AnkleHardwareSpec2007Sep

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