B9
PAJ80B11
PAJ80B12
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PAJ80MH5
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COL1
PAL201 PAL202
COL2
PAL301
PAL302
COL3
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PALED102
COLED1
PALED201
PALED202
COLED2
PAM101
COM1
PAM201
COM2
PAM301
COM3
PAM401
COM4
PAP102
PAP101
COP1
PAP20H2
PAP20H1
PAP208
PAP2020
PAP2059
PAP2010 PAP2078
PAP2018 PAP2046
PAP209
PAP2077
PAP2038
PAP207
PAP2076
PAP2035
PAP203
PAP2075
PAP2015
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PAP2032
PAP2016
PAP2013 PAP2073
PAP205
PAP2072
PAP2011
PAP2014
PAP2071
PAP2012
PAP206
PAP2069
PAP2070
PAP2019 PAP2079
PAP2033
PAP2080
PAP2034 PAP2060
PAP20S1
PAP20S2
PAP2058
PAP2057
PAP2056
PAP2055
PAP2054
PAP2053
PAP2052
PAP2051
PAP2050
PAP2049
PAP2048
PAP2047
PAP2045
PAP2044
PAP2043
PAP2042
PAP2041
PAP2040
PAP2039
PAP2037
PAP2036
PAP2031
PAP2029
PAP2030
PAP2022 PAP2024
PAP2026
PAP2025
PAP2023
PAP2021
PAP2017
PAP2027
PAP2028
PAP202
PAP201
PAP204
PAP2061
PAP2062
PAP2063
PAP2064
PAP2065
PAP2066
PAP2067
PAP2068
COP2
PAP30H2
PAP30H1
PAP3017 PAP3019
PAP304
PAP3021
PAP306 PAP308
PAP3010 PAP3026
PAP3024
PAP3020 PAP3030
PAP3060
PAP3059
PAP301
PAP3032
PAP3013
PAP3044
PAP3036
PAP302
PAP3034
PAP3022
PAP3015
PAP3028
PAP30S2
PAP30S1
PAP3058
PAP3057
PAP3056
PAP3055
PAP3054
PAP3053
PAP3052
PAP3051
PAP3050
PAP3049
PAP3048
PAP3047
PAP3046
PAP3045
PAP3043
PAP3042
PAP3041
PAP3040
PAP3039
PAP3038
PAP3037
PAP3035
PAP3033
PAP3031
PAP3029
PAP3018
PAP3025
PAP3023
PAP3027
PAP3016
PAP3014
PAP303 PAP305 PAP307 PAP309
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PAP3012
COP3
PAPS101
PAPS102
PAPS106
PAPS107
PAPS108
PAPS105
PAPS103
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PAQ101
PAQ103
PAQ104
COQ1
PAQ201
PAQ202
PAQ203
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PAQ204
COQ2
PAQ301
PAQ302
PAQ303
COQ3
PAQ403
PAQ402
PAQ401
COQ4
PAQ502
PAQ501
PAQ503
COQ5
PAQ603
PAQ601
PAQ602
COQ6
PAQ708
PAQ707
PAQ706
PAQ705
PAQ704
PAQ702
PAQ701
PAQ703
COQ7
PAR101
PAR102
COR1
PAR202
PAR201
COR2
PAR301
PAR302
COR3
PAR401
PAR402
COR4
PAR502
PAR501
COR5
PAR602
PAR601
COR6
PAR701
PAR702
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PAR801
PAR802
COR8
PAR901
PAR902
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PAR1001
PAR1002
COR10
PAR1102
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PAR1202
PAR1201
COR12
PAR1301 PAR1302
COR13
PAR1402
PAR1401
COR14
PAR1502
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COR15
PAR1601
PAR1602
COR16
PAR1702
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COR17
PAR1801
PAR1802
COR18
PAR1902
PAR1901
COR19
PAR2002
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COR20
PAR2102
PAR2101
COR21
PAR2201
PAR2202
COR22
PAR2302 PAR2301
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PAR2401
PAR2402
COR24
PAR2502
PAR2501
COR25
PAR2602
PAR2601
COR26
PAR2701 PAR2702
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PAR2801
PAR2802
COR28
PAR2902
PAR2901
COR29
PAR3001
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COR30
PAR3101 PAR3102
COR31
PAR3202
PAR3201
COR32
PAR3302
PAR3301
COR33
PAR3401
PAR3402
COR34
PAR3501
PAR3502
COR35
PAR3602
PAR3601
COR36
PAR3702 PAR3701
COR37
PAR3802
PAR3801
COR38
PAR3902
PAR3901
COR39
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PAR4001
COR40
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PAR4101
COR41
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PAR4302
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COR43
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PAR4401
COR44
PAR4502
PAR4501
COR45
PAR4601
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COR46
PAR4702
PAR4701
COR47
PAR4801
PAR4802
COR48
PAR4901
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COR49
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COR50
PAR5101
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COR51
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COR52
PAR5301
PAR5302
COR53
PAR5401
PAR5402
COR54
PAR5502
PAR5501
COR55
PAR5601
PAR5602
COR56
PAR5701
PAR5702
COR57
PAR5801
PAR5802
COR58
PAR5902
PAR5901
COR59
PAR6002
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COR60
PAR6101
PAR6102
COR61
PAR6202
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COR62
PAR6302
PAR6301
COR63
PAR6402
PAR6401
COR64
PAR6502
PAR6501
COR65
PAR6602
PAR6601
COR66
PAR6701
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PAR6801
COR68
PAR6902
PAR6901
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COR70
PAR7101
PAR7102
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PAR7201
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PAR7301
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COR73
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PAR7401
COR74
PAR7501
PAR7502
COR75
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PAR7601
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PAR7801
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PAR7901
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PAR8101
PAR8102
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PAR8202
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PAR8401
COR84
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PAR8601
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PAR8702
PAR8701
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PAR8801
PAR8802
COR88
PAR8902
PAR8901
COR89
PAR9001
PAR9002
COR90
PAR9102
PAR9101
COR91
PAR9201 PAR9202
COR92
PAR9301
PAR9302
COR93
PAR9401
PAR9402
COR94
PAR9501
PAR9502
COR95
PAR9601
PAR9602
COR96
PAR9702
PAR9701
COR97
PAR9802
PAR9801
COR98
PAU101 PAU102
PAU103
PAU104
COU1
PAU201
PAU202 PAU203
PAU204
COU2
PAU307
PAU308
PAU306 PAU304
PAU303
PAU302
PAU301
PAU305
COU3
PAU401
PAU402 PAU403
PAU404
COU4
PAU502
PAU503
PAU504
PAU508
PAU507
PAU506
PAU505
PAU501
COU5
PAU605
PAU606
PAU607
PAU608
PAU604
PAU603
PAU602
PAU601
COU6
PAU701
PAU702
PAU703
PAU704
PAU705 PAU706
PAU707
PAU708
COU7
PAU806
PAU807
PAU808
PAU801
PAU802
PAU803
PAU804 PAU805
COU8
PAU901
PAU903
PAU904
PAU908
PAU907
PAU906
PAU905
PAU902
COU9
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PAU1002
PAU1003
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PAU1005
PAU1001
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PAU1102
PAU1103
PAU1104
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PAP304 PAP306 PAP308
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PAC3201
PAC3301
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PAC5601
PAC5901
PAC6401
PAC6501
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PAIC201
PAIC301
PAIC501
PAIC601
PAIC701
PAIC801
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PAR8002
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PAU104
PAU502
PAU503
PAU508
PAU602
PAU603
PAU608
PAU708
PAU808
PAU903
PAU905
PAP201
PAC4701
PAC4801
PAD1601
PAIC406
PAJ1015
PAJ2012
PAJ2020
PAJ305 PAJ505
PAJ607
PAJ701
PAQ104
PAC801
PAIC101
PAR301
PAC901
PAIC103
PAR601
PAC1501
PAIC106
PAR901
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PAC1601
PAC1701
PAC4001
PAC4101
PAC4201
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PAC5801
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PAC7501
PAC7601
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PAD1302
PAD1402
PAD1502
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PAIC403
PAP207
PAP208
PAP209
PAP2010
PAQ201
PAQ202
PAQ203
PAR402
PAR702
PAR1002
PAR1802
PAR3001
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PAR5202
PAR5302
PAR5402
PAR5501
PAR5601
PAR5701
PAR5801
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PAP203
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PAP302
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PAR101
PAC102
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PAC902
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PAC1702
PAC1902
PAC2002
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PAC2302
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PAC2601
PAC2702
PAC2801
PAC2901
PAC3001
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PAC3302
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PAC3502
PAC3602
PAC3702
PAC3802
PAC3902
PAC4002
PAC4102
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PAC4401
PAC4501
PAC4601
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PAC4802
PAC4902
PAC5002
PAC5102
PAC5202
PAC5302
PAC5402
PAC5502
PAC5602
PAC5702
PAC5802
PAC5902
PAC6001
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PAC6201
PAC6301
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PAC6702
PAC6802
PAC6902
PAC7002
PAC7102
PAC7202
PAC7302
PAC7402
PAC7502
PAC7602
PAC7702
PAC7802
PAD602
PAD702
PAD802
PAD902
PAD1602
PAD1801
PAD1901
PAD2001
PAD2101
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PADS202
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PAIC202
PAIC302
PAIC402
PAIC502
PAIC602
PAIC702
PAIC802
PAJ1016
PAJ202
PAJ2011
PAJ306
PAJ506
PAJ608
PAJ80A10
PAJ80B10
PAL202
PAL302
PALED101
PALED201
PAP102
PAP205
PAP206
PAP2011
PAP2012
PAP2015
PAP2016
PAP2035
PAP2038 PAP2046
PAP2059
PAP2060
PAP2069
PAP2070
PAP2079
PAP2080
PAP3015
PAP3022
PAP3036
PAP3044
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PAP3060
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PAQ603
PAQ704
PAQ708
PAR102
PAR2101
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PAR3101
PAR3201
PAR3701
PAR3801
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PAR5002
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PAR6301
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PAR8301
PAR8401
PAR9601
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PAU302
PAU303
PAU304
PAU306
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PAU605
PAU702
PAU703
PAU704
PAU705
PAU802
PAU803
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PAU902
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PAU1102
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PAC302
PAC402
PAC502
PAC602 PAC702
PAD102
PAH201
PAJ702
PAPS101
PAR502
PAC1901
PAD601
PAP2018
PAR1402
PAC2001
PAD701
PAP2019
PAR1502
PAC2301
PAD801
PAP2020
PAR2302
PAC2401
PAD901
PAP2032
PAR2402
PAP2029
PAQ301
PAP2030
PAQ401
PAP2031
PAQ501
PAP2017
PAQ601
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PAP3017
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PAP3019
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PAP3021
PAJ109
PAR302
PAR401
PAJ1010
PAR602
PAR701
PAJ1011
PAR902
PAR1001
PAJ2013
PAR1401
PAJ2014
PAR1501
PAJ2015
PAR2301
PAJ2016
PAR2401
PAJ80A9
PAR9702
PAJ80B9
PAR9802
PAC6801
PAC6901
PAD1804
PAD1904
PAD2004
PAD2104
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PAP2013
PAC2201
PAP3013
PAR2002
PAJ108
PAR1801
PAR2001
PAJ107
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PAC1001
PAD301
PAL101
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PAC1002
PAD302
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PAC1101
PAL102
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PAR1602
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PAD1101
PAR2601
PAR2802
PAU401
PAC2701
PAR2701
PAU307
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PAC6701
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PAJ80A5
PAC7201
PAC7301
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PAD202
PAQ101
PAR201
PAR501
PAD401
PAR1101
PAR1202
PAD1001
PAR2501
PAR2602
PAD1201
PAR3301
PAD1301
PAR3401
PAD1401
PAR3501
PAD1501
PAR3601
PADS101
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PADS201
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PAR4101
PAIC205
PAR4701
PAIC304
PAR4201
PAIC305
PAR4801
PAIC405
PAR6102
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PAR6601
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PAR6701
PAIC605
PAR7301
PAIC704
PAR8501
PAIC705
PAR8901
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PAR8601
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PAR1301
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PAR1302
PAU204
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PAR3901
PAU506
PAR4001
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PAR4301
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PAR4401
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PAR5901
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PAR6001
PAU806
PAR6801
PAU707
PAR6901
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PAR8202
PAU908
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PAU1004
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PAU1106
PAR9801
PAU1104
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PAQ302
PAR3302
PAJ204
PAQ402
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PAJ401
PAJ402
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PAM301
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PAJ408
PAH401
PAJ405
PAJ406
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PAJ403
PAJ404
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PAP2075
PAD2002
PAJ80A2
PAP2073
PAD2003
PAJ80A1
PAP2071
PAD1903
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PAP2078
PAD1902
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PAP2076
PAD1802
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PAP2074
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PAC301
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PAD201
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PAP2033
PAR2102
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PAU203
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PAR1102
PAC2602
PAP2034
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PAR3202
PAU403
PAJ2017
PAR2502
PAC1801 PAC2501
PAD402
PAD502
PAD1002
PAD1102
PAJ2018
PAR1601 PAR2801
PAU202
PAU402
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PAC101
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PAC202
COC2
PAC302
PAC301
COC3
PAC402
PAC401
COC4
PAC502
PAC501
COC5
PAC602
PAC601
COC6
PAC702
PAC701
COC7
PAC802
PAC801
COC8
PAC902
PAC901
COC9
PAC1002
PAC1001
COC10
PAC1102
PAC1101
COC11
PAC1202
PAC1201
COC12
PAC1301
PAC1302
COC13
PAC1401
PAC1402
COC14
PAC1502
PAC1501
COC15
PAC1602 PAC1601
COC16
PAC1701
PAC1702
COC17
PAC1801
PAC1802
COC18
PAC1902
PAC1901
COC19
PAC2002
PAC2001
COC20
PAC2101 PAC2102
COC21
PAC2202
PAC2201
COC22
PAC2302
PAC2301
COC23
PAC2402
PAC2401
COC24
PAC2501
PAC2502
COC25
PAC2601 PAC2602
COC26
PAC2702
PAC2701
COC27
PAC2801
PAC2802
COC28
PAC2901
PAC2902
COC29
PAC3001 PAC3002
COC30
PAC3101
PAC3102
COC31
PAC3201
PAC3202
COC32
PAC3302
PAC3301
COC33
PAC3402
PAC3401
COC34
PAC3502
PAC3501
COC35
PAC3602 PAC3601
COC36
PAC3702 PAC3701
COC37
PAC3801
PAC3802
COC38
PAC3902
PAC3901
COC39
PAC4001
PAC4002
COC40
PAC4101
PAC4102
COC41
PAC4202
PAC4201
COC42
PAC4301
PAC4302
COC43
PAC4401
PAC4402
COC44
PAC4501 PAC4502
COC45
PAC4601
PAC4602
COC46
PAC4702
PAC4701
COC47
PAC4801
PAC4802
COC48
PAC4902
PAC4901
COC49
PAC5001
PAC5002
COC50
PAC5102
PAC5101
COC51
PAC5202
PAC5201
COC52
PAC5302 PAC5301
COC53
PAC5402
PAC5401
COC54
PAC5501
PAC5502
COC55
PAC5601
PAC5602
COC56
PAC5701
PAC5702
COC57
PAC5801
PAC5802
COC58
PAC5902
PAC5901
COC59
PAC6001
PAC6002
COC60
PAC6101
PAC6102
COC61
PAC6201 PAC6202
COC62
PAC6301
PAC6302
COC63
PAC6402
PAC6401
COC64
PAC6501
PAC6502
COC65
PAC6602 PAC6601
COC66
PAC6701
PAC6702
COC67
PAC6802 PAC6801
COC68
PAC6901
PAC6902
COC69
PAC7002 PAC7001
COC70
PAC7101
PAC7102
COC71
PAC7202 PAC7201
COC72
PAC7301
PAC7302
COC73
PAC7401
PAC7402
COC74
PAC7501
PAC7502
COC75
PAC7601
PAC7602
COC76
PAC7702
PAC7701
COC77
PAC7801
PAC7802
COC78
PAD102
PAD101
COD1
PAD201
PAD202
COD2
PAD301
PAD302
COD3
PAD402
PAD401
COD4
PAD502
PAD501
COD5
PAD601
PAD602
COD6
PAD702
PAD701
COD7
PAD802
PAD801
COD8
PAD902
PAD901
COD9
PAD1002
PAD1001
COD10
PAD1102
PAD1101
COD11
PAD1202 PAD1201
COD12
PAD1302
PAD1301
COD13
PAD1402
PAD1401
COD14
PAD1502
PAD1501
COD15
PAD1601
PAD1602
COD16
PAD1701
PAD1702
COD17
PAD1804
PAD1801
PAD1802
PAD1803
COD18
PAD1901
PAD1904
PAD1903
PAD1902
COD19
PAD2001
PAD2004
PAD2002
PAD2003
COD20
PAD2101
PAD2104
PAD2103
PAD2102
COD21
PADS102
PADS101
CODS1
PADS202
PADS201
CODS2
PAH101
COH1
PAH201
COH2
PAH301
COH3
PAH401
COH4
PAH501
COH5
PAIC101
PAIC103
PAIC106
PAIC108
PAIC104
PAIC107
PAIC105
PAIC102
COIC1
PAIC201
PAIC202
PAIC205 PAIC204
PAIC203
COIC2
PAIC301
PAIC302
PAIC303
PAIC304
PAIC305
COIC3
PAIC402
PAIC401
PAIC403
PAIC406
PAIC405
PAIC404
COIC4
PAIC501
PAIC502
PAIC505 PAIC504
PAIC503
COIC5
PAIC601
PAIC602
PAIC603
PAIC604
PAIC605
COIC6
PAIC702
PAIC701
PAIC705 PAIC704
PAIC703
COIC7
PAIC801
PAIC802
PAIC803
PAIC804
PAIC805
COIC8
PAJ102
PAJ101 PAJ106
PAJ105
PAJ1016
PAJ1015
PAJ104
PAJ103
PAJ107
PAJ108
PAJ109
PAJ1010
PAJ1011 PAJ1012
PAJ1013
PAJ1014
COJ1
PAJ209
PAJ2010
PAJ2011 PAJ2012 PAJ2018
PAJ2020
PAJ202
PAJ2019
PAJ2017
PAJ2016
PAJ2015
PAJ2014
PAJ2013
PAJ208
PAJ207
PAJ206
PAJ205
PAJ204
PAJ203
PAJ201
COJ2
PAJ301 PAJ302
PAJ303
PAJ304
PAJ305
PAJ306
PAJ308
PAJ307
COJ3
PAJ406
PAJ407
PAJ408
PAJ401
PAJ402
PAJ403
PAJ404
PAJ405
COJ4
PAJ506
PAJ505
PAJ504
PAJ503
PAJ502
PAJ501
PAJ507 PAJ508
COJ5
PAJ601 PAJ602
PAJ603
PAJ604
PAJ605
PAJ606 PAJ607 PAJ608
PAJ6010
PAJ609
COJ6
PAJ702
PAJ701
PAJ70S2
PAJ70S1
COJ7
PAJ80MH2
PAJ80A4
PAJ80MH1
PAJ80A3 PAJ80A2
PAJ80A1
PAJ80B10
PAJ80B6
PAJ80B5
PAJ80B8
PAJ80B4
PAJ80B3
PAJ80B2
PAJ80B1
PAJ80A10
PAJ80A8
PAJ80A6
PAJ80MH3
PAJ80A5
PAJ80A7
PAJ80A9
PAJ80A11
PAJ80A12
PAJ80B7
PAJ80B9
PAJ80B11
PAJ80B12
PAJ80MH4
PAJ80MH5
COJ8
PAL101 PAL102
COL1
PAL201 PAL202
COL2
PAL301
PAL302
COL3
PALED101
PALED102
COLED1
PALED201
PALED202
COLED2
PAM101
COM1
PAM201
COM2
PAM301
COM3
PAM401
COM4
PAP102
PAP101
COP1
PAP20H2
PAP20H1
PAP208
PAP2020
PAP2059
PAP2010 PAP2078
PAP2018 PAP2046
PAP209
PAP2077
PAP2038
PAP207
PAP2076
PAP2035
PAP203
PAP2075
PAP2015
PAP2074
PAP2032
PAP2016
PAP2013 PAP2073
PAP205
PAP2072
PAP2011
PAP2014
PAP2071
PAP2012
PAP206
PAP2069
PAP2070
PAP2019 PAP2079
PAP2033
PAP2080
PAP2034 PAP2060
PAP20S1
PAP20S2
PAP2058
PAP2057
PAP2056
PAP2055
PAP2054
PAP2053
PAP2052
PAP2051
PAP2050
PAP2049
PAP2048
PAP2047
PAP2045
PAP2044
PAP2043
PAP2042
PAP2041
PAP2040
PAP2039
PAP2037
PAP2036
PAP2031
PAP2029
PAP2030
PAP2022 PAP2024
PAP2026
PAP2025
PAP2023
PAP2021
PAP2017
PAP2027
PAP2028
PAP202
PAP201
PAP204
PAP2061
PAP2062
PAP2063
PAP2064
PAP2065
PAP2066
PAP2067
PAP2068
COP2
PAP30H2
PAP30H1
PAP3017 PAP3019
PAP304
PAP3021
PAP306 PAP308
PAP3010 PAP3026
PAP3024
PAP3020 PAP3030
PAP3060
PAP3059
PAP301
PAP3032
PAP3013
PAP3044
PAP3036
PAP302
PAP3034
PAP3022
PAP3015
PAP3028
PAP30S2
PAP30S1
PAP3058
PAP3057
PAP3056
PAP3055
PAP3054
PAP3053
PAP3052
PAP3051
PAP3050
PAP3049
PAP3048
PAP3047
PAP3046
PAP3045
PAP3043
PAP3042
PAP3041
PAP3040
PAP3039
PAP3038
PAP3037
PAP3035
PAP3033
PAP3031
PAP3029
PAP3018
PAP3025
PAP3023
PAP3027
PAP3016
PAP3014
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PAP3012
COP3
PAPS101
PAPS102
PAPS106
PAPS107
PAPS108
PAPS105
PAPS103
COPS1
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PAQ103
PAQ104
COQ1
PAQ201
PAQ202
PAQ203
PAQ205060708
PAQ204
COQ2
PAQ301
PAQ302
PAQ303
COQ3
PAQ403
PAQ402
PAQ401
COQ4
PAQ502
PAQ501
PAQ503
COQ5
PAQ603
PAQ601
PAQ602
COQ6
PAQ708
PAQ707
PAQ706
PAQ705
PAQ704
PAQ702
PAQ701
PAQ703
COQ7
PAR101
PAR102
COR1
PAR202
PAR201
COR2
PAR301
PAR302
COR3
PAR401
PAR402
COR4
PAR502
PAR501
COR5
PAR602
PAR601
COR6
PAR701
PAR702
COR7
PAR801
PAR802
COR8
PAR901
PAR902
COR9
PAR1001
PAR1002
COR10
PAR1102
PAR1101
COR11
PAR1202
PAR1201
COR12
PAR1301 PAR1302
COR13
PAR1402
PAR1401
COR14
PAR1502
PAR1501
COR15
PAR1601
PAR1602
COR16
PAR1702
PAR1701
COR17
PAR1801
PAR1802
COR18
PAR1902
PAR1901
COR19
PAR2002
PAR2001
COR20
PAR2102
PAR2101
COR21
PAR2201
PAR2202
COR22
PAR2302 PAR2301
COR23
PAR2401
PAR2402
COR24
PAR2502
PAR2501
COR25
PAR2602
PAR2601
COR26
PAR2701 PAR2702
COR27
PAR2801
PAR2802
COR28
PAR2902
PAR2901
COR29
PAR3001
PAR3002
COR30
PAR3101 PAR3102
COR31
PAR3202
PAR3201
COR32
PAR3302
PAR3301
COR33
PAR3401
PAR3402
COR34
PAR3501
PAR3502
COR35
PAR3602
PAR3601
COR36
PAR3702 PAR3701
COR37
PAR3802
PAR3801
COR38
PAR3902
PAR3901
COR39
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PAR4001
COR40
PAR4102
PAR4101
COR41
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PAR4302
PAR4301
COR43
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PAR4401
COR44
PAR4502
PAR4501
COR45
PAR4601
PAR4602
COR46
PAR4702
PAR4701
COR47
PAR4801
PAR4802
COR48
PAR4901
PAR4902
COR49
PAR5001 PAR5002
COR50
PAR5101
PAR5102
COR51
PAR5201 PAR5202
COR52
PAR5301
PAR5302
COR53
PAR5401
PAR5402
COR54
PAR5502
PAR5501
COR55
PAR5601
PAR5602
COR56
PAR5701
PAR5702
COR57
PAR5801
PAR5802
COR58
PAR5902
PAR5901
COR59
PAR6002
PAR6001
COR60
PAR6101
PAR6102
COR61
PAR6202
PAR6201
COR62
PAR6302
PAR6301
COR63
PAR6402
PAR6401
COR64
PAR6502
PAR6501
COR65
PAR6602
PAR6601
COR66
PAR6701
PAR6702
COR67
PAR6802
PAR6801
COR68
PAR6902
PAR6901
COR69
PAR7002
PAR7001
COR70
PAR7101
PAR7102
COR71
PAR7202
PAR7201
COR72
PAR7301
PAR7302
COR73
PAR7402
PAR7401
COR74
PAR7501
PAR7502
COR75
PAR7602
PAR7601
COR76
PAR7701
PAR7702
COR77
PAR7801
PAR7802
COR78
PAR7901
PAR7902
COR79
PAR8001
PAR8002
COR80
PAR8101
PAR8102
COR81
PAR8201
PAR8202
COR82
PAR8302 PAR8301
COR83
PAR8402
PAR8401
COR84
PAR8502
PAR8501
COR85
PAR8601
PAR8602
COR86
PAR8702
PAR8701
COR87
PAR8801
PAR8802
COR88
PAR8902
PAR8901
COR89
PAR9001
PAR9002
COR90
PAR9102
PAR9101
COR91
PAR9201 PAR9202
COR92
PAR9301
PAR9302
COR93
PAR9401
PAR9402
COR94
PAR9501
PAR9502
COR95
PAR9601
PAR9602
COR96
PAR9702
PAR9701
COR97
PAR9802
PAR9801
COR98
PAU101 PAU102
PAU103
PAU104
COU1
PAU201
PAU202 PAU203
PAU204
COU2
PAU307
PAU308
PAU306 PAU304
PAU303
PAU302
PAU301
PAU305
COU3
PAU401
PAU402 PAU403
PAU404
COU4
PAU502
PAU503
PAU504
PAU508
PAU507
PAU506
PAU505
PAU501
COU5
PAU605
PAU606
PAU607
PAU608
PAU604
PAU603
PAU602
PAU601
COU6
PAU701
PAU702
PAU703
PAU704
PAU705 PAU706
PAU707
PAU708
COU7
PAU806
PAU807
PAU808
PAU801
PAU802
PAU803
PAU804 PAU805
COU8
PAU901
PAU903
PAU904
PAU908
PAU907
PAU906
PAU905
PAU902
COU9
PAU1004
PAU1002
PAU1003
PAU1006
PAU1005
PAU1001
COU10
PAU1101
PAU1102
PAU1103
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PAU1106
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PAP304 PAP306 PAP308
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PAC3201
PAC3301
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PAC5601
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PAIC301
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PAIC601
PAIC701
PAIC801
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PAR8002
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PAU104
PAU502
PAU503
PAU508
PAU602
PAU603
PAU608
PAU708
PAU808
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PAC4701
PAC4801
PAD1601
PAIC406
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PAJ2012
PAJ2020
PAJ305 PAJ505
PAJ607
PAJ701
PAQ104
PAC801
PAIC101
PAR301
PAC901
PAIC103
PAR601
PAC1501
PAIC106
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PAC1601
PAC1701
PAC4001
PAC4101
PAC4201
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PAC5801
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PAC7501
PAC7601
PAD1202
PAD1302
PAD1402
PAD1502
PAIC401
PAIC403
PAP207
PAP208
PAP209
PAP2010
PAQ201
PAQ202
PAQ203
PAR402
PAR702
PAR1002
PAR1802
PAR3001
PAR5102
PAR5202
PAR5302
PAR5402
PAR5501
PAR5601
PAR5701
PAR5801
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PAR7902
PAR9102
PAR9202
PAR9302
PAR9402
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PAU301
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PAU1105
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PAR4901
PAU504
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PAR3902
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PAR7401
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PAR6402
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PAP3033
PAP2024
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PAR4002
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PAR6902
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PAR6502
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PAR801
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PAJ209
PAD1702
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PAQ707
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PAJ207
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PAR3802
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PAR9301
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PAR1902
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PAR1702
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PAR2902
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PAP203
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PAP302
PAP3020
PAR101
PAC102
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PAC902
PAC1102
PAC1202
PAC1302
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PAC1602
PAC1702
PAC1902
PAC2002
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PAC2302
PAC2402
PAC2601
PAC2702
PAC2801
PAC2901
PAC3001
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PAC3202
PAC3302
PAC3402
PAC3502
PAC3602
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PAC3802
PAC3902
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PAC5302
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PAC6201
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PAC7302
PAC7402
PAC7502
PAC7602
PAC7702
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PAD602
PAD702
PAD802
PAD902
PAD1602
PAD1801
PAD1901
PAD2001
PAD2101
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PADS202
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PAIC202
PAIC302
PAIC402
PAIC502
PAIC602
PAIC702
PAIC802
PAJ1016
PAJ202
PAJ2011
PAJ306
PAJ506
PAJ608
PAJ80A10
PAJ80B10
PAL202
PAL302
PALED101
PALED201
PAP102
PAP205
PAP206
PAP2011
PAP2012
PAP2015
PAP2016
PAP2035
PAP2038 PAP2046
PAP2059
PAP2060
PAP2069
PAP2070
PAP2079
PAP2080
PAP3015
PAP3022
PAP3036
PAP3044
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PAP3060
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PAR102
PAR2101
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PAR3201
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PAR3801
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PAR8401
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PAU302
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PAU304
PAU306
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PAU605
PAU702
PAU703
PAU704
PAU705
PAU802
PAU803
PAU804 PAU805
PAU902
PAU1003
PAU1102
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PAC302
PAC402
PAC502
PAC602 PAC702
PAD102
PAH201
PAJ702
PAPS101
PAR502
PAC1901
PAD601
PAP2018
PAR1402
PAC2001
PAD701
PAP2019
PAR1502
PAC2301
PAD801
PAP2020
PAR2302
PAC2401
PAD901
PAP2032
PAR2402
PAP2029
PAQ301
PAP2030
PAQ401
PAP2031
PAQ501
PAP2017
PAQ601
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PAP3017
PAIC105
PAP3019
PAIC102
PAP3021
PAJ109
PAR302
PAR401
PAJ1010
PAR602
PAR701
PAJ1011
PAR902
PAR1001
PAJ2013
PAR1401
PAJ2014
PAR1501
PAJ2015
PAR2301
PAJ2016
PAR2401
PAJ80A9
PAR9702
PAJ80B9
PAR9802
PAC6801
PAC6901
PAD1804
PAD1904
PAD2004
PAD2104
PAJ80A4
PAP2013
PAC2201
PAP3013
PAR2002
PAJ108
PAR1801
PAR2001
PAJ107
PAL301
PAC1001
PAD301
PAL101
PAPS106
PAC1002
PAD302
PAL201
PAPS107
PAC1101
PAL102
PAC1802
PAD501
PAR1201
PAR1602
PAU201
PAC2502
PAD1101
PAR2601
PAR2802
PAU401
PAC2701
PAR2701
PAU307
PAC6601
PAC6701
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PAC7001
PAC7101
PAJ80A5
PAC7201
PAC7301
PAJ80B5
PAD202
PAQ101
PAR201
PAR501
PAD401
PAR1101
PAR1202
PAD1001
PAR2501
PAR2602
PAD1201
PAR3301
PAD1301
PAR3401
PAD1401
PAR3501
PAD1501
PAR3601
PADS101
PAR1901
PADS201
PAR2901
PAIC204
PAR4101
PAIC205
PAR4701
PAIC304
PAR4201
PAIC305
PAR4801
PAIC405
PAR6102
PAIC504
PAR6601
PAIC505
PAR7201
PAIC604
PAR6701
PAIC605
PAR7301
PAIC704
PAR8501
PAIC705
PAR8901
PAIC804
PAR8601
PAIC805
PAR9001
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PAR1701
PALED202
PAR3002
PAP101
PAR802
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PAU308
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PAR1301
PAQ703
PAR9501
PAR1302
PAU204
PAR2702
PAU404
PAR3901
PAU506
PAR4001
PAU606
PAR4301
PAU507
PAR4401
PAU607
PAR5901
PAU706
PAR6001
PAU806
PAR6801
PAU707
PAR6901
PAU807
PAR8202
PAU908
PAR9502
PAU1004
PAR9701
PAU1106
PAR9801
PAU1104
PAJ203
PAQ302
PAR3302
PAJ204
PAQ402
PAR3402
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PAQ502
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PAQ602
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PAJ401
PAJ402
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PAM301
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PAJ408
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PAJ405
PAJ406
PAH501
PAJ403
PAJ404
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PAD2102
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PAP2075
PAD2002
PAJ80A2
PAP2073
PAD2003
PAJ80A1
PAP2071
PAD1903
PAJ80B6
PAP2078
PAD1902
PAJ80B3
PAP2076
PAD1802
PAJ80B2
PAP2074
PAD1803
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PAP2072
PAC201
PAC301
PAC401
PAC501
PAC601 PAC701
PAD101
PAD201
PAH101
PAPS102
PAQ103
PAR202
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PAR9602
PAU1002
PAC2102
PAP2033
PAR2102
PAR2202
PAU203
PAJ2019
PAR1102
PAC2602
PAP2034
PAR3102
PAR3202
PAU403
PAJ2017
PAR2502
PAC1801 PAC2501
PAD402
PAD502
PAD1002
PAD1102
PAJ2018
PAR1601 PAR2801
PAU202
PAU402
PAC102
PAC101
COC1
PAC201
PAC202
COC2
PAC302
PAC301
COC3
PAC402
PAC401
COC4
PAC502
PAC501
COC5
PAC602
PAC601
COC6
PAC702
PAC701
COC7
PAC802
PAC801
COC8
PAC902
PAC901
COC9
PAC1002
PAC1001
COC10
PAC1102
PAC1101
COC11
PAC1202
PAC1201
COC12
PAC1301
PAC1302
COC13
PAC1401
PAC1402
COC14
PAC1502
PAC1501
COC15
PAC1602 PAC1601
COC16
PAC1701
PAC1702
COC17
PAC1801
PAC1802
COC18
PAC1902
PAC1901
COC19
PAC2002
PAC2001
COC20
PAC2101 PAC2102
COC21
PAC2202
PAC2201
COC22
PAC2302
PAC2301
COC23
PAC2402
PAC2401
COC24
PAC2501
PAC2502
COC25
PAC2601 PAC2602
COC26
PAC2702
PAC2701
COC27
PAC2801
PAC2802
COC28
PAC2901
PAC2902
COC29
PAC3001 PAC3002
COC30
PAC3101
PAC3102
COC31
PAC3201
PAC3202
COC32
PAC3302
PAC3301
COC33
PAC3402
PAC3401
COC34
PAC3502
PAC3501
COC35
PAC3602 PAC3601
COC36
PAC3702
PAC3701
COC37
PAC3801
PAC3802
COC38
PAC3902
PAC3901
COC39
PAC4001
PAC4002
COC40
PAC4101
PAC4102
COC41
PAC4202
PAC4201
COC42
PAC4301
PAC4302
COC43
PAC4401
PAC4402
COC44
PAC4501
PAC4502
COC45
PAC4601
PAC4602
COC46
PAC4702
PAC4701
COC47
PAC4801
PAC4802
COC48
PAC4902
PAC4901
COC49
PAC5001
PAC5002
COC50
PAC5102
PAC5101
COC51
PAC5202
PAC5201
COC52
PAC5302 PAC5301
COC53
PAC5402
PAC5401
COC54
PAC5501
PAC5502
COC55
PAC5601
PAC5602
COC56
PAC5701
PAC5702
COC57
PAC5801
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COC58
PAC5902
PAC5901
COC59
PAC6001
PAC6002
COC60
PAC6101
PAC6102
COC61
PAC6201 PAC6202
COC62
PAC6301
PAC6302
COC63
PAC6402
PAC6401
COC64
PAC6501
PAC6502
COC65
PAC6602 PAC6601
COC66
PAC6701
PAC6702
COC67
PAC6802 PAC6801
COC68
PAC6901
PAC6902
COC69
PAC7002 PAC7001
COC70
PAC7101
PAC7102
COC71
PAC7202 PAC7201
COC72
PAC7301
PAC7302
COC73
PAC7401
PAC7402
COC74
PAC7501
PAC7502
COC75
PAC7601
PAC7602
COC76
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PAC7701
COC77
PAC7801
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COC78
PAD102
PAD101
COD1
PAD201
PAD202
COD2
PAD301
PAD302
COD3
PAD402
PAD401
COD4
PAD502
PAD501
COD5
PAD601
PAD602
COD6
PAD702
PAD701
COD7
PAD802
PAD801
COD8
PAD902
PAD901
COD9
PAD1002
PAD1001
COD10
PAD1102
PAD1101
COD11
PAD1202 PAD1201
COD12
PAD1302
PAD1301
COD13
PAD1402
PAD1401
COD14
PAD1502
PAD1501
COD15
PAD1601
PAD1602
COD16
PAD1701
PAD1702
COD17
PAD1804
PAD1801
PAD1802
PAD1803
COD18
PAD1901
PAD1904
PAD1903
PAD1902
COD19
PAD2001
PAD2004
PAD2002
PAD2003
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PAD2101
PAD2104
PAD2103
PAD2102
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PADS101
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PADS202
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COH2
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COH3
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COH4
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COH5
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PAIC103
PAIC106
PAIC108
PAIC104
PAIC107
PAIC105
PAIC102
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PAIC202
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PAIC302
PAIC303
PAIC304
PAIC305
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PAIC401
PAIC403
PAIC406
PAIC405
PAIC404
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PAIC502
PAIC505 PAIC504
PAIC503
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PAIC602
PAIC603
PAIC604
PAIC605
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PAIC701
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PAIC704
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PAJ108
PAJ109
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PAJ1011
PAJ1012 PAJ1013
PAJ1014
COJ1
PAJ209
PAJ2010
PAJ2011 PAJ2012 PAJ2018
PAJ2020
PAJ202
PAJ2019
PAJ2017
PAJ2016
PAJ2015
PAJ2014
PAJ2013
PAJ208
PAJ207
PAJ206
PAJ205
PAJ204
PAJ203
PAJ201
COJ2
PAJ301
PAJ302
PAJ303 PAJ304
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PAJ402
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PAJ502
PAJ501
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PAJ508
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PAJ608
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COM3
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COM4
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PAP101
COP1
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PAP20H1
PAP208
PAP2020
PAP2059
PAP2010
PAP2078
PAP2018 PAP2046
PAP209
PAP2077
PAP2038
PAP207
PAP2076
PAP2035
PAP203
PAP2075
PAP2015
PAP2074
PAP2032
PAP2016
PAP2013
PAP2073
PAP205
PAP2072
PAP2011
PAP2014
PAP2071
PAP2012
PAP206
PAP2069
PAP2070
PAP2019 PAP2079
PAP2033
PAP2080
PAP2034 PAP2060
PAP20S1
PAP20S2
PAP2058
PAP2057
PAP2056
PAP2055
PAP2054
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PAP2050
PAP2049
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PAP2045
PAP2044
PAP2043
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PAP2040
PAP2039
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PAP2036
PAP2031
PAP2029
PAP2030
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PAP2026
PAP2025
PAP2023
PAP2021
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PAP2027
PAP2028
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PAP201
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PAP2062
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PAP2066
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PAR102
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PAR201
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PAR302
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PAR501
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PAR601
COR6
PAR701
PAR702
COR7
PAR801
PAR802
COR8
PAR901
PAR902
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PAR1001
PAR1002
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PAR1101
COR11
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PAR1301
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PAR9001
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COR90
PAR9102
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PAR9201 PAR9202
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PAR9301
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PAR9401
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COR94
PAR9501
PAR9502
COR95
PAR9601
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COR96
PAR9702
PAR9701
COR97
PAR9802
PAR9801
COR98
PAU101 PAU102 PAU103
PAU104
COU1
PAU201
PAU202 PAU203
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PAU307
PAU308
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PAU303
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PAU402 PAU403
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PAU504
PAU508
PAU507
PAU506
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PAU501
COU5
PAU605
PAU606
PAU607
PAU608
PAU604
PAU603
PAU602
PAU601
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PAU702
PAU703
PAU704
PAU705 PAU706 PAU707 PAU708
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PAU806
PAU807
PAU808
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PAU803
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PAU903
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PAU907
PAU906
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PAU1006
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PAJ2020
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PAD1302
PAD1402
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PAIC403
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PAP208
PAP209
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PAC4802
PAC4902
PAC5002
PAC5102
PAC5202
PAC5302
PAC5402
PAC5502
PAC5602
PAC5702
PAC5802
PAC5902
PAC6001
PAC6101
PAC6201
PAC6301
PAC6402
PAC6502
PAC6602
PAC6702
PAC6802
PAC6902
PAC7002
PAC7102
PAC7202
PAC7302
PAC7402
PAC7502
PAC7602
PAC7702
PAC7802
PAD602
PAD702
PAD802
PAD902
PAD1602
PAD1801
PAD1901
PAD2001
PAD2101
PADS102
PADS202
PAIC104
PAIC202
PAIC302
PAIC402
PAIC502
PAIC602
PAIC702
PAIC802
PAJ1016
PAJ202
PAJ2011
PAJ306 PAJ506
PAJ608
PAJ80A10
PAJ80B10
PAL202
PAL302
PALED101
PALED201
PAP102
PAP205
PAP206
PAP2011
PAP2012
PAP2015
PAP2016
PAP2035
PAP2038 PAP2046
PAP2059
PAP2060
PAP2069
PAP2070
PAP2079
PAP2080
PAP3015
PAP3022
PAP3036
PAP3044
PAP3059
PAP3060
PAQ303
PAQ403
PAQ503
PAQ603
PAQ704
PAQ708
PAR102
PAR2101
PAR2201 PAR3101
PAR3201
PAR3701
PAR3801
PAR4902
PAR5002
PAR6101
PAR6201
PAR6301
PAR7402
PAR7502
PAR8201
PAR8301
PAR8401
PAR9601
PAU101
PAU302
PAU303
PAU304
PAU306
PAU505
PAU605
PAU702
PAU703
PAU704
PAU705
PAU802
PAU803
PAU804 PAU805
PAU902
PAU1003
PAU1102
PAC202
PAC302
PAC402
PAC502
PAC602 PAC702
PAD102
PAH201
PAJ702
PAPS101
PAR502
PAC1901
PAD601
PAP2018
PAR1402
PAC2001
PAD701
PAP2019
PAR1502
PAC2301
PAD801
PAP2020
PAR2302
PAC2401
PAD901
PAP2032
PAR2402
PAP2029
PAQ301
PAP2030
PAQ401
PAP2031
PAQ501
PAP2017
PAQ601
PAIC107
PAP3017
PAIC105
PAP3019
PAIC102
PAP3021
PAJ109
PAR302
PAR401
PAJ1010
PAR602
PAR701
PAJ1011
PAR902
PAR1001
PAJ2013
PAR1401
PAJ2014
PAR1501
PAJ2015
PAR2301
PAJ2016
PAR2401
PAJ80A9
PAR9702
PAJ80B9
PAR9802
PAC6801
PAC6901
PAD1804
PAD1904
PAD2004
PAD2104
PAJ80A4
PAP2013
PAC2201
PAP3013
PAR2002
PAJ108
PAR1801
PAR2001
PAJ107
PAL301
PAC1001
PAD301
PAL101
PAPS106
PAC1002
PAD302
PAL201
PAPS107
PAC1101
PAL102
PAC1802
PAD501
PAR1201
PAR1602
PAU201
PAC2502
PAD1101
PAR2601
PAR2802
PAU401
PAC2701
PAR2701
PAU307
PAC6601
PAC6701
PAJ80B4
PAC7001
PAC7101
PAJ80A5
PAC7201
PAC7301
PAJ80B5
PAD202
PAQ101
PAR201
PAR501
PAD401
PAR1101
PAR1202
PAD1001
PAR2501
PAR2602
PAD1201
PAR3301
PAD1301
PAR3401
PAD1401
PAR3501
PAD1501
PAR3601
PADS101
PAR1901
PADS201
PAR2901
PAIC204
PAR4101
PAIC205
PAR4701
PAIC304
PAR4201
PAIC305
PAR4801
PAIC405
PAR6102
PAIC504
PAR6601
PAIC505
PAR7201
PAIC604
PAR6701
PAIC605
PAR7301
PAIC704
PAR8501
PAIC705
PAR8901
PAIC804
PAR8601
PAIC805
PAR9001
PALED102
PAR1701
PALED202
PAR3002
PAP101
PAR802
PAQ204
PAU308
PAQ205060708
PAR1301
PAQ703
PAR9501
PAR1302
PAU204
PAR2702
PAU404
PAR3901
PAU506
PAR4001
PAU606
PAR4301
PAU507
PAR4401
PAU607
PAR5901
PAU706
PAR6001
PAU806
PAR6801
PAU707
PAR6901
PAU807
PAR8202
PAU908
PAR9502
PAU1004
PAR9701
PAU1106
PAR9801
PAU1104
PAJ203
PAQ302
PAR3302
PAJ204
PAQ402
PAR3402
PAJ205
PAQ502
PAR3502
PAJ206
PAQ602
PAR3602
PAJ201
PAJ401
PAJ402
PAM101
PAM201
PAM301
PAM401 PAH301 PAJ407
PAJ408
PAH401
PAJ405
PAJ406
PAH501
PAJ403
PAJ404
PAD2103
PAJ80A6
PAP2077
PAD2102
PAJ80A3
PAP2075
PAD2002
PAJ80A2
PAP2073
PAD2003
PAJ80A1
PAP2071
PAD1903
PAJ80B6
PAP2078
PAD1902
PAJ80B3
PAP2076
PAD1802
PAJ80B2
PAP2074
PAD1803
PAJ80B1
PAP2072
PAC201
PAC301
PAC401
PAC501
PAC601 PAC701
PAD101
PAD201
PAH101
PAPS102
PAQ103
PAR202
PAP2041
PAR9602
PAU1002
PAC2102
PAP2033
PAR2102
PAR2202
PAU203
PAJ2019
PAR1102
PAC2602
PAP2034
PAR3102 PAR3202
PAU403
PAJ2017
PAR2502
PAC1801 PAC2501
PAD402
PAD502
PAD1002
PAD1102
PAJ2018
PAR1601 PAR2801
PAU202 PAU402
PAC102
PAC101
COC1
PAC201
PAC202
COC2
PAC302
PAC301
COC3
PAC402
PAC401
COC4
PAC502
PAC501
COC5
PAC602
PAC601
COC6
PAC702
PAC701
COC7
PAC802
PAC801
COC8
PAC902
PAC901
COC9
PAC1002
PAC1001
COC10
PAC1102
PAC1101
COC11
PAC1202
PAC1201
COC12
PAC1301
PAC1302
COC13
PAC1401
PAC1402
COC14
PAC1502
PAC1501
COC15
PAC1602 PAC1601
COC16
PAC1701
PAC1702
COC17
PAC1801
PAC1802
COC18
PAC1902
PAC1901
COC19
PAC2002
PAC2001
COC20
PAC2101 PAC2102
COC21
PAC2202
PAC2201
COC22
PAC2302
PAC2301
COC23
PAC2402
PAC2401
COC24
PAC2501
PAC2502
COC25
PAC2601 PAC2602
COC26
PAC2702
PAC2701
COC27
PAC2801
PAC2802
COC28
PAC2901
PAC2902
COC29
PAC3001 PAC3002
COC30
PAC3101
PAC3102
COC31
PAC3201
PAC3202
COC32
PAC3302
PAC3301
COC33
PAC3402
PAC3401
COC34
PAC3502
PAC3501
COC35
PAC3602 PAC3601
COC36
PAC3702 PAC3701
COC37
PAC3801
PAC3802
COC38
PAC3902
PAC3901
COC39
PAC4001
PAC4002
COC40
PAC4101
PAC4102
COC41
PAC4202
PAC4201
COC42
PAC4301
PAC4302
COC43
PAC4401
PAC4402
COC44
PAC4501 PAC4502
COC45
PAC4601
PAC4602
COC46
PAC4702
PAC4701
COC47
PAC4801
PAC4802
COC48
PAC4902
PAC4901
COC49
PAC5001
PAC5002
COC50
PAC5102
PAC5101
COC51
PAC5202
PAC5201
COC52
PAC5302 PAC5301
COC53
PAC5402
PAC5401
COC54
PAC5501
PAC5502
COC55
PAC5601
PAC5602
COC56
PAC5701
PAC5702
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PAC5801
PAC5802
COC58
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PAC5901
COC59
PAC6001
PAC6002
COC60
PAC6101
PAC6102
COC61
PAC6201 PAC6202
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PAC6301
PAC6302
COC63
PAC6402
PAC6401
COC64
PAC6501
PAC6502
COC65
PAC6602 PAC6601
COC66
PAC6701
PAC6702
COC67
PAC6802 PAC6801
COC68
PAC6901
PAC6902
COC69
PAC7002 PAC7001
COC70
PAC7101
PAC7102
COC71
PAC7202 PAC7201
COC72
PAC7301
PAC7302
COC73
PAC7401
PAC7402
COC74
PAC7501
PAC7502
COC75
PAC7601
PAC7602
COC76
PAC7702
PAC7701
COC77
PAC7801
PAC7802
COC78
PAD102
PAD101
COD1
PAD201
PAD202
COD2
PAD301
PAD302
COD3
PAD402
PAD401
COD4
PAD502
PAD501
COD5
PAD601
PAD602
COD6
PAD702
PAD701
COD7
PAD802
PAD801
COD8
PAD902
PAD901
COD9
PAD1002
PAD1001
COD10
PAD1102
PAD1101
COD11
PAD1202 PAD1201
COD12
PAD1302
PAD1301
COD13
PAD1402
PAD1401
COD14
PAD1502
PAD1501
COD15
PAD1601
PAD1602
COD16
PAD1701
PAD1702
COD17
PAD1804
PAD1801
PAD1802
PAD1803
COD18
PAD1901
PAD1904
PAD1903
PAD1902
COD19
PAD2001
PAD2004
PAD2002
PAD2003
COD20
PAD2101
PAD2104
PAD2103
PAD2102
COD21
PADS102
PADS101
CODS1
PADS202
PADS201
CODS2
PAH101
COH1
PAH201
COH2
PAH301
COH3
PAH401
COH4
PAH501
COH5
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PAIC103
PAIC106
PAIC108
PAIC104
PAIC107
PAIC105
PAIC102
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PAIC202
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PAIC302
PAIC303
PAIC304
PAIC305
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PAIC401
PAIC403
PAIC406
PAIC405
PAIC404
COIC4
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PAIC502
PAIC505 PAIC504
PAIC503
COIC5
PAIC601
PAIC602
PAIC603
PAIC604
PAIC605
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PAIC701
PAIC705 PAIC704
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PAIC802
PAIC803
PAIC804
PAIC805
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PAJ105
PAJ1016
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PAJ104
PAJ103
PAJ107
PAJ108
PAJ109
PAJ1010
PAJ1011 PAJ1012
PAJ1013
PAJ1014
COJ1
PAJ209
PAJ2010
PAJ2011 PAJ2012 PAJ2018
PAJ2020
PAJ202
PAJ2019
PAJ2017
PAJ2016
PAJ2015
PAJ2014
PAJ2013
PAJ208
PAJ207
PAJ206
PAJ205
PAJ204
PAJ203
PAJ201
COJ2
PAJ301 PAJ302
PAJ303
PAJ304
PAJ305
PAJ306
PAJ308
PAJ307
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PAJ407
PAJ408
PAJ401
PAJ402
PAJ403
PAJ404
PAJ405
COJ4
PAJ506
PAJ505
PAJ504
PAJ503
PAJ502
PAJ501
PAJ507 PAJ508
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PAJ601 PAJ602
PAJ603
PAJ604
PAJ605
PAJ606 PAJ607 PAJ608
PAJ6010
PAJ609
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PAJ702
PAJ701
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PAJ70S1
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PAJ80A4
PAJ80MH1
PAJ80A3 PAJ80A2
PAJ80A1
PAJ80B10
PAJ80B6
PAJ80B5
PAJ80B8
PAJ80B4
PAJ80B3
PAJ80B2
PAJ80B1
PAJ80A10
PAJ80A8
PAJ80A6
PAJ80MH3
PAJ80A5
PAJ80A7
PAJ80A9
PAJ80A11
PAJ80A12
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PAL302
COL3
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PALED102
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PALED202
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COM1
PAM201
COM2
PAM301
COM3
PAM401
COM4
PAP102
PAP101
COP1
PAP20H2
PAP20H1
PAP208
PAP2020
PAP2059
PAP2010 PAP2078
PAP2018 PAP2046
PAP209
PAP2077
PAP2038
PAP207
PAP2076
PAP2035
PAP203
PAP2075
PAP2015
PAP2074
PAP2032
PAP2016
PAP2013 PAP2073
PAP205
PAP2072
PAP2011
PAP2014
PAP2071
PAP2012
PAP206
PAP2069
PAP2070
PAP2019 PAP2079
PAP2033
PAP2080
PAP2034 PAP2060
PAP20S1
PAP20S2
PAP2058
PAP2057
PAP2056
PAP2055
PAP2054
PAP2053
PAP2052
PAP2051
PAP2050
PAP2049
PAP2048
PAP2047
PAP2045
PAP2044
PAP2043
PAP2042
PAP2041
PAP2040
PAP2039
PAP2037
PAP2036
PAP2031
PAP2029
PAP2030
PAP2022 PAP2024
PAP2026
PAP2025
PAP2023
PAP2021
PAP2017
PAP2027
PAP2028
PAP202
PAP201
PAP204
PAP2061
PAP2062
PAP2063
PAP2064
PAP2065
PAP2066
PAP2067
PAP2068
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PAP30H1
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PAP306 PAP308
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PAP3060
PAP3059
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PAP3044
PAP3036
PAP302
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PAP30S1
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PAP3057
PAP3056
PAP3055
PAP3054
PAP3053
PAP3052
PAP3051
PAP3050
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PAP3048
PAP3047
PAP3046
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PAP3043
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PAP3040
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PAP3037
PAP3035
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PAP3025
PAP3023
PAP3027
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PAP3014
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PAP3012
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PAPS102
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PAPS107
PAPS108
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PAQ103
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PAQ202
PAQ203
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PAQ302
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PAQ402
PAQ401
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PAQ501
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PAQ601
PAQ602
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PAQ707
PAQ706
PAQ705
PAQ704
PAQ702
PAQ701
PAQ703
COQ7
PAR101
PAR102
COR1
PAR202
PAR201
COR2
PAR301
PAR302
COR3
PAR401
PAR402
COR4
PAR502
PAR501
COR5
PAR602
PAR601
COR6
PAR701
PAR702
COR7
PAR801
PAR802
COR8
PAR901
PAR902
COR9
PAR1001
PAR1002
COR10
PAR1102
PAR1101
COR11
PAR1202
PAR1201
COR12
PAR1301 PAR1302
COR13
PAR1402
PAR1401
COR14
PAR1502
PAR1501
COR15
PAR1601
PAR1602
COR16
PAR1702
PAR1701
COR17
PAR1801
PAR1802
COR18
PAR1902
PAR1901
COR19
PAR2002
PAR2001
COR20
PAR2102
PAR2101
COR21
PAR2201
PAR2202
COR22
PAR2302 PAR2301
COR23
PAR2401
PAR2402
COR24
PAR2502
PAR2501
COR25
PAR2602
PAR2601
COR26
PAR2701 PAR2702
COR27
PAR2801
PAR2802
COR28
PAR2902
PAR2901
COR29
PAR3001
PAR3002
COR30
PAR3101 PAR3102
COR31
PAR3202
PAR3201
COR32
PAR3302
PAR3301
COR33
PAR3401
PAR3402
COR34
PAR3501
PAR3502
COR35
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COR36
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COR38
PAR3902
PAR3901
COR39
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PAR4001
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PAR4102
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PAR4202
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PAR4801
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PAR5401
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PAR5502
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COR55
PAR5601
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PAR5701
PAR5702
COR57
PAR5801
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COR58
PAR5902
PAR5901
COR59
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PAR6001
COR60
PAR6101
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COR61
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PAR6201
COR62
PAR6302
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COR63
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PAR6401
COR64
PAR6502
PAR6501
COR65
PAR6602
PAR6601
COR66
PAR6701
PAR6702
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PAR6802
PAR6801
COR68
PAR6902
PAR6901
COR69
PAR7002
PAR7001
COR70
PAR7101
PAR7102
COR71
PAR7202
PAR7201
COR72
PAR7301
PAR7302
COR73
PAR7402
PAR7401
COR74
PAR7501
PAR7502
COR75
PAR7602
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COR76
PAR7701
PAR7702
COR77
PAR7801
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COR78
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COR79
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PAR8002
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PAR8101
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PAR8302 PAR8301
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PAR8402
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PAR8601
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PAR8702
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PAR8801
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PAR8902
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COR89
PAR9001
PAR9002
COR90
PAR9102
PAR9101
COR91
PAR9201 PAR9202
COR92
PAR9301
PAR9302
COR93
PAR9401
PAR9402
COR94
PAR9501
PAR9502
COR95
PAR9601
PAR9602
COR96
PAR9702
PAR9701
COR97
PAR9802
PAR9801
COR98
PAU101 PAU102
PAU103
PAU104
COU1
PAU201
PAU202 PAU203
PAU204
COU2
PAU307
PAU308
PAU306 PAU304
PAU303
PAU302
PAU301
PAU305
COU3
PAU401
PAU402 PAU403
PAU404
COU4
PAU502
PAU503
PAU504
PAU508
PAU507
PAU506
PAU505
PAU501
COU5
PAU605
PAU606
PAU607
PAU608
PAU604
PAU603
PAU602
PAU601
COU6
PAU701
PAU702
PAU703
PAU704
PAU705 PAU706
PAU707
PAU708
COU7
PAU806
PAU807
PAU808
PAU801
PAU802
PAU803
PAU804 PAU805
COU8
PAU901
PAU903
PAU904
PAU908
PAU907
PAU906
PAU905
PAU902
COU9
PAU1004
PAU1002
PAU1003
PAU1006
PAU1005
PAU1001
COU10
PAU1101
PAU1102
PAU1103
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PAU1105
PAU1106
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PAP304 PAP306 PAP308
PAP3010
PAC101
PAC1301
PAC1401
PAC3201
PAC3301
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PAC5501
PAC5601
PAC5901
PAC6401
PAC6501
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PAIC501
PAIC601
PAIC701
PAIC801
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PAR8002
PAU102
PAU104
PAU502
PAU503
PAU508
PAU602
PAU603
PAU608
PAU708
PAU808
PAU903
PAU905
PAP201
PAC4701
PAC4801
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PAJ2012
PAJ2020
PAJ305 PAJ505
PAJ607
PAJ701
PAQ104
PAC801
PAIC101
PAR301
PAC901
PAIC103
PAR601
PAC1501
PAIC106
PAR901
PAC1201
PAC1601
PAC1701
PAC4001
PAC4101
PAC4201
PAC5701
PAC5801
PAC7401
PAC7501
PAC7601
PAD1202
PAD1302
PAD1402
PAD1502
PAIC401
PAIC403
PAP207
PAP208
PAP209
PAP2010
PAQ201
PAQ202
PAQ203
PAR402
PAR702
PAR1002
PAR1802
PAR3001
PAR5102
PAR5202
PAR5302
PAR5402
PAR5501
PAR5601
PAR5701
PAR5801
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PAR7902
PAR9102
PAR9202
PAR9302
PAR9402
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PAU301
PAU1006
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PAP3038
PAR4901
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PAP2068
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PAP2036
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PAP302
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PAC902
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PAC1302
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PAC1602
PAC1702
PAC1902
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PAC2702
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PAC2901
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PAC3302
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PAD702
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PAD902
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PAD2101
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PADS202
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PAIC202
PAIC302
PAIC402
PAIC502
PAIC602
PAIC702
PAIC802
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PAJ202
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PAJ306
PAJ506
PAJ608
PAJ80A10
PAJ80B10
PAL202
PAL302
PALED101
PALED201
PAP102
PAP205
PAP206
PAP2011
PAP2012
PAP2015
PAP2016
PAP2035
PAP2038 PAP2046
PAP2059
PAP2060
PAP2069
PAP2070
PAP2079
PAP2080
PAP3015
PAP3022
PAP3036
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PAP3060
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PAQ403
PAQ503
PAQ603
PAQ704
PAQ708
PAR102
PAR2101
PAR2201
PAR3101
PAR3201
PAR3701
PAR3801
PAR4902
PAR5002
PAR6101
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PAR6301
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PAR8401
PAR9601
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PAU303
PAU304
PAU306
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PAU605
PAU702
PAU703
PAU704
PAU705
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PAD102
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PAJ702
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PAR502
PAC1901
PAD601
PAP2018
PAR1402
PAC2001
PAD701
PAP2019
PAR1502
PAC2301
PAD801
PAP2020
PAR2302
PAC2401
PAD901
PAP2032
PAR2402
PAP2029
PAQ301
PAP2030
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PAP2031
PAQ501
PAP2017
PAQ601
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PAP3017
PAIC105
PAP3019
PAIC102
PAP3021
PAJ109
PAR302
PAR401
PAJ1010
PAR602
PAR701
PAJ1011
PAR902
PAR1001
PAJ2013
PAR1401
PAJ2014
PAR1501
PAJ2015
PAR2301
PAJ2016
PAR2401
PAJ80A9
PAR9702
PAJ80B9
PAR9802
PAC6801
PAC6901
PAD1804
PAD1904
PAD2004
PAD2104
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PAC2201
PAP3013
PAR2002
PAJ108
PAR1801
PAR2001
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PAD301
PAL101
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PAD302
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PAR1201
PAR1602
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PAR2601
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PAR2602
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PAR3301
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PAR3401
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PAR3501
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PAD101
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PAD202
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PAD302
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PAD401
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PAD501
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PAD602
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PAD701
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PAD801
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PAD901
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PAD1001
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PAJ2011 PAJ2012 PAJ2018
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PAJ207
PAJ206
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COM3
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COM4
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PAP101
COP1
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PAP20H1
PAP208
PAP2020
PAP2059
PAP2010 PAP2078
PAP2018 PAP2046
PAP209
PAP2077
PAP2038
PAP207
PAP2076
PAP2035
PAP203
PAP2075
PAP2015
PAP2074
PAP2032
PAP2016
PAP2013 PAP2073
PAP205
PAP2072
PAP2011
PAP2014
PAP2071
PAP2012
PAP206
PAP2069
PAP2070
PAP2019 PAP2079
PAP2033
PAP2080
PAP2034 PAP2060
PAP20S1
PAP20S2
PAP2058
PAP2057
PAP2056
PAP2055
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PAP2053
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PAP2050
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PAP2030
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PAP2025
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PAP2028
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PAQ601
PAQ602
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PAQ707
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PAQ705
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PAQ701
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PAR101
PAR102
COR1
PAR202
PAR201
COR2
PAR301
PAR302
COR3
PAR401
PAR402
COR4
PAR502
PAR501
COR5
PAR602
PAR601
COR6
PAR701
PAR702
COR7
PAR801
PAR802
COR8
PAR901
PAR902
COR9
PAR1001
PAR1002
COR10
PAR1102
PAR1101
COR11
PAR1202
PAR1201
COR12
PAR1301 PAR1302
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PAR1402
PAR1401
COR14
PAR1502
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COR15
PAR1601
PAR1602
COR16
PAR1702
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PAR1802
COR18
PAR1902
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COR19
PAR2002
PAR2001
COR20
PAR2102
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COR21
PAR2201
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COR26
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PAR2802
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PAR3002
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PAR7501
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PAR7801
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PAR8002
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PAR8902
PAR8901
COR89
PAR9001
PAR9002
COR90
PAR9102
PAR9101
COR91
PAR9201 PAR9202
COR92
PAR9301
PAR9302
COR93
PAR9401
PAR9402
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PAR9501
PAR9502
COR95
PAR9601
PAR9602
COR96
PAR9702
PAR9701
COR97
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PAR9801
COR98
PAU101 PAU102
PAU103
PAU104
COU1
PAU201
PAU202 PAU203
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COU2
PAU307
PAU308
PAU306 PAU304
PAU303
PAU302
PAU301
PAU305
COU3
PAU401
PAU402 PAU403
PAU404
COU4
PAU502
PAU503
PAU504
PAU508
PAU507
PAU506
PAU505
PAU501
COU5
PAU605
PAU606
PAU607
PAU608
PAU604
PAU603
PAU602
PAU601
COU6
PAU701
PAU702
PAU703
PAU704
PAU705 PAU706
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PAU708
COU7
PAU806
PAU807
PAU808
PAU801
PAU802
PAU803
PAU804 PAU805
COU8
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PAU903
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COU9
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COU10
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PAU1102
PAU1103
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PAU1105
PAU1106
COU11
PAP204
PAP304 PAP306 PAP308
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PAC101
PAC1301
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PAC3201
PAC3301
PAC3801
PAC3901
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PAC5601
PAC5901
PAC6401
PAC6501
PAIC108
PAIC201
PAIC301
PAIC501
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PAIC701
PAIC801
PAP2014
PAR8002
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PAU104
PAU502
PAU503
PAU508
PAU602
PAU603
PAU608
PAU708
PAU808
PAU903
PAU905
PAP201
PAC4701
PAC4801
PAD1601
PAIC406
PAJ1015
PAJ2012
PAJ2020
PAJ305 PAJ505
PAJ607
PAJ701
PAQ104
PAC801
PAIC101
PAR301
PAC901
PAIC103
PAR601
PAC1501
PAIC106
PAR901
PAC1201
PAC1601
PAC1701
PAC4001
PAC4101
PAC4201
PAC5701
PAC5801
PAC7401
PAC7501
PAC7601
PAD1202
PAD1302
PAD1402
PAD1502
PAIC401
PAIC403
PAP207
PAP208
PAP209
PAP2010
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PAQ202
PAQ203
PAR402
PAR702
PAR1002
PAR1802
PAR3001
PAR5102
PAR5202
PAR5302
PAR5402
PAR5501
PAR5601
PAR5701
PAR5801
PAR7602 PAR7702
PAR7802
PAR7902
PAR9102
PAR9202
PAR9302
PAR9402
PAU103
PAU301
PAU1006
PAU1105
PAP3038
PAR4901
PAU504
PAC3401
PAJ304
PAR4302
PAC3501
PAJ303
PAR3902
PAP3040
PAU701
PAC5201
PAJ302
PAR5602
PAR6401
PAR6802
PAR7401
PAC5101
PAJ301
PAR5502
PAR5902
PAR6402
PAP3042
PAP3033
PAP2024
PAR5001
PAU604
PAC3601
PAJ502
PAR4402
PAC3701
PAJ501
PAR4002
PAP2025
PAU801
PAC5401
PAJ504
PAR5802
PAR6501
PAR6902
PAR7501
PAC5301
PAJ503
PAR5702
PAR6002
PAR6502
PAP2051
PAR801
PAD1701
PAJ209
PAD1702
PAJ2010
PAQ701
PAQ702 PAQ705
PAQ706
PAQ707
PAJ208
PAR8101
PAU906
PAJ207
PAR8102
PAU907
PAP2057
PAU904
PAP2055
PAR8001
PAU901
PAC7701
PAC7801
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PAJ80B8
PAJ80MH1
PAJ80MH2
PAJ80MH3
PAIC203
PAP3024
PAC2902
PAJ102
PAR4501
PAR4702
PAR5101
PAC2802
PAJ101
PAR3702
PAR4102
PAR4502
PAR5201
PAIC503
PAP3026
PAC4402
PAJ104
PAR7001
PAR7202
PAR7601
PAC4302
PAJ103
PAR6202
PAR6602
PAR7002
PAR7701
PAIC703
PAP3028
PAC6102
PAJ106
PAR8701
PAR8902
PAR9101
PAC6002
PAJ105
PAR8302
PAR8502
PAR8702
PAR9201
PAIC303
PAP3030
PAC3102
PAJ605
PAR4601
PAR4802
PAR5301
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PAJ606
PAR3802
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PAR4602
PAR5401
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PAR7101
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PAR7801
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PAR7102
PAR7901
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PAR8801
PAR9002
PAR9301
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PAJ602
PAR8402
PAR8602
PAR8802
PAR9401
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PAR1902
PAP2065
PAR1702
PAP2067
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PAP2068
PAU1103
PAP2036
PAR2902
PAC2202
PAP203
PAP301
PAP302
PAP3020
PAR101
PAC102
PAC802
PAC902
PAC1102
PAC1202
PAC1302
PAC1402
PAC1502
PAC1602
PAC1702
PAC1902
PAC2002
PAC2101
PAC2302
PAC2402
PAC2601
PAC2702
PAC2801
PAC2901
PAC3001
PAC3101
PAC3202
PAC3302
PAC3402
PAC3502
PAC3602
PAC3702
PAC3802
PAC3902
PAC4002
PAC4102
PAC4202
PAC4301
PAC4401
PAC4501
PAC4601
PAC4702
PAC4802
PAC4902
PAC5002
PAC5102
PAC5202
PAC5302
PAC5402
PAC5502
PAC5602
PAC5702
PAC5802
PAC5902
PAC6001
PAC6101
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PAC6301
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PAC6602
PAC6702
PAC6802
PAC6902
PAC7002
PAC7102
PAC7202
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PAC7402
PAC7502
PAC7602
PAC7702
PAC7802
PAD602
PAD702
PAD802
PAD902
PAD1602
PAD1801
PAD1901
PAD2001
PAD2101
PADS102
PADS202
PAIC104
PAIC202
PAIC302
PAIC402
PAIC502
PAIC602
PAIC702
PAIC802
PAJ1016
PAJ202
PAJ2011
PAJ306
PAJ506
PAJ608
PAJ80A10
PAJ80B10
PAL202
PAL302
PALED101
PALED201
PAP102
PAP205
PAP206
PAP2011
PAP2012
PAP2015
PAP2016
PAP2035
PAP2038 PAP2046
PAP2059
PAP2060
PAP2069
PAP2070
PAP2079
PAP2080
PAP3015
PAP3022
PAP3036
PAP3044
PAP3059
PAP3060
PAQ303
PAQ403
PAQ503
PAQ603
PAQ704
PAQ708
PAR102
PAR2101
PAR2201
PAR3101
PAR3201
PAR3701
PAR3801
PAR4902
PAR5002
PAR6101
PAR6201
PAR6301
PAR7402
PAR7502
PAR8201
PAR8301
PAR8401
PAR9601
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PAU302
PAU303
PAU304
PAU306
PAU505
PAU605
PAU702
PAU703
PAU704
PAU705
PAU802
PAU803
PAU804 PAU805
PAU902
PAU1003
PAU1102
PAC202
PAC302
PAC402
PAC502
PAC602 PAC702
PAD102
PAH201
PAJ702
PAPS101
PAR502
PAC1901
PAD601
PAP2018
PAR1402
PAC2001
PAD701
PAP2019
PAR1502
PAC2301
PAD801
PAP2020
PAR2302
PAC2401
PAD901
PAP2032
PAR2402
PAP2029
PAQ301
PAP2030
PAQ401
PAP2031
PAQ501
PAP2017
PAQ601
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PAP3017
PAIC105
PAP3019
PAIC102
PAP3021
PAJ109
PAR302
PAR401
PAJ1010
PAR602
PAR701
PAJ1011
PAR902
PAR1001
PAJ2013
PAR1401
PAJ2014
PAR1501
PAJ2015
PAR2301
PAJ2016
PAR2401
PAJ80A9
PAR9702
PAJ80B9
PAR9802
PAC6801
PAC6901
PAD1804
PAD1904
PAD2004
PAD2104
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PAP2013
PAC2201
PAP3013
PAR2002
PAJ108
PAR1801
PAR2001
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PAC1001
PAD301
PAL101
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PAR1602
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PAR2601
PAR2802
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PAR1101
PAR1202
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PAR2501
PAR2602
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PAR3301
PAD1301
PAR3401
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PAR3501
PAD1501
PAR3601
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PAR1901
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PAR4101
PAIC205
PAR4701
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PAR4801
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PAR6102
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PAR6601
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PAR7201
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PAR8501
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PAR8901
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PAR8601
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PAR3002
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PAR1301
PAQ703
PAR9501
PAR1302
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PAR2702
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PAR3901
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PAR4001
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PAR4301
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PAR4401
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PAR5901
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PAR6001
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PAR9502
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PAR9701
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PAR9602
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PAC2102
PAP2033
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PAU203
PAJ2019
PAR1102
PAC2602
PAP2034
PAR3102
PAR3202
PAU403
PAJ2017
PAR2502
PAC1801 PAC2501
PAD402
PAD502
PAD1002
PAD1102
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PAR1601 PAR2801
PAU202
PAU402
PAC102
PAC101
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PAC201
PAC202
COC2
PAC302
PAC301
COC3
PAC402
PAC401
COC4
PAC502
PAC501
COC5
PAC602
PAC601
COC6
PAC702
PAC701
COC7
PAC802
PAC801
COC8
PAC902
PAC901
COC9
PAC1002
PAC1001
COC10
PAC1102
PAC1101
COC11
PAC1202
PAC1201
COC12
PAC1301
PAC1302
COC13
PAC1401
PAC1402
COC14
PAC1502
PAC1501
COC15
PAC1602 PAC1601
COC16
PAC1701
PAC1702
COC17
PAC1801
PAC1802
COC18
PAC1902
PAC1901
COC19
PAC2002
PAC2001
COC20
PAC2101
PAC2102
COC21
PAC2202
PAC2201
COC22
PAC2302
PAC2301
COC23
PAC2402
PAC2401
COC24
PAC2501
PAC2502
COC25
PAC2601
PAC2602
COC26
PAC2702
PAC2701
COC27
PAC2801
PAC2802
COC28
PAC2901
PAC2902
COC29
PAC3001 PAC3002
COC30
PAC3101
PAC3102
COC31
PAC3201
PAC3202
COC32
PAC3302
PAC3301
COC33
PAC3402
PAC3401
COC34
PAC3502
PAC3501
COC35
PAC3602 PAC3601
COC36
PAC3702
PAC3701
COC37
PAC3801
PAC3802
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COC40
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PAC7502
COC75
PAC7601
PAC7602
COC76
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PAC7701
COC77
PAC7801
PAC7802
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PAD101
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PAD201
PAD202
COD2
PAD301
PAD302
COD3
PAD402
PAD401
COD4
PAD502
PAD501
COD5
PAD601
PAD602
COD6
PAD702
PAD701
COD7
PAD802
PAD801
COD8
PAD902
PAD901
COD9
PAD1002
PAD1001
COD10
PAD1102
PAD1101
COD11
PAD1202
PAD1201
COD12
PAD1302
PAD1301
COD13
PAD1402
PAD1401
COD14
PAD1502
PAD1501
COD15
PAD1601
PAD1602
COD16
PAD1701
PAD1702
COD17
PAD1804
PAD1801
PAD1802
PAD1803
COD18
PAD1901
PAD1904
PAD1903
PAD1902
COD19
PAD2001
PAD2004
PAD2002
PAD2003
COD20
PAD2101
PAD2104
PAD2103
PAD2102
COD21
PADS102
PADS101
CODS1
PADS202
PADS201
CODS2
PAH101
COH1
PAH201
COH2
PAH301
COH3
PAH401
COH4
PAH501
COH5
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PAIC103
PAIC106
PAIC108
PAIC104
PAIC107
PAIC105
PAIC102
COIC1
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PAIC202
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COIC2
PAIC301
PAIC302
PAIC303
PAIC304
PAIC305
COIC3
PAIC402
PAIC401
PAIC403
PAIC406
PAIC405
PAIC404
COIC4
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PAIC502
PAIC505 PAIC504
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PAIC602
PAIC603
PAIC604
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PAJ1016
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PAJ104
PAJ103
PAJ107
PAJ108
PAJ109
PAJ1010
PAJ1011
PAJ1012 PAJ1013
PAJ1014
COJ1
PAJ209
PAJ2010
PAJ2011 PAJ2012 PAJ2018 PAJ2020
PAJ202
PAJ2019
PAJ2017
PAJ2016
PAJ2015
PAJ2014
PAJ2013
PAJ208
PAJ207
PAJ206
PAJ205
PAJ204
PAJ203
PAJ201
COJ2
PAJ301 PAJ302
PAJ303
PAJ304
PAJ305
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PAJ407
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PAJ403
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PAJ602 PAJ603
PAJ604
PAJ605
PAJ606 PAJ607
PAJ608
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COM3
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COM4
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PAP101
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PAP20H1
PAP208
PAP2020
PAP2059
PAP2010 PAP2078
PAP2018 PAP2046
PAP209
PAP2077
PAP2038
PAP207
PAP2076
PAP2035
PAP203
PAP2075
PAP2015
PAP2074
PAP2032
PAP2016
PAP2013 PAP2073
PAP205
PAP2072
PAP2011
PAP2014
PAP2071
PAP2012
PAP206
PAP2069
PAP2070
PAP2019 PAP2079
PAP2033
PAP2080
PAP2034 PAP2060
PAP20S1
PAP20S2
PAP2058
PAP2057
PAP2056
PAP2055
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PAP2030
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PAP2025
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PAR601
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PAR702
COR7
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PAR7402
PAR7401
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PAR7501
PAR7502
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PAR8201
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PAR8302 PAR8301
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COR85
PAR8601
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PAR8701
COR87
PAR8801
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PAR9402
COR94
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COR95
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COR96
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PAR9701
COR97
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PAR9801
COR98
PAU101 PAU102
PAU103
PAU104
COU1
PAU201
PAU202
PAU203
PAU204
COU2
PAU307
PAU308
PAU306
PAU304
PAU303
PAU302
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COU3
PAU401
PAU402 PAU403
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PAU504
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COU5
PAU605
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PAU607
PAU608
PAU604
PAU603
PAU602
PAU601
COU6
PAU701
PAU702
PAU703
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COU7
PAU806
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COU8
PAU901
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COU10
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PAU1102
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PAP304 PAP306 PAP308
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PAC6501
PAIC108
PAIC201
PAIC301
PAIC501
PAIC601
PAIC701
PAIC801
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PAR8002
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PAU104
PAU502
PAU503
PAU508
PAU602
PAU603
PAU608
PAU708
PAU808
PAU903
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PAC4801
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PAR601
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PAC1701
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PAC5801
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PAD1302
PAD1402
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PAR702
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PAR5601
PAR5701
PAR5801
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PAIC702
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PAJ1016
PAJ202
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PAJ608
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PAP102
PAP205
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PAP2038 PAP2046
PAP2059
PAP2060
PAP2069
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PAP2079
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PAU703
PAU704
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PAC302
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PAJ702
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PAR502
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PAD601
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PAR302
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PAC601
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PAC1001
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COC32
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COC33
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PAD101
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PAD201
PAD202
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PAD301
PAD302
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PAD402
PAD401
COD4
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PAD501
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PAD601
PAD602
COD6
PAD702
PAD701
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PAD801
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PAD902
PAD901
COD9
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PAD1001
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PAD1102
PAD1101
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PAD1301
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PAD1401
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PAD1501
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PAD1702
COD17
PAD1804
PAD1801
PAD1802
PAD1803
COD18
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PAD1904
PAD1903
PAD1902
COD19
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PAD2004
PAD2002
PAD2003
COD20
PAD2101
PAD2104
PAD2103
PAD2102
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PADS101
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PADS201
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COH3
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COH4
PAH501
COH5
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PAIC502
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PAJ107
PAJ108
PAJ109
PAJ1010
PAJ1011 PAJ1012
PAJ1013
PAJ1014
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PAJ209
PAJ2010
PAJ2011 PAJ2012 PAJ2018
PAJ2020
PAJ202
PAJ2019
PAJ2017
PAJ2016
PAJ2015
PAJ2014
PAJ2013
PAJ208
PAJ207
PAJ206
PAJ205
PAJ204
PAJ203
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PAJ301 PAJ302
PAJ303
PAJ304
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COL2
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COM3
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PAP101
COP1
PAP20H2
PAP20H1
PAP208
PAP2020
PAP2059
PAP2010 PAP2078
PAP2018 PAP2046
PAP209
PAP2077
PAP2038
PAP207
PAP2076
PAP2035
PAP203
PAP2075
PAP2015
PAP2074
PAP2032
PAP2016
PAP2013 PAP2073
PAP205
PAP2072
PAP2011
PAP2014
PAP2071
PAP2012
PAP206
PAP2069
PAP2070
PAP2019 PAP2079
PAP2033
PAP2080
PAP2034 PAP2060
PAP20S1
PAP20S2
PAP2058
PAP2057
PAP2056
PAP2055
PAP2054
PAP2053
PAP2052
PAP2051
PAP2050
PAP2049
PAP2048
PAP2047
PAP2045
PAP2044
PAP2043
PAP2042
PAP2041
PAP2040
PAP2039
PAP2037
PAP2036
PAP2031
PAP2029
PAP2030
PAP2022 PAP2024
PAP2026
PAP2025
PAP2023
PAP2021
PAP2017
PAP2027
PAP2028
PAP202
PAP201
PAP204
PAP2061
PAP2062
PAP2063
PAP2064
PAP2065
PAP2066
PAP2067
PAP2068
COP2
PAP30H2
PAP30H1
PAP3017 PAP3019
PAP304
PAP3021
PAP306 PAP308
PAP3010 PAP3026
PAP3024
PAP3020 PAP3030
PAP3060
PAP3059
PAP301
PAP3032
PAP3013
PAP3044
PAP3036
PAP302
PAP3034
PAP3022
PAP3015
PAP3028
PAP30S2
PAP30S1
PAP3058
PAP3057
PAP3056
PAP3055
PAP3054
PAP3053
PAP3052
PAP3051
PAP3050
PAP3049
PAP3048
PAP3047
PAP3046
PAP3045
PAP3043
PAP3042
PAP3041
PAP3040
PAP3039
PAP3038
PAP3037
PAP3035
PAP3033
PAP3031
PAP3029
PAP3018
PAP3025
PAP3023
PAP3027
PAP3016
PAP3014
PAP303 PAP305 PAP307 PAP309
PAP3011
PAP3012
COP3
PAPS101
PAPS102
PAPS106
PAPS107
PAPS108
PAPS105
PAPS103
COPS1
PAQ101
PAQ103
PAQ104
COQ1
PAQ201
PAQ202
PAQ203
PAQ205060708
PAQ204
COQ2
PAQ301
PAQ302
PAQ303
COQ3
PAQ403
PAQ402
PAQ401
COQ4
PAQ502
PAQ501
PAQ503
COQ5
PAQ603
PAQ601
PAQ602
COQ6
PAQ708
PAQ707
PAQ706
PAQ705
PAQ704
PAQ702
PAQ701
PAQ703
COQ7
PAR101
PAR102
COR1
PAR202
PAR201
COR2
PAR301
PAR302
COR3
PAR401
PAR402
COR4
PAR502
PAR501
COR5
PAR602
PAR601
COR6
PAR701
PAR702
COR7
PAR801
PAR802
COR8
PAR901
PAR902
COR9
PAR1001
PAR1002
COR10
PAR1102
PAR1101
COR11
PAR1202
PAR1201
COR12
PAR1301 PAR1302
COR13
PAR1402
PAR1401
COR14
PAR1502
PAR1501
COR15
PAR1601
PAR1602
COR16
PAR1702
PAR1701
COR17
PAR1801
PAR1802
COR18
PAR1902
PAR1901
COR19
PAR2002
PAR2001
COR20
PAR2102
PAR2101
COR21
PAR2201
PAR2202
COR22
PAR2302 PAR2301
COR23
PAR2401
PAR2402
COR24
PAR2502
PAR2501
COR25
PAR2602
PAR2601
COR26
PAR2701 PAR2702
COR27
PAR2801
PAR2802
COR28
PAR2902
PAR2901
COR29
PAR3001
PAR3002
COR30
PAR3101 PAR3102
COR31
PAR3202
PAR3201
COR32
PAR3302
PAR3301
COR33
PAR3401
PAR3402
COR34
PAR3501
PAR3502
COR35
PAR3602
PAR3601
COR36
PAR3702 PAR3701
COR37
PAR3802
PAR3801
COR38
PAR3902
PAR3901
COR39
PAR4002
PAR4001
COR40
PAR4102
PAR4101
COR41
PAR4201
PAR4202
COR42
PAR4302
PAR4301
COR43
PAR4402
PAR4401
COR44
PAR4502
PAR4501
COR45
PAR4601
PAR4602
COR46
PAR4702
PAR4701
COR47
PAR4801
PAR4802
COR48
PAR4901
PAR4902
COR49
PAR5001 PAR5002
COR50
PAR5101
PAR5102
COR51
PAR5201 PAR5202
COR52
PAR5301
PAR5302
COR53
PAR5401
PAR5402
COR54
PAR5502
PAR5501
COR55
PAR5601
PAR5602
COR56
PAR5701
PAR5702
COR57
PAR5801
PAR5802
COR58
PAR5902
PAR5901
COR59
PAR6002
PAR6001
COR60
PAR6101
PAR6102
COR61
PAR6202
PAR6201
COR62
PAR6302
PAR6301
COR63
PAR6402
PAR6401
COR64
PAR6502
PAR6501
COR65
PAR6602
PAR6601
COR66
PAR6701
PAR6702
COR67
PAR6802
PAR6801
COR68
PAR6902
PAR6901
COR69
PAR7002
PAR7001
COR70
PAR7101
PAR7102
COR71
PAR7202
PAR7201
COR72
PAR7301
PAR7302
COR73
PAR7402
PAR7401
COR74
PAR7501
PAR7502
COR75
PAR7602
PAR7601
COR76
PAR7701
PAR7702
COR77
PAR7801
PAR7802
COR78
PAR7901
PAR7902
COR79
PAR8001
PAR8002
COR80
PAR8101
PAR8102
COR81
PAR8201
PAR8202
COR82
PAR8302 PAR8301
COR83
PAR8402
PAR8401
COR84
PAR8502
PAR8501
COR85
PAR8601
PAR8602
COR86
PAR8702
PAR8701
COR87
PAR8801
PAR8802
COR88
PAR8902
PAR8901
COR89
PAR9001
PAR9002
COR90
PAR9102
PAR9101
COR91
PAR9201 PAR9202
COR92
PAR9301
PAR9302
COR93
PAR9401
PAR9402
COR94
PAR9501
PAR9502
COR95
PAR9601
PAR9602
COR96
PAR9702
PAR9701
COR97
PAR9802
PAR9801
COR98
PAU101 PAU102
PAU103
PAU104
COU1
PAU201
PAU202 PAU203
PAU204
COU2
PAU307
PAU308
PAU306 PAU304
PAU303
PAU302
PAU301
PAU305
COU3
PAU401
PAU402 PAU403
PAU404
COU4
PAU502
PAU503
PAU504
PAU508
PAU507
PAU506
PAU505
PAU501
COU5
PAU605
PAU606
PAU607
PAU608
PAU604
PAU603
PAU602
PAU601
COU6
PAU701
PAU702
PAU703
PAU704
PAU705 PAU706
PAU707
PAU708
COU7
PAU806
PAU807
PAU808
PAU801
PAU802
PAU803
PAU804 PAU805
COU8
PAU901
PAU903
PAU904
PAU908
PAU907
PAU906
PAU905
PAU902
COU9
PAU1004
PAU1002
PAU1003
PAU1006
PAU1005
PAU1001
COU10
PAU1101
PAU1102
PAU1103
PAU1104
PAU1105
PAU1106
COU11
PAP204
PAP304 PAP306 PAP308
PAP3010
PAC101
PAC1301
PAC1401
PAC3201
PAC3301
PAC3801
PAC3901
PAC4901
PAC5001
PAC5501
PAC5601
PAC5901
PAC6401
PAC6501
PAIC108
PAIC201
PAIC301
PAIC501
PAIC601
PAIC701
PAIC801
PAP2014
PAR8002
PAU102
PAU104
PAU502
PAU503
PAU508
PAU602
PAU603
PAU608
PAU708
PAU808
PAU903
PAU905
PAP201
PAC4701
PAC4801
PAD1601
PAIC406
PAJ1015
PAJ2012
PAJ2020
PAJ305 PAJ505
PAJ607
PAJ701
PAQ104
PAC801
PAIC101
PAR301
PAC901
PAIC103
PAR601
PAC1501
PAIC106
PAR901
PAC1201
PAC1601
PAC1701
PAC4001
PAC4101
PAC4201
PAC5701
PAC5801
PAC7401
PAC7501
PAC7601
PAD1202
PAD1302
PAD1402
PAD1502
PAIC401
PAIC403
PAP207
PAP208
PAP209
PAP2010
PAQ201
PAQ202
PAQ203
PAR402
PAR702
PAR1002
PAR1802
PAR3001
PAR5102
PAR5202
PAR5302
PAR5402
PAR5501
PAR5601
PAR5701
PAR5801
PAR7602 PAR7702
PAR7802
PAR7902
PAR9102
PAR9202
PAR9302
PAR9402
PAU103
PAU301
PAU1006
PAU1105
PAP3038
PAR4901
PAU504
PAC3401
PAJ304
PAR4302
PAC3501
PAJ303
PAR3902
PAP3040
PAU701
PAC5201
PAJ302
PAR5602
PAR6401
PAR6802
PAR7401
PAC5101
PAJ301
PAR5502
PAR5902
PAR6402
PAP3042
PAP3033
PAP2024
PAR5001
PAU604
PAC3601
PAJ502
PAR4402
PAC3701
PAJ501
PAR4002
PAP2025
PAU801
PAC5401
PAJ504
PAR5802
PAR6501
PAR6902
PAR7501
PAC5301
PAJ503
PAR5702
PAR6002
PAR6502
PAP2051
PAR801
PAD1701
PAJ209
PAD1702
PAJ2010
PAQ701
PAQ702 PAQ705
PAQ706
PAQ707
PAJ208
PAR8101
PAU906
PAJ207
PAR8102
PAU907
PAP2057
PAU904
PAP2055
PAR8001
PAU901
PAC7701
PAC7801
PAJ80A8
PAJ80B8
PAJ80MH1
PAJ80MH2
PAJ80MH3
PAIC203
PAP3024
PAC2902
PAJ102
PAR4501
PAR4702
PAR5101
PAC2802
PAJ101
PAR3702
PAR4102
PAR4502
PAR5201
PAIC503
PAP3026
PAC4402
PAJ104
PAR7001
PAR7202
PAR7601
PAC4302
PAJ103
PAR6202
PAR6602
PAR7002
PAR7701
PAIC703
PAP3028
PAC6102
PAJ106
PAR8701
PAR8902
PAR9101
PAC6002
PAJ105
PAR8302
PAR8502
PAR8702
PAR9201
PAIC303
PAP3030
PAC3102
PAJ605
PAR4601
PAR4802
PAR5301
PAC3002
PAJ606
PAR3802
PAR4202
PAR4602
PAR5401
PAIC603
PAP3032
PAC4602
PAJ603
PAR7101
PAR7302
PAR7801
PAC4502
PAJ604
PAR6302
PAR6702
PAR7102
PAR7901
PAIC803
PAP3034
PAC6302
PAJ601
PAR8801
PAR9002
PAR9301
PAC6202
PAJ602
PAR8402
PAR8602
PAR8802
PAR9401
PAP2064
PAR1902
PAP2065
PAR1702
PAP2067
PAU1101
PAP2068
PAU1103
PAP2036
PAR2902
PAC2202
PAP203
PAP301
PAP302
PAP3020
PAR101
PAC102
PAC802
PAC902
PAC1102
PAC1202
PAC1302
PAC1402
PAC1502
PAC1602
PAC1702
PAC1902
PAC2002
PAC2101
PAC2302
PAC2402
PAC2601
PAC2702
PAC2801
PAC2901
PAC3001
PAC3101
PAC3202
PAC3302
PAC3402
PAC3502
PAC3602
PAC3702
PAC3802
PAC3902
PAC4002
PAC4102
PAC4202
PAC4301
PAC4401
PAC4501
PAC4601
PAC4702
PAC4802
PAC4902
PAC5002
PAC5102
PAC5202
PAC5302
PAC5402
PAC5502
PAC5602
PAC5702
PAC5802
PAC5902
PAC6001
PAC6101
PAC6201
PAC6301
PAC6402
PAC6502
PAC6602
PAC6702
PAC6802
PAC6902
PAC7002
PAC7102
PAC7202
PAC7302
PAC7402
PAC7502
PAC7602
PAC7702
PAC7802
PAD602
PAD702
PAD802
PAD902
PAD1602
PAD1801
PAD1901
PAD2001
PAD2101
PADS102
PADS202
PAIC104
PAIC202
PAIC302
PAIC402
PAIC502
PAIC602
PAIC702
PAIC802
PAJ1016
PAJ202
PAJ2011
PAJ306
PAJ506
PAJ608
PAJ80A10
PAJ80B10
PAL202
PAL302
PALED101
PALED201
PAP102
PAP205
PAP206
PAP2011
PAP2012
PAP2015
PAP2016
PAP2035
PAP2038 PAP2046
PAP2059
PAP2060
PAP2069
PAP2070
PAP2079
PAP2080
PAP3015
PAP3022
PAP3036
PAP3044
PAP3059
PAP3060
PAQ303
PAQ403
PAQ503
PAQ603
PAQ704
PAQ708
PAR102
PAR2101
PAR2201
PAR3101
PAR3201
PAR3701
PAR3801
PAR4902
PAR5002
PAR6101
PAR6201
PAR6301
PAR7402
PAR7502
PAR8201
PAR8301
PAR8401
PAR9601
PAU101
PAU302
PAU303
PAU304
PAU306
PAU505
PAU605
PAU702
PAU703
PAU704
PAU705
PAU802
PAU803
PAU804 PAU805
PAU902
PAU1003
PAU1102
PAC202
PAC302
PAC402
PAC502
PAC602 PAC702
PAD102
PAH201
PAJ702
PAPS101
PAR502
PAC1901
PAD601
PAP2018
PAR1402
PAC2001
PAD701
PAP2019
PAR1502
PAC2301
PAD801
PAP2020
PAR2302
PAC2401
PAD901
PAP2032
PAR2402
PAP2029
PAQ301
PAP2030
PAQ401
PAP2031
PAQ501
PAP2017
PAQ601
PAIC107
PAP3017
PAIC105
PAP3019
PAIC102
PAP3021
PAJ109
PAR302
PAR401
PAJ1010
PAR602
PAR701
PAJ1011
PAR902
PAR1001
PAJ2013
PAR1401
PAJ2014
PAR1501
PAJ2015
PAR2301
PAJ2016
PAR2401
PAJ80A9
PAR9702
PAJ80B9
PAR9802
PAC6801
PAC6901
PAD1804
PAD1904
PAD2004
PAD2104
PAJ80A4
PAP2013
PAC2201
PAP3013
PAR2002
PAJ108
PAR1801
PAR2001
PAJ107
PAL301
PAC1001
PAD301
PAL101
PAPS106
PAC1002
PAD302
PAL201
PAPS107
PAC1101
PAL102
PAC1802
PAD501
PAR1201
PAR1602
PAU201
PAC2502
PAD1101
PAR2601
PAR2802
PAU401
PAC2701
PAR2701
PAU307
PAC6601
PAC6701
PAJ80B4
PAC7001
PAC7101
PAJ80A5
PAC7201
PAC7301
PAJ80B5
PAD202
PAQ101
PAR201
PAR501
PAD401
PAR1101
PAR1202
PAD1001
PAR2501
PAR2602
PAD1201
PAR3301
PAD1301
PAR3401
PAD1401
PAR3501
PAD1501
PAR3601
PADS101
PAR1901
PADS201
PAR2901
PAIC204
PAR4101
PAIC205
PAR4701
PAIC304
PAR4201
PAIC305
PAR4801
PAIC405
PAR6102
PAIC504
PAR6601
PAIC505
PAR7201
PAIC604
PAR6701
PAIC605
PAR7301
PAIC704
PAR8501
PAIC705
PAR8901
PAIC804
PAR8601
PAIC805
PAR9001
PALED102
PAR1701
PALED202
PAR3002
PAP101
PAR802
PAQ204
PAU308
PAQ205060708
PAR1301
PAQ703
PAR9501
PAR1302
PAU204
PAR2702
PAU404
PAR3901
PAU506
PAR4001
PAU606
PAR4301
PAU507
PAR4401
PAU607
PAR5901
PAU706
PAR6001
PAU806
PAR6801
PAU707
PAR6901
PAU807
PAR8202
PAU908
PAR9502
PAU1004
PAR9701
PAU1106
PAR9801
PAU1104
PAJ203
PAQ302
PAR3302
PAJ204
PAQ402
PAR3402
PAJ205
PAQ502
PAR3502
PAJ206
PAQ602
PAR3602
PAJ201
PAJ401
PAJ402
PAM101
PAM201
PAM301
PAM401 PAH301 PAJ407
PAJ408
PAH401
PAJ405
PAJ406
PAH501
PAJ403
PAJ404
PAD2103
PAJ80A6
PAP2077
PAD2102
PAJ80A3
PAP2075
PAD2002
PAJ80A2
PAP2073
PAD2003
PAJ80A1
PAP2071
PAD1903
PAJ80B6
PAP2078
PAD1902
PAJ80B3
PAP2076
PAD1802
PAJ80B2
PAP2074
PAD1803
PAJ80B1
PAP2072
PAC201
PAC301
PAC401
PAC501
PAC601 PAC701
PAD101
PAD201
PAH101
PAPS102
PAQ103
PAR202
PAP2041
PAR9602
PAU1002
PAC2102
PAP2033
PAR2102
PAR2202
PAU203
PAJ2019
PAR1102
PAC2602
PAP2034
PAR3102
PAR3202
PAU403
PAJ2017
PAR2502
PAC1801 PAC2501
PAD402
PAD502
PAD1002
PAD1102
PAJ2018
PAR1601 PAR2801
PAU202
PAU402
Se o d i es implemen a ion o obo ’s mo o con ol 107
D So wa e Ins alla ion Guide
D.1 TwinCAT
TwinCAT can be downloaded and ins alled by accessing i s o icial websi e [70] and ollowing
he s eps desc ibed below:
•Once he link [70] is opened, na iga e o he P oduc in o ma ion sec ion.
•Expand he op ions unde he So wa e and ools menu.
•Download he execu able ile TwinCAT 3 | eX ended Au oma ion Enginee ing (XAE).
•A e downloading, un he ile and p oceed wi h he ins alla ion by ollowing he ins uc-
ions in he ins alla ion wiza d.
D.2 Mo ionLab3
Mo ionLab3canbe downloaded and ins alledbyaccessing i s o icial websi e [71]and ollowing
he s eps explained below:
•Once he link [71] is opened, download he execu able ile.
•Finally, un he ile and p oceed wi h he ins alla ion by ollowing he ins uc ions in he
ins alla ion wiza d.
114 Repo
Figu e 82: D i e i mwa e upda e. Sou ce: au ho .
To upda e he Summi con olle s in he EVE se ies, he p ocess is simple and is desc ibed
below [101]:
•Connec he con olle o TwinCAT as explained ea lie .
•Double-click on he D i e (o BOX) elemen and, wi hin he Online ab unde S a e Ma-
chine, selec Boo s ap. The communica ion RUN LED will blink apidly.
•In he File Access o e E he CAT sec ion, selec Download. Loca e he downloaded ‘.s u‘ ile
by enabling he op ion o display all iles in he Windows ile explo e .
•The d i e will now be upda ed.
I i is in ended o upda e he i mwa e o ano he con olle , i is ecommended o consul he
o icial documen a ion.
E.2 D i e connec ion o Mo ionLab3
Once communica ion be ween he compu e and he d i e has been es ablished, he d i e can
be de ec ed by he con igu a ion p og am Mo ionLab3 and connec ed o i . The e a e wo ways
o do his:
Au oma ic
When he p og am s a s, i scans he a ailable ne wo ks on he compu e o au oma ically de-
ec connec ed d i es. I any d i e is de ec ed, i s icon will appea on he p og am’s home sc een.
Ho e ing he mouse o e he icon will allow he use o click he Connec bu on (see Figu e 84).
Se o d i es implemen a ion o obo ’s mo o con ol 115
A e a ew seconds, he d i e will be connec ed and eady o con igu a ion.
The e esh bu on o de ec ed de ices can be p essed o ha e Mo ionLab3 escan he ne wo k,
in case he d i e was connec ed o he compu e a e he p og am s a ed.
Figu e 83: Au oma ic connec ion wi h Mo ionLab3. Sou ce: au ho .
Manual
I he d i e has no been au oma ically de ec ed o i he connec ion pa ame e s wan s o be
modi ied, he d i e can be connec ed manually by ollowing he ins uc ions below:
•S a Mo ionLab3. Selec he op ion o manually connec a sla e on he home sc een.
•Selec he E he CAT EoE op ion (using ex e nal Mas e ).
•Speci y he IP add ess associa ed wi h he d i e, in his p ojec ’s case 192.168.2.0, and
p ess he Connec bu on.
•Finally, he d i e desc ip ion will appea on he sc een. The d i e will be connec ed and
eady o con igu a ion.
116 Repo
Figu e 84: Manual connec ion wi h Mo ionLab3. Sou ce: au ho .
Se o d i es implemen a ion o obo ’s mo o con ol 117
F Guide on manual uning h ough Mo ionLab3
The de ailed p ocess o con igu ing he eloci y and posi ion con ol loops is explained below.
A e accessing he Tune sec ion and selec ing he desi ed loop, he wo kspace will display he
signal gene a o a he op igh and he con ol pa ame e s a he bo om. To con igu e he PID
alues success ully, ollow hese ins uc ions:
•Con igu e he gene a ed signal. Fo eloci y o posi ion, i is ecommended o use a low
equency (1 o 0.1 Hz), while he ampli ude can be se o a ious alues, such as 2 o
4 e /s o eloci y. The equi ed o se can be assigned as needed; in his p ojec , i has
been se o 0.
•Se all PID con olle pa ame e s o his loop (Kp, Ki, Kd) o 0.
•P ess he Enable bu on in he Tune pa ame e , which should display he g aph upda ing
in eal ime wi h he demanded eloci y alues.
•Slowly inc ease he alue o Kp un il he ac ual eloci y alue app oaches he demanded
alue. To apply changes o he pa ame e alue, p ess he En e key on he keyboa d each
ime he alue is upda ed.
•G adually inc ease he alue o Ki un il he ac ual eloci y ma ches he demanded alue.
O e shoo and oscilla ions may occu i his alue is inc eased excessi ely.
•Adjus he Kp and Ki alues un il he PID con olle ’s esponse achie es he desi ed be-
ha io and speed. The Kd alue should only be used in cases whe e oscilla ions o la ge
o e shoo s occu .
When wo king wi h a iple cascade con ol loop, in mos cases, he posi ion con ol loop con-
sis s only o a p opo ional con olle . The e o e, i is only necessa y o adjus he Kp alue,
keeping Ki se o ze o.
The explained p ocess is summa ized in Figu e 85.
118 Repo
Figu e 85: Manual Tuning p ocess. Sou ce: au ho .
Se o d i es implemen a ion o obo ’s mo o con ol 119
G Main unc ions o he ingeniamo ion lib a y
This appendix p o ides a summa y o he mos impo an unc ions o he lib a y and hose
used in he de eloped codes. These unc ions a e g ouped in o hei co esponding names-
paces. Fo mo e in o ma ion, e e o he o icial documen a ion [87].
G.1 Communica ion
F om he di e en unc ions included, only hose using he E he CAT communica ion p o ocol
can be used o his p ojec . Addi ionally, hose ha use he E he ne o e E he CAT p o ocol
did no wo k du ing es ing.
•connec _se o_e he ca (in e ace_name, sla e_id, dic _pa h, alias=’de aul ’,
se o_s a us_lis ene =False, ne _s a us_lis ene =False)
Connec s o a eal d i e ia E he CAT using he speci ied in e ace name, alias, and dic iona y.
The dic iona y pa h mus be comple e o Py hon o loca e he ile. Al e na i ely, he dic io-
na y can be s o ed in he same olde as he code, in which case only he ilename needs o be
speci ied.
•connec _se o_ i ual(dic _pa h=None, alias=’de aul ’, po =1061, connec ion_ imeou =1,
se o_s a us_lis ene =False, ne _s a us_lis ene =False)
C ea es and connec s a i ual d i e using he speci ied alias and dic iona y.
•ge _in e ace_name_lis ()
Scans he compu e o a ailable in e aces, e u ning a lis o hei names. These names a e
no he ac ual in e ace names as iden i ied by he compu e bu a he use - iendly names o
easie iden i ica ion (e.g., Real ek Gaming GbE Family Con olle ).
•ge _i name_by_index(index)
Re u ns he ac ual name o he speci ied in e ace used by o he unc ions. This is he name
assigned by he compu e , which is o en unin elligible o use s (e.g., De ice NPF_{E564BE75-
31C8-4116-BBCB-1DCD7E14AB19}).
•scan_se os_e he ca (in e ace_name)
Scans he speci ied in e ace adap e o iden i y all connec ed E he CAT sla es.
•disconnec (se o=’de aul ’)
Disconnec s he speci ied sla e om he compu e .
•ge _ egis e ( egis e , se o=’de aul ’, axis=1) / se _ egis e ( egis e , alue,
se o=’de aul ’, axis=1)
Re u ns o se s he cu en alue o he a ge egis e in he speci ied d i e using he alias and
axis. The egis e namemus ma ch he onein hedic iona yused (e.g., DRV_PROT_USER_OVER_VOLT
– o e ol age p o ec ion limi de ined by he use ).
120 Repo
•load_ i mwa e_eca (i name, w_ ile, sla e=1, boo _in_app=None, passwo d=None)
Allows upda ing he i mwa e om a ile on he compu e .
G.2 Con igu a ion
•check_con igu a ion(con ig_pa h, axis=None, se o=’de aul ’)
Checks i he d i e con igu a ion ma ches he speci ied ile by compa ing egis e alues. I he
axis a gumen is no de ined, he unc ion uns o all connec ed d i es.
•load_con igu a ion(con ig_pa h, axis=None, se o=’de aul ’)
Loads he con igu a ion om he speci ied ile in o he ola ile memo y o he d i e.
•sa e_con igu a ion(ou pu _ ile, axis=None, se o=’de aul ’)
Sa es he cu en d i e con igu a ion o a ile o u u e use o analysis.
•s o e_con igu a ion(axis=None, se o=’de aul ’)
S o es he cu en con igu a ion in he non ola ile memo y o he d i e.
• es o e_con igu a ion(axis=None, se o=’de aul ’)
Res o es he ac o y se ings o he speci ied d i e.
•se _p o ile (accele a ion=None, decele a ion=None, eloci y=None, se o=’de aul ’,
axis=1)
Se s he maximum speed and accele a ion p o iles o he d i e.
•ge _posi ion_and_ eloci y_loop_ a e(se o=’de aul ’, axis=1)
Ge s he upda e equency o he posi ion and eloci y con ol loops.
•ge _cu en _loop_ a e(se o=’de aul ’, axis=1)
Ge s he upda e equency o he cu en con ol loop.
•is_mo o _enabled(se o=’de aul ’, axis=1)
Repo s he mo o s a us. I he esul is False, he mo o canno mo e.
•ge _s o_s a us(se o=’de aul ’, axis=1)
Re u ns he alue o he STO egis e , indica ing whe he he STO is ac i e o inac i e.
G.3 Mo ion
•se _ope a ion_mode(ope a ion_mode, se o=’de aul ’, axis=1)
Se s he speci ied ope a ion mode o he d i e. This mode mus coincide wi h he commands
Se o d i es implemen a ion o obo ’s mo o con ol 121
o be sen h ough he con ol p og am (cu en , eloci y, o posi ion).
•mo o _enable(se o=’de aul ’, axis=1) / mo o _disable(se o=’de aul ’, axis=1)
Enables/disables mo o mo emen . These unc ions a e necessa y whene e he mo o needs
o mo e, ega dless o he mo ion con ol ype (cu en , eloci y, posi ion).
•mo e_ o_posi ion(posi ion, se o=’de aul ’, axis=1, a ge _la ch=T ue, blocking=False,
e o =20, imeou =None, in e al=None)
Se s he a ge posi ion o he speci ied se o. Allows blocking p og am execu ion un il he
a ge posi ion is eached. The posi ion alue mus be speci ied in pulses, de e mined by he
con igu ed posi ion senso esolu ion.
Fo example, in his p ojec , a mo o wi h a 1:80 gea box and an inc emen al encode wi h a
esolu ion o 8192 pulses is used. The e o e, he o al pulses o one ull o a ion o he mo o
sha is 655360. To mo e he mo o sha 30 deg ees om posi ion 0, he unc ion should speci y
54613.
•se _ eloci y( eloci y, se o=’de aul ’, axis=1, a ge _la ch=T ue, blocking=False,
e o =0.1, imeou =None, in e al=None)
Se s he a ge eloci y o he speci ied se o in e /s.
•ge _ac ual_posi ion(se o=’de aul ’, axis=1)
Re u ns he alue o he cu en posi ion egis e in pulses.
•ge _ac ual_ eloci y(se o=’de aul ’, axis=1)
Re u ns he alue o he cu en eloci y egis e in e /s.
•wai _ o _posi ion(posi ion, se o=’de aul ’, axis=1, e o =20, imeou =None,
in e al=None)
Pauses p og am execu ion un il he cu en posi ion eaches he a ge posi ion. An accep able
posi ion e o in pulses can be de ined.
•wai _ o _ eloci y( eloci y, se o=’de aul ’, axis=1, e o =0.1, imeou =None,
in e al=None)
Pauses p og am execu ion un il he cu en eloci y eaches he a ge eloci y. An accep able
eloci y e o in e /s can be de ined.
• aul _ ese (se o=’de aul ’, axis=1)
Clea s he p e ious aul de ec ed by he d i e o esume no mal ope a ion.
122 Repo
H C ea ed codes
H.1 d i e _connec ion
Lis ing 13: d i e _connec ion unc ion
1###############################################################
2# Se o d i e communica ion unc ion
3#
4# This unc ion p o ides unc ionali ies allows o s ablish
5# communica ion wi h he se o d i e h ough E he CAT using he
6# Ingeniamo ion lib a y .
7# I allows he use o speci y he d i e dic iona y ile and we he
8# o use a i ual o eal d i e .
9#
10 # Fea u es :
11 # - P in in e ace lis de ec ed on he compu e .
12 # - Allow use o selec he in e ace i speci ied .
13 # - Connec o a se o d i e ( eal o i ual ).
14 #
15 ###############################################################
16
17 de d i e _connec ion ( i ual_d i e_used , a gs , mc , use _selec ion ):
18 """ This unc ion es ablishes he communica ion wi h he selec ed
d i e . """
19
20 # Connec o a eal d i e
21 i no i ual_d i e_used:
22
23 # P esen ing he de ec ed in e ace lis
24 in e ace_lis = mc. communica ion . ge _in e ace_name_lis ()
25 i no in e ace_lis :
26 p in ("No in e aces de ec ed . Ensu e you ne wo k se up is
co ec .")
27 e u n
28 p in (" Lis o in e aces :")
29 o index , in e ace in enume a e (in e ace_lis ):
30 p in ( "{ index }: { in e ace }")
31
32 # Choosing an in e ace
33 i use _selec ion == 0:
34 in e ace_index=4 # p ede ined use selec ion
35 else:
36 # Asking use o selec an in e ace
37 while T ue:
38 y:
39 in e ace_index = in (inpu (" En e he numbe o he
in e ace you wan o selec : "))
40 i 0 <= in e ace_index < len(in e ace_lis ):
41 b eak
42 else:
43 p in (" In alid selec ion . Please en e a numbe
co esponding o an a ailable in e ace .")
44 excep ValueE o :
45 p in (" In alid inpu . Please choose a alid
in e ace numbe om he lis abo e .")
Se o d i es implemen a ion o obo ’s mo o con ol 123
46 sla e_id =1
47
48 # Selec ing he chosen in e ace
49 in e ace_selec ed = mc. communica ion . ge _i name_by_index (
in e ace_index)
50 p in (" In e ace selec ed :")
51 p in ( "- Index in e ace : { in e ace_index }")
52 p in ( "- In e ace iden i ie : { in e ace_selec ed }")
53 p in ( "- In e ace name : { in e ace_lis [ in e ace_index ]} ")
54
55 # Scanning in e ace o sla es
56 sla e_id_lis = mc . communica ion . scan_se os_e he ca (
in e ace_selec ed)
57 i no sla e_id_lis :
58 p in ( "No sla e de ec ed on in e ace : { in e ace_lis [
in e ace_index ]}")
59 e u n
60 else:
61 p in ( " Found sla es : { sla e_id_lis }")
62
63 # Connec sla e using selec ed in e ace
64 mc. communica ion . connec _se o_e he ca (
65 in e ace_selec ed ,
66 sla e_id,
67 a gs . dic iona y_pa h
68 )
69 p in (" REAL d i e is connec ed .")
70
71 # Connec o a i ual d i e
72 else:
73 mc. communica ion . connec _se o_ i ual (
74 dic _pa h =’ i ual_d i e . xd ’,
75 alias = ’de aul ’,
76 po =1064 ,
77 connec ion_ imeou =1 ,
78 se o_s a us_lis ene =False,
79 ne _s a us_lis ene =False
80 )
81 p in (" VIRTUAL d i e is connec ed .")
H.2 load_sa e_con ig.py
Lis ing 14: load_sa e_con ig.py
1###############################################################
2# Loading , sa ing and modi ying con igu a ions example
3#
4# This sc ip p o ides unc ionali ies o connec and communica e wi h
5# se o d i es using he Ingeniamo ion lib a y .
6# I allows o con igu ing , modi ying , and e ie ing d i e se ings
7# o bo h eal and i ual d i es .
8# Use s can speci y he d i e dic iona y pa h and whe he o use a
9# i ual d i e h ough command -line a gumen s .
10 #
11 # Fea u es :
130 Repo
32
33 # De ining demo pa ame e s
34 a ge _posi ions = [100000 , 200000 , 0]
35
36 # Se he ope a ion mode
37 mc. mo ion . se _ope a ion_mode ( Ope a ionMode . PROFILE_POSITION )
38 p in (" Ope a ion mode se : P o ile Posi ion .")
39
40 # Enable he mo o
41 mc. mo ion . mo o _enable ()
42 p in (" S a ing mo emen s .")
43
44 # Execu e posi ion changes
45 o cu en _ a ge in a ge _posi ions:
46 s a _ ime = ime . ime () # s a ime o posi ion_demo
47
48 mc. mo ion . mo e_ o_posi ion ( cu en _ a ge , blocking =T ue , e o
=5 , imeou =None , in e al =0.2)
49 ac ual_posi ion = mc . mo ion . ge _ac ual_posi ion ()
50
51 end_ ime = ime . ime () # End ime o mo e posi ion
52
53 p in ( " Ac ual posi ion : { ac ual_posi ion }")
54 p in ( ’Time o he posi ion_change : { end_ ime - s a _ ime :.2
} seconds’)# P in he du a ion
55
56 # Disable he mo o
57 mc. mo ion . mo o _disable ()
58
59 de main(a gs) -> None:
60 """ Main unc ion o demons a e posi ion mo ion con ol . """
61
62 # Connec Se o wi h Mo ionCon olle ins ance
63 mc = Mo ionCon olle ()
64 i ual_d i e_used = a gs . i ual
65 d i e _connec ion ( i ual_d i e_used , a gs , mc , use _selec ion =0)
66
67 # Posi ion demo
68 p in (’Demo POSITION ’)
69 ime . sleep (3)
70 posi ion_demo (mc)
71
72 # Disconnec he d i e
73 mc. communica ion . disconnec ()
74 p in ("The d i e has been disconnec ed .")
75
76
77 i __name__ == ’__main__ ’:
78 logging . basicCon ig ( le el = logging . ERROR ) # se he logging le el
o ERROR
79 a gs = se up_command () # pa se command -line
a gumen s
80 main(a gs) # execu e he main
unc ion
Se o d i es implemen a ion o obo ’s mo o con ol 131
H.6 p og am_ eloci y_keys.py
Lis ing 18: p og am_ eloci y_keys.py
1####################################################################
2# Veloci y commands h ough he keyboa d example
3#
4# This sc ip demons a es how o se up a h ead o lis en o use
5# commands h ough he compu e keyboa d .
6#
7# Fea u es :
8# - P o ide use con ols o inc easing o dec easing eloci y .
9# - Display eal - ime eloci y alues .
10 # - Shu down p og am on use inpu .
11 #
12 ####################################################################
13
14 impo keyboa d
15 impo h eading
16 impo ime
17
18 # Global a iables
19 cu en _ eloci y = 0.0 # cu en eloci y
20 unning = T ue # con ol a iable o manage he p og am
execu ion
21
22 de keyboa d_lis ene ():
23 """ Lis en o keyboa d inpu s o modi y he eloci y a ge . """
24
25 global cu en _ eloci y , unning
26
27 # P in con ol ins uc ions
28 p in (" Con olls : n"
29 "1: Inc ease eloci y (+1 e /s) n"
30 "2: Reduce eloci y (-1 e /s) n"
31 "Q: S op and shu down p og am n")
32
33 # Con inuously lis en o key p esses
34 while unning:
35 y:
36 i keyboa d . is_p essed (’1’):
37 cu en _ eloci y += 1.0
38 p in ( " Inc eased a ge eloci y : { cu en _ eloci y :.2
} e /s")
39 ime . sleep (0.2) # p e en apid inc emen s
40 eli keyboa d . is_p essed ( ’2’):
41 cu en _ eloci y -= 1.0
42 p in ( " Reduced a ge eloci y : { cu en _ eloci y :.2 }
e /s")
43 ime . sleep (0.2) # p e en apid inc emen s
44 eli keyboa d . is_p essed ( ’q’):
45 p in (" Shu ing down ... ")
46 unning = False
47 excep Excep ion as e:
48 p in ( " Keyboa d e o : {e}")
49
132 Repo
50 de main ():
51 """ Main unc ion o demons a e eloci y con ol ia keyboa d
inpu s . """
52
53 global unning
54
55 # C ea e a h ead o lis en o keyboa d inpu s
56 lis ene _ h ead = h eading . Th ead ( a ge = keyboa d_lis ene )
57 lis ene _ h ead . s a ()
58
59 # Main loop o display cu en eloci y alues
60 y:
61 while unning:
62 ime . sleep (1) # upda e display e e y second
63 p in ( " Cu en eloci y : { cu en _ eloci y :.2 }")
64 excep Keyboa dIn e up :
65 # Handle manual in e up ion ( C l +C)
66 unning = False
67 p in (" P og am in e up ed manually .")
68
69 # Wai o he lis ene h ead o inish be o e exi ing
70 lis ene _ h ead . join ()
71 p in (" P og ama inalizado .")
72
73 i __name__ == " __main__ ":
74 main ()
H.7 p og am_ eloci y_keys_d i e.py
Lis ing 19: p og am_ eloci y_keys_d i e.py
1####################################################################
2# Mo o eloci y con ol h ough se o d i e
3#
4# This sc ip demons a es eal - ime eloci y con ol o a se o d i e
5# using keyboa d inpu s . Use s can adjus he a ge eloci y
6# dynamically and obse e he ac ual eloci y eedback . I ensu es sa e
7# mo o ope a ion and con olled shu down when e mina ing p og am .
8#
9# Fea u es :
10 # - Adjus a ge eloci y using keyboa d inpu s .
11 # - Real - ime eedback on he mo o ’s ac ual eloci y .
12 # - Ensu e sa e mo o s op and p og am e mina ion on use eques .
13 #
14 ####################################################################
15
16 impo keyboa d
17 impo h eading
18 impo ime
19 impo logging
20 impo a gpa se
21 om ingeniamo ion impo Mo ionCon olle
22 om ingeniamo ion . enums impo Ope a ionMode
23 om ingenialink . excep ions impo ILE o
24 om d i e _connec ion impo d i e _connec ion
Se o d i es implemen a ion o obo ’s mo o con ol 133
25
26 # Va iables globales pa a con ola elocidad
27 cu en _ eloci y = 0.0
28 a ge _ eloci y = 0.0
29 unning = T ue
30
31 de se up_command ():
32 """ Command - line a gumen s o he mo o con ol p og am """
33
34 pa se = a gpa se . A gumen Pa se ( desc ip ion =’Mo o eloci y con ol
’)
35 pa se . add_a gumen (’ -- dic iona y_pa h ’, de aul =’e e - xc - e_eoe_1
.8.1. xd ’,help=’Pa h o d i e dic iona y ’)
36 pa se . add_a gumen (’-- i ual ’, de aul = False , ac ion = ’s o e_ ue ’,
help=’Use i ual d i e ’)
37 e u n pa se . pa se_a gs ()
38
39 de keyboa d_lis ene ():
40 """ Func ion o lis en o keyboa d inpu s o modi y he eloci y
a ge . """
41
42 global a ge _ eloci y , unning
43
44 # P in con ol ins uc ions
45 p in (" Con olls : n"
46 "1: Inc ease eloci y (+1 e /s) n"
47 "2: Reduce eloci y (-1 e /s) n"
48 "Q: S op and shu down p og am n")
49
50 # Con inuously lis en o key p esses
51 while unning:
52 y:
53 i keyboa d . is_p essed (’1’):
54 a ge _ eloci y += 1.0
55 p in ( " Inc eased a ge eloci y : { a ge _ eloci y :.2 }
e /s")
56 ime . sleep (0.2) # p e en apid inc emen s
57 eli keyboa d . is_p essed ( ’2’):
58 a ge _ eloci y -= 1.0
59 p in ( " Reduced a ge eloci y : { a ge _ eloci y :.2 }
e /s")
60 ime . sleep (0.2) # p e en apid inc emen s
61 eli keyboa d . is_p essed ( ’q’):
62 p in (" Reques ing sa e s op ...")
63 unning = False
64 excep Excep ion as e:
65 p in ( " Keyboa d e o : {e}")
66
67 de eloci y_con ol_loop(mc):
68 """ Func ion o upda e mo o eloci y based on he a ge eloci y .
"""
69
70 global cu en _ eloci y , a ge _ eloci y , unning
71
72 while unning:
134 Repo
73 y:
74 i cu en _ eloci y != a ge _ eloci y :
75 mc. mo ion . se _ eloci y ( a ge _ eloci y )
76 cu en _ eloci y = a ge _ eloci y
77 p in ( " Se eloci y : { cu en _ eloci y :.2 } e /s")
78
79 # Feedback on he ac ual eloci y
80 bk_ el = mc . communica ion . ge _ egis e ("CL_VEL_FBK_VALUE")
81 p in ("CL_VEL_FBK_VALUE", bk_ el)
82 bk_ el = mc . mo ion . ge _ac ual_ eloci y ( se o = ’de aul ’,
axis =1)
83 p in (" Ac ual eloci y " , bk_ el)
84 ime . sleep (1) # upda e equency
85 excep ILE o as e:
86 p in ( " E o when adjus ing eloci y : {e}")
87
88 de sa e_s op (mc):
89 """ Ensu e he mo o s ops comple ely and in a con olled manne
be o e exi ing . """
90
91 global cu en _ eloci y
92
93 mc. mo ion . se _ eloci y (0)
94 p in (" Wai ing o he mo o o s op ... ")
95 mc. mo ion . wai _ o _ eloci y (0)
96 p in (" Mo o s opped .")
97
98 de main(a gs):
99 """ Main unc ion o se up and execu e mo o eloci y con ol . """
100
101 global unning
102
103 # Connec Se o wi h Mo ionCon olle ins ance
104 mc = Mo ionCon olle ()
105 use _selec ion = 1 # allow use o selec in e ace
106 i ual_d i e_used = a gs . i ual
107 d i e _connec ion ( i ual_d i e_used , a gs , mc , use _selec ion )
108
109 # Se he ope a ion mode
110 mc. mo ion . se _ope a ion_mode ( Ope a ionMode . PROFILE_VELOCITY )
111
112 # Enable he mo o
113 mc. mo ion . mo o _enable ()
114 p in (" Con igu ed ope a ion mode : P o ile Veloci y .")
115
116 # S a h eads o keyboa d inpu and eloci y con ol
117 keyboa d_ h ead = h eading . Th ead ( a ge = keyboa d_lis ene )
118 con ol_ h ead = h eading . Th ead ( a ge = eloci y_con ol_loop , a gs
=(mc ,))
119 keyboa d_ h ead . s a ()
120 con ol_ h ead.s a ()
121
122 # Wai o he keyboa d h ead o inish (’q’ p essed )
123 keyboa d_ h ead . join ()
124
Se o d i es implemen a ion o obo ’s mo o con ol 135
125 # Pe o m sa e s op
126 sa e_s op (mc )
127
128 # Disable he mo o and disconnec he d i e
129 mc. mo ion . mo o _disable ()
130 mc. communica ion . disconnec ()
131 p in (" D i e disconnec ed and p og am e mina ed .")
132
133 i __name__ == ’__main__ ’:
134 logging . basicCon ig ( le el = logging . ERROR ) # se he logging le el
o ERROR
135 a gs = se up_command () # pa se command -line
a gumen s
136 main(a gs) # execu e he main
unc ion
H.8 d i e _connec ion_ubun u.py
Lis ing 20: p og am_ eloci y_keys_d i e_ubun u.py
1###############################################################
2# Se o d i e communica ion unc ion
3#
4# This unc ion p o ides unc ionali ies allows o s ablish
5# communica ion wi h he se o d i e h ough E he CAT using he
6# Ingeniamo ion lib a y .
7# I allows he use o speci y he d i e dic iona y ile and we he
8# o use a i ual o eal d i e .
9#
10 # Fea u es :
11 # - P in in e ace lis de ec ed on he compu e .
12 # - Allow use o selec he in e ace i speci ied .
13 # - Connec o a se o d i e ( eal o i ual ).
14 #
15 ###############################################################
16
17 impo os
18
19 de d i e _connec ion ( i ual_d i e_used , a gs , mc , use _selec ion ):
20 """ This unc ion es ablishes he communica ion wi h he selec ed
d i e . """
21
22 # Connec o a eal d i e
23 i no i ual_d i e_used:
24
25 # P esen ing he de ec ed in e ace lis
26 in e ace_lis = mc. communica ion . ge _in e ace_name_lis ()
27 i no in e ace_lis :
28 p in ("No in e aces de ec ed . Ensu e you ne wo k se up is
co ec .")
29 e u n
30 p in (" Lis o in e aces :")
31 o index , in e ace in enume a e (in e ace_lis ):
32 p in ( "{ index }: { in e ace }")
33
136 Repo
34 # Choosing an in e ace
35 i use _selec ion == 0:
36 in e ace_index=1
37 else:
38 # Asking use o selec an in e ace
39 while T ue:
40 y:
41 in e ace_index = in (inpu (" En e he numbe o he
in e ace you wan o selec : "))
42 i 0 <= in e ace_index < len(in e ace_lis ):
43 b eak
44 else:
45 p in (" In alid selec ion . Please en e a numbe
co esponding o an a ailable in e ace .")
46 excep ValueE o :
47 p in (" In alid inpu . Please en e a alid numbe .")
48 sla e_id =1
49
50 # Selec ing he chosen in e ace
51 in e ace_selec ed = mc. communica ion . ge _i name_by_index (
in e ace_index)
52 p in (" In e ace selec ed :")
53 p in ( "- Index in e ace : { in e ace_index }")
54 p in ( "- In e ace iden i ie : { in e ace_selec ed }")
55 p in ( "- In e ace name : { in e ace_lis [ in e ace_index ]} ")
56
57 # Scanning in e ace o sla es
58 sla e_id_lis = mc . communica ion . scan_se os_e he ca (
in e ace_selec ed)
59 i no sla e_id_lis :
60 p in ( "No sla e de ec ed on in e ace : { in e ace_lis [
in e ace_index ]}")
61 e u n
62 else:
63 p in ( " Found sla es : { sla e_id_lis }")
64
65 # Global pa h o he eal d i e dic iona y ile
66 global_pa h = "/ home / ye ay / ws_D i e s / s c / eleop_node /
eleop_node /e e -xc - e_eoe_1 .8.1. xd "
67
68 # Ve i ying he ile exis s
69 i no os .pa h . exis s ( global_pa h ):
70 aise FileNo FoundE o ( "{ global_pa h } ile does no exis !
")
71
72 # Connec sla e using selec ed in e ace
73 mc. communica ion . connec _se o_e he ca (
74 in e ace_selec ed ,
75 sla e_id,
76 global_pa h
77 )
78 p in (" REAL d i e is connec ed .")
79
80 # Connec o a i ual d i e
81 else:
Se o d i es implemen a ion o obo ’s mo o con ol 137
82 # Global pa h o he i ual d i e dic iona y ile
83 global_pa h = "/ home / ye ay / ws_D i e s / s c / eleop_node /
eleop_node / i ual_d i e . xd "
84
85 # Ve i ying he ile exis s
86 i no os .pa h . exis s ( global_pa h ):
87 aise FileNo FoundE o ( "{ global_pa h } ile does no exis !
")
88
89 # Connec o i ual sla e
90 mc. communica ion . connec _se o_ i ual (
91 dic _pa h = global_pa h ,
92 alias = ’de aul ’,
93 po =1061 ,
94 connec ion_ imeou =1 ,
95 se o_s a us_lis ene =False,
96 ne _s a us_lis ene =False
97 )
98 p in (" VIRTUAL d i e is connec ed .")
H.9 p og am_ eloci y_keys_d i e_ubun u.py
Lis ing 21: p og am_ eloci y_keys_d i e_ubun u.py
1####################################################################
2# Mo o eloci y con ol h ough se o d i e ( Ubun u e sion )
3#
4# This sc ip demons a es eal - ime eloci y con ol o a se o d i e
5# using keyboa d inpu s . Use s can adjus he a ge eloci y
6# dynamically and obse e he ac ual eloci y eedback . I ensu es sa e
7# mo o ope a ion and con olled shu down when e mina ing p og am .
8#
9# Fea u es :
10 # - Adjus a ge eloci y using keyboa d inpu s .
11 # - Real - ime eedback on he mo o ’s ac ual eloci y .
12 # - Ensu e sa e mo o s op and p og am e mina ion on use eques .
13 #
14 ####################################################################
15
16 impo keyboa d
17 impo h eading
18 impo ime
19 impo logging
20 impo a gpa se
21 om ingeniamo ion impo Mo ionCon olle
22 om ingeniamo ion . enums impo Ope a ionMode
23 om ingenialink . excep ions impo ILE o
24 om d i e _connec ion impo d i e _connec ion
25
26 # Va iables globales pa a con ola elocidad
27 cu en _ eloci y = 0.0
28 a ge _ eloci y = 0.0
29 unning = T ue
30
31 de se up_command ():
138 Repo
32 """ Command - line a gumen s o he mo o con ol p og am """
33
34 pa se = a gpa se . A gumen Pa se ( desc ip ion =’Mo o eloci y con ol
’)
35 pa se . add_a gumen (’ -- dic iona y_pa h ’, de aul =’e e - xc - e_eoe_1
.8.1. xd ’,help=’Pa h o d i e dic iona y ’)
36 pa se . add_a gumen (’-- i ual ’, de aul = False , ac ion = ’s o e_ ue ’,
help=’Use i ual d i e ’)
37 e u n pa se . pa se_a gs ()
38
39 de keyboa d_lis ene ():
40 """ Func ion o lis en o keyboa d inpu s o modi y he eloci y
a ge . """
41
42 global a ge _ eloci y , unning
43
44 # P in con ol ins uc ions
45 p in (" Con olls : n"
46 "1: Inc ease eloci y (+1 e /s) n"
47 "2: Reduce eloci y (-1 e /s) n"
48 "Q: S op and shu down p og am n")
49
50 # Con inuously lis en o key p esses
51 while unning:
52 y:
53 i keyboa d . is_p essed (’1’):
54 a ge _ eloci y += 1.0
55 p in ( " Inc eased a ge eloci y : { a ge _ eloci y :.2 }
e /s")
56 ime . sleep (0.2) # p e en apid inc emen s
57 eli keyboa d . is_p essed ( ’2’):
58 a ge _ eloci y -= 1.0
59 p in ( " Reduced a ge eloci y : { a ge _ eloci y :.2 }
e /s")
60 ime . sleep (0.2) # p e en apid inc emen s
61 eli keyboa d . is_p essed ( ’q’):
62 p in (" Reques ing sa e s op ...")
63 unning = False
64 excep Excep ion as e:
65 p in ( " Keyboa d e o : {e}")
66
67 de eloci y_con ol_loop(mc):
68 """ Func ion o upda e mo o eloci y based on he a ge eloci y .
"""
69
70 global cu en _ eloci y , a ge _ eloci y , unning
71
72 while unning:
73 y:
74 i cu en _ eloci y != a ge _ eloci y :
75 mc. mo ion . se _ eloci y ( a ge _ eloci y )
76 cu en _ eloci y = a ge _ eloci y
77 p in ( " Se eloci y : { cu en _ eloci y :.2 } e /s")
78
79 # Feedback on he ac ual eloci y
Se o d i es implemen a ion o obo ’s mo o con ol 139
80 bk_ el = mc . communica ion . ge _ egis e ("CL_VEL_FBK_VALUE")
81 p in ("CL_VEL_FBK_VALUE", bk_ el)
82 bk_ el = mc . mo ion . ge _ac ual_ eloci y ( se o = ’de aul ’,
axis =1)
83 p in (" Ac ual eloci y " , bk_ el)
84 ime . sleep (1) # upda e equency
85 excep ILE o as e:
86 p in ( " E o when adjus ing eloci y : {e}")
87
88 de sa e_s op (mc):
89 """ Ensu e he mo o s ops comple ely and in a con olled manne
be o e exi ing . """
90
91 global cu en _ eloci y
92
93 mc. mo ion . se _ eloci y (0)
94 p in (" Wai ing o he mo o o s op ... ")
95 mc. mo ion . wai _ o _ eloci y (0)
96 p in (" Mo o s opped .")
97
98 de main(a gs):
99 """ Main unc ion o se up and execu e mo o eloci y con ol . """
100
101 global unning
102
103 # Connec Se o wi h Mo ionCon olle ins ance
104 mc = Mo ionCon olle ()
105 use _selec ion = 1 # allow use o selec in e ace
106 i ual_d i e_used = a gs . i ual
107 d i e _connec ion ( i ual_d i e_used , a gs , mc , use _selec ion )
108
109 # Se he ope a ion mode
110 mc. mo ion . se _ope a ion_mode ( Ope a ionMode . PROFILE_VELOCITY )
111
112 # Enable he mo o
113 mc. mo ion . mo o _enable ()
114 p in (" Con igu ed ope a ion mode : P o ile Veloci y .")
115
116 # S a h eads o keyboa d inpu and eloci y con ol
117 keyboa d_ h ead = h eading . Th ead ( a ge = keyboa d_lis ene )
118 con ol_ h ead = h eading . Th ead ( a ge = eloci y_con ol_loop , a gs
=(mc ,))
119 keyboa d_ h ead . s a ()
120 con ol_ h ead.s a ()
121
122 # Wai o he keyboa d h ead o inish (’q’ p essed )
123 keyboa d_ h ead . join ()
124
125 # Pe o m sa e s op
126 sa e_s op (mc )
127
128 # Disable he mo o and disconnec he d i e
129 mc. mo ion . mo o _disable ()
130 mc. communica ion . disconnec ()
131 p in (" D i e disconnec ed and p og am e mina ed .")
