TALON SRX Software Reference Manualx Victor SPX Manual
Talon%20SRX%20Victor%20SPX%20-%20Software%20Reference%20Manual%20v2.4
Talon%20SRX%20Victor%20SPX%20-%20Software%20Reference%20Manual
Talon%20SRX%20Victor%20SPX%20-%20Software%20Reference%20Manual
User Manual:
Open the PDF directly: View PDF
Page Count: 164 [warning: Documents this large are best viewed by clicking the View PDF Link!]
- 1. CAN bus Device Basics
- 2. roboRIO Web-based Configuration: Firmware and diagnostics
- 3. Creating a Talon Object (and the basics)
- 4. Limit Switch and Neutral Brake Mode
- 5. Getting Status and Signals
- 6. Setting the Ramp Rate
- 7. Feedback Device (Sensor Feedback)
- 7.1. LabVIEW
- 7.2. C++
- 7.3. Java
- 7.4. Correcting sensor direction, best practices.
- 7.5. Supported Feedback Devices
- 7.6. Multiple Talon SRXs and single sensor
- 7.7. Pulse Width - Checking Sensor Health
- 7.8. Velocity Measurement
- 7.9. Tachometer Measurement
- 8. Soft Limits
- 9. Special Features
- 9.1. Follower Mode
- 9.2. Voltage Compensation
- 9.3. Current Limits
- 9.4. Adjusting Deadband
- 9.5. Capping Peak Output (for a particular Closed-Loop)
- 9.6. Modifying Closed-Loop Period
- 9.7. Feedback Coefficient
- 9.8. Remote Features
- 9.8.1. Remote Features - General Overview
- 9.8.2. Remote Limit Switch
- 9.8.3. Remote Sensor Selection
- 9.8.4. Configuring Remote Soft Limit
- 9.8.5. Closed-Loop with Remote Sensor
- 9.9. Sensor Sum / Sensor Difference
- 9.10. Auxiliary Closed-Loop / Arbitrary Feed-forward
- 10. Control Modes (Closed-Loop)
- 11. Motor Control Profile Parameters
- 12. Closed-Loop Code Excerpts/Walkthroughs
- 12.1. Setting Motor Control Profile Parameters
- 12.2. Setting/Clearing Integral Accumulator (I Accum)
- 12.3. Current Closed-Loop Walkthrough – LabVIEW
- 12.4. Velocity Closed-Loop Walkthrough – Java
- 12.4.1. Velocity Closed-Loop Walkthrough – Test GamepadCollect Sensor Data – Java
- 12.4.2. Velocity Closed-Loop Walkthrough – Collect Sensor Data – Java
- 12.4.3. 2Velocity Closed-Loop Walkthrough – Calculating Feed Forward– Java
- 12.4.4. 3Velocity Closed-Loop Walkthrough – Dialing Proportional Gain – Java
- 12.5. Velocity Closed-Loop Example – LabVIEW
- 12.6. Motion Magic Closed-Loop Walkthrough – Java
- 12.6.1. Motion Magic Closed-Loop Walkthrough – General Requirements
- 12.6.2. Motion Magic Closed-Loop Walkthrough – Test Gamepad
- 12.6.3. Motion Magic Closed-Loop Walkthrough – Collect Sensor Data – Java
- 12.6.4. 3Motion Magic Closed-Loop Walkthrough – Calculate F-Gain – Java
- 12.6.5. 4Motion Magic Closed-Loop Walkthrough – Initial Cruise-Velocity/Acceleration – Java
- 12.6.6. 5Motion Magic Closed-Loop Walkthrough – P-Gain – Java
- 12.6.7. 6Motion Magic Closed-Loop Walkthrough – D-Gain – Java
- 12.6.8. 7Motion Magic Closed-Loop Walkthrough – I-Gain – Java
- 13. Setting Sensor Position
- 14. Fault Flags
- 15. CAN bus Utilization/Error metrics
- 16. Troubleshooting Tips and Common Questions
- 16.1. When I press the B/C CAL button, the brake LED does not change, neutral behavior does not change.
- 16.2. The robot is TeleOperated/Autonomous enabled, but the Talon SRX continues to blink orange (disabled).
- 16.3. When I attach/power a particular Talon SRX to CAN bus, The LEDs on every Talon SRX occasionally blink red. Motor drive seems normal.
- 16.4. If I have a slave Talon SRX following a master Talon SRX, and the master Talon SRX is disconnected/unpowered, what will the slave Talon SRX do?
- 16.5. Is there any harm in creating a software Talon SRX for a device ID that’s not on the CAN bus? Will removing a Talon SRX from the CAN bus adversely affect other CAN devices?
- 16.6. Driver Station log says “Firm Vers could not be retrieved”.
- 16.7. Driver Station log says “Firmware too old”
- 16.8. Why are there multiple ways to get the same sensor data? GetSensorCollection().GetEncoder() versus GetSelectedSensor()?
- 16.9. All CAN devices have red LEDs. Recommended Preliminary checks for CAN bus.
- 16.10. Driver Station reports “MotorSafetyHelper.cpp: A timeout…”, motor drive no longer works. roboRIO Web-based Configuration says “No Drive” mode? Driver Station reports error -44075?
- 16.11. Motor drive stutters, misbehaves? Intermittent enable/disable?
- 16.12. What to expect when devices are disconnected in roboRIO’s Web-based Configuration. Failed Self-Test?
- 16.13. How do I get the raw ADC value (or voltage) on the Analog Input pin?
- 16.14. Recommendation for using relative sensors.
- 16.15. Does anything get reset or lost after firmware updates?
- 16.16. Analog Position seems to be stuck around ~100 units?
- 16.17. Limit switch behavior doesn’t match expected settings.
- 16.18. How fast can I control just ONE Talon SRX?
- 16.19. Expected symptoms when there is excessive signal reflection.
- 16.20. LabVIEW application reads incorrect Sensor Position. Sensor Position jumps to zero or is missing counts.
- 16.21. CAN devices do not appear in the roboRIO Web-based config.
- 16.22. When I make a change to a setting in the roboRIO Web-based configuration and immediately flash firmware into the Talon, the setting does not stick?
- 16.23. My mechanism has multiple Talon SRXs and one sensor. Can I still use the closed-loop/motion-profile modes?
- 16.24. My Closed-Loop is not working? Now what?
- 16.25. Where can I find application examples?
- 16.26. Can RobotDrive be used with Talon SRXs? What if there are six Talons?
- 16.27. How fast does the closed-loop run?
- 16.28. Driver Station log reports: The transmission queue is full. Wait until frames in the queue have been sent and try again.
- 17. Units and Term Definitions
- 17.1. Signal Definitions and Sensor Units
- 17.1.1. (Quadrature) Encoder Position
- 17.1.2. Analog (Encoder/Potentiometer)
- 17.1.3. Motor output
- 17.1.4. (Open-Loop) Ramp
- 17.1.5. (Closed-Loop) Ramp
- 17.1.6. Integral Zone (I Zone)
- 17.1.7. Integral Accumulator (I Accum)
- 17.1.8. Motor Invert
- 17.1.9. Sensor Phase
- 17.1.10. Closed-Loop Error
- 17.1.11. Closed-Loop gains
- 17.2. Sensor Resolutions
- 17.1. Signal Definitions and Sensor Units
- 18. How is the closed-loop implemented?
- 19. Motor Safety Helper
- 20. Going deeper - How does the framing work?
- 20.1. General Status 1
- 20.2. Feedback0 Status 2
- 20.3. Quadrature Encoder Status 3
- 20.4. Analog Input / Temperature / Battery Voltage Status 4
- 20.5. Pulse Width Status 8
- 20.6. Targets Status 10 (Motion Profile and Motion Magic)
- 20.7. PIDF0 Status 13
- 20.8. Modifying Status Frame Period
- 20.9. Control Frame (Control 3)
- 20.10. Modifying the Control Frame Period
- 21. Functional Limitations
- 21.1. roboRIO power up: User should manually refresh the web-based configuration after rebooting roboRIO.
- 21.2. Phoenix 5.1.3.1: Motion profile disabled in 2018 kickoff firmware.
- 21.3. Two sets of Param declarations for auto-clear position parameters.
- 21.4. getClosedLoopTarget() return milliamperes.
- 21.5. Auto-clear position feature on Quadrature Idx only works for rising edges.
- 21.6. Driver Station System Watchdog -63194 and motor controllers not enabling.
- 21.7. Motor output direction is incorrect or accelerates when current-limit is enabled.
- 21.8. Setting eSoftLimitDisableNeutralOnLOS has no effect if soft limit values are within two units.
- 22. CRF Firmware Version Information
- 23. Document Revision Information