Difference between revisions of "AnkleHardwareSpec2007Sep"
From DIDEAS Wiki
m (→Motor Controller) |
m (→Master (state machine) Controller) |
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− | =Master | + | =State Machine (Master) Controller= |
* 25.2V max supply voltage | * 25.2V max supply voltage | ||
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* external logic switch input for mode control | * external logic switch input for mode control | ||
− | ===External | + | ===External Serial Communication and ISP=== |
− | * | + | * Ability to support a variety of attached serial devices: wired RS-232, Bluetooth, 802.11, and ISP. |
− | + | * 1Mbaud (max) RS-232 level ASYNC serial with power (Tx, Rx, RTS, CTS) | |
− | * | + | * Power for external devices: 5V and Vbat (with 0.25amp self resettable fuse) |
− | * | + | * ISP signals (PGC, PGD, MCLR) - allows external programming |
+ | * signals: Vbat, Vcc5, GND, Tx, Rx, RTS, CTS, PGC, PGD, MCLR | ||
− | ===Motor | + | === power / data to Motor Controller === |
− | * | + | * logic level ASYNC 2-wire serial between master and motor controller CPUs |
− | + | * logic level output to motor controller fault pin to disable PWM | |
− | * | + | * logic level input for motor controller alert status |
− | * | + | * battery power from motor controller |
− | * | + | * ??? board to board stacking connector (more reliable that wires) |
===Ankle Angle ??? === | ===Ankle Angle ??? === | ||
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==On board sensors== | ==On board sensors== | ||
+ | |||
===Ambient Temperature=== | ===Ambient Temperature=== | ||
− | * | + | * Thermo resistor with opamp follower placed very close to XY axis IMU |
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===Supply Voltage Monitor=== | ===Supply Voltage Monitor=== | ||
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==software== | ==software== | ||
+ | * ability to reprogram SM Controller over ASYNC serial | ||
* 2 DMA controllers run the two ADC units at 12 bits, 400 KHz total sample rate | * 2 DMA controllers run the two ADC units at 12 bits, 400 KHz total sample rate | ||
* Input capture measures PWM period of magnetic rotory encoder | * Input capture measures PWM period of magnetic rotory encoder | ||
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** reads motor controller status (motor current, supply current / voltage, motor position, status) | ** reads motor controller status (motor current, supply current / voltage, motor position, status) | ||
** processes external communication interface | ** processes external communication interface | ||
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=Motor Controller= | =Motor Controller= | ||
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* suggested design using 30V MOSFETs, 35V bulk caps, and 35V DC-DC converter | * suggested design using 30V MOSFETs, 35V bulk caps, and 35V DC-DC converter | ||
* 2 phase current sensors (ACS712-20amp, 1.2mohm) | * 2 phase current sensors (ACS712-20amp, 1.2mohm) | ||
− | * Ability to ( | + | * Ability to (permanently) short motor leads when primary power absent or if some sort of system failure |
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=== Motor position sensor=== | === Motor position sensor=== | ||
− | * quadrature with index | + | * 5V quadrature with index (single ended) |
− | * hall effect sensor | + | * hall effect sensor |
− | === power / data to | + | === power / data to master controller === |
* ASYNC serial to UART | * ASYNC serial to UART | ||
* TTL input to dsPIC fault pin to disable PWM | * TTL input to dsPIC fault pin to disable PWM | ||
* TTL output for status | * TTL output for status | ||
* "direct" connection to Bat+ | * "direct" connection to Bat+ | ||
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Line 109: | Line 95: | ||
* master will periodically send ASCII commands to command current and mode | * master will periodically send ASCII commands to command current and mode | ||
* controller will respond with status (encoder position, supply voltage, actual current, temperatures) | * controller will respond with status (encoder position, supply voltage, actual current, temperatures) | ||
− | + | ||
==io count== | ==io count== | ||
− | === | + | ===AD=== |
*2 for motor current | *2 for motor current | ||
− | *1 for 5V | + | *1 for 5V supply monitor |
+ | |||
*1 for battery current | *1 for battery current | ||
*1 for supply voltage | *1 for supply voltage | ||
*1 or 2 for temperature | *1 or 2 for temperature | ||
− | + | *1 for 5V supply monitor | |
===digital (21 max) === | ===digital (21 max) === |
Revision as of 17:16, 7 September 2007
State Machine (Master) Controller
- 25.2V max supply voltage
Off board interfaces
Switch Input
- external logic switch input for mode control
External Serial Communication and ISP
- Ability to support a variety of attached serial devices: wired RS-232, Bluetooth, 802.11, and ISP.
- 1Mbaud (max) RS-232 level ASYNC serial with power (Tx, Rx, RTS, CTS)
- Power for external devices: 5V and Vbat (with 0.25amp self resettable fuse)
- ISP signals (PGC, PGD, MCLR) - allows external programming
- signals: Vbat, Vcc5, GND, Tx, Rx, RTS, CTS, PGC, PGD, MCLR
power / data to Motor Controller
- logic level ASYNC 2-wire serial between master and motor controller CPUs
- logic level output to motor controller fault pin to disable PWM
- logic level input for motor controller alert status
- battery power from motor controller
- ??? board to board stacking connector (more reliable that wires)
Ankle Angle ???
- quadrature encoder (5V single ended) [GND, 5V, ChA, ChB, NDX to dsPIC QEI inputs]
- or magnetic rotary encoder (such as AS5045 family) [GND, 3.3V, PWM to dsPIC IC timer]
Strain, SEA, Motor Temp, Supply current
- 4 analog inputs to CPU, DC to 500 Hz analog bandwidth
- 1 x 10k thermo resistor (requires opamp follower), AGND and signal
- 2 x strain gauge bridges (high gain INA326), AGND, SG+, SG-, bridge reference
- SG bridge reference voltage through 0.1% resistance from AVCC5
- 1 x analog input for SEA hall sensor board (no voltage or current amp required) : 3.3V, AGND, signal
On board sensors
Ambient Temperature
- Thermo resistor with opamp follower placed very close to XY axis IMU
Supply Voltage Monitor
- 1% accurate
IMU
- One SPI device, and (upto) 3 analog rate gyro signals
- 3axis (SPI) accelerometer LIS3LV02DQ
- Z axis rate gyro ADXRS300 (analog) or ADIS16100 (digital)
- XY axis (analog) rate gyro IDG300
- Note: XY is in circuit board plane, Z axis is normal to circuit board plane
software
- ability to reprogram SM Controller over ASYNC serial
- 2 DMA controllers run the two ADC units at 12 bits, 400 KHz total sample rate
- Input capture measures PWM period of magnetic rotory encoder
- QEI captures encoder position
- DMA controller sends/receives SPI to digital accelerometer
- Main code loop runs at 500 Hz
- decimation of analog inputs
- reads ankle position
- reads IMU, calculates orientation
- reads motor controller status (motor current, supply current / voltage, motor position, status)
- processes external communication interface
Motor Controller
- support for Maxon EC30-48V [305015] with 500 CNT MR ENCODER [225778]
- EC30-48V specs : L=65.3uH, R=386mohm, SpeedConst=346 rpm/volt, TorqueConst=27.6mNm/A
- Required maximum RPM : 7500
- 25.38V abs max supply voltage
- suggested design using 30V MOSFETs, 35V bulk caps, and 35V DC-DC converter
- 2 phase current sensors (ACS712-20amp, 1.2mohm)
- Ability to (permanently) short motor leads when primary power absent or if some sort of system failure
Off board interfaces
Motor position sensor
- 5V quadrature with index (single ended)
- hall effect sensor
power / data to master controller
- ASYNC serial to UART
- TTL input to dsPIC fault pin to disable PWM
- TTL output for status
- "direct" connection to Bat+
On board sensors
- 2 current sensors
software
- master will periodically send ASCII commands to command current and mode
- controller will respond with status (encoder position, supply voltage, actual current, temperatures)
io count
AD
- 2 for motor current
- 1 for 5V supply monitor
- 1 for battery current
- 1 for supply voltage
- 1 or 2 for temperature
- 1 for 5V supply monitor
digital (21 max)
- 6 PWM output
- 2 fault IOs
- 2 ASYNC serial
- 3 for ISP
- 3 for encoder
- 3 for motor hall position sensor
- 2 for LEDs
Mechanical
- dimensions