Difference between revisions of "AnkleHardwareSpec2007Sep"
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Revision as of 13:16, 7 September 2007
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)
- 3axis accelerometer
- 3axis rate gyro (Z from ADI, XY from ....)
- external logic switch input for mode control
Motor Controller
- 25.2V max supply voltage (design using 30V MOSFETs, 35V for other bulk caps, and DC-DC)
- support for Maxon EC30 48V (max motor voltage is 24V)
- 2 current sensors
sensors
- motor temperature
- ambient temperature ???
- quadrature (5V, single ended)
Interface to Master
- mix of logic and async serial : Gnd, Tx, Rx, Fault
- master will periodically send ASCII commands
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
