Difference between revisions of "AnkleHardwareSpec2007Sep"
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==external interface== | ==external interface== | ||
| − | * 1Mbaud RS-232 level | + | * 1Mbaud RS-232 level ASYNC serial : signals GND, Tx, Rx, 3.3V, Vbat (0.25amp resettable fuse) |
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| + | * 1Mbaud TTL level ASYNC serial to motor controller | ||
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* 1 analog input for SEA hall sensor (1x gain) | * 1 analog input for SEA hall sensor (1x gain) | ||
* ankle angle encoder? : quadrature (5V, single ended) | * ankle angle encoder? : quadrature (5V, single ended) | ||
| − | * 3axis accelerometer | + | |
| − | * | + | ==IMU== |
| + | * 3axis (digital) accelerometer [http://www.sparkfun.com/commerce/product_info.php?products_id=753 LIS3LV02DQ] | ||
| + | * Z axis rate gyro [http://www.sparkfun.com/commerce/product_info.php?products_id=7920 ADXRS300 (analog)] or ADIS16100 (digital) | ||
| + | * XY axis (analog) rate gyro [http://www.sparkfun.com/commerce/product_info.php?products_id=700 IDG300] | ||
* external logic switch input for mode control | * external logic switch input for mode control | ||
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=Motor Controller= | =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) | |
| − | * support for Maxon EC30 48V (max | ||
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| − | + | * 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 | * mix of logic and async serial : Gnd, Tx, Rx, Fault | ||
| − | * master will periodically send ASCII commands | + | |
| + | ==software== | ||
| + | * master will periodically send ASCII commands to command current and mode | ||
| + | * controller will respond with status (encoder position, supply voltage, actual current, temperatures) | ||
Revision as of 13:37, 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)
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
