AnkleHardwareSpec2007Sep
From DIDEAS Wiki
Contents
State Machine Controller
- 25.2V max supply voltage
- precision supply voltage monitor (1%?? accurate battery voltage measurement)
external interface
- 1Mbaud RS-232 level ASYNC serial : signals GND, Tx, Rx, 3.3V, Vbat (0.25amp resettable fuse)
- 1Mbaud TTL level ASYNC serial to motor controller
sensors
- 2 strain gauge inputs (high gain)
- 1 analog input for SEA hall sensor (1x gain)
- ankle angle encoder? : quadrature (5V, single ended)
IMU
- 3axis (digital) accelerometer LIS3LV02DQ
- Z axis rate gyro ADXRS300 (analog) or ADIS16100 (digital)
- XY axis (analog) rate gyro IDG300
- external logic switch input for mode control
Motor Controller
- support for Maxon EC30-48V [305015] with 500 CNT MR ENCODER [225778] (L=65.3uH, R=386mohm, SpeedConst=346 rpm/volt, TorqueConst=27.6mNm/A, max RPM = 7500)
- 25.38V abs max supply voltage
- suggested design using 30V MOSFETs, 35V bulk caps, and 35V DC-DC converter
- short motor leads when primary power absent
- 2 phase current sensors (ACS712-20amp, 1.2mohm)
external connectors
- motor temperature (10k thermoresistor)
- ambient temperature (10k thermo)
- 5V quadrature with index (single ended)
- mix of logic and async serial : Gnd, Tx, Rx, Fault
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 battery current
- 1 for supply voltage
- 1 or 2 for temperature
- 1 for 5V supply monitor
digital
- 6 PWM output
- 1 or 2 fault inputs
- 2 ASYNC in/out
- 3 for ISP
- 3 for encoder
- 3 for motor hall pos sensor
- 2 for LEDs
Mechanical
- dimensions