Re: digital servo controller to offload the Parallel Port?

[Alex Kovacic <A.Kovacic-at-unsw.edu.au>]

I want one. but I was thinking on the lines of using a DSP.

THE IDEA IS TO USE TWO BOARDS..
1. BRAIN BOARD.. is the electronic hardware used to coordinate the actions
of THE MOTOR CONTROL BOARD (that is 6 motor contro boards and each board
willcontrols three dc motors). This board will contain the DSP and the
required peripherals and will serve as the central power distribution core.
   The hardware design WILL incorporates the following features. I

ˇ A CAN communication module that facilitates communication among the seven
DSPs.
ˇ Surge protection for the electronic components on power up/down.
ˇ Voltage regulation for the electronic component power supplies (3.3V &
5.0V) that isolates each power supply rail from ripple and other power
supply rails.
ˇ Connectors for 28V and 6V power distribution to each of the motor PCBs.
ˇ Computer interface circuitry for FLASH programming the DSP while on the PCB.
ˇ A master power switch for the electronic and motor power supplies.
ˇ Jumpers for unused DSP inputs for future expansion.
ˇ A four layer PCB to isolate power, ground and signal traces.


2 MOTOR CONTROL BOARD....Each of the six motor PCBs are identical in
function and form.  The hardware on these boards will control three DC
servo-motors.  The board will contain a "slave" DSP, three motor control
chips, power supplies for three motors and an electronic feedback system.
The PCBs designed for leg control have the following functionality.

ˇ Three PWM-controlled motor driving circuits.
ˇ Feedback channels from the encoders used to determine position. 
ˇ Current feedback from the motors to detect an overload situation.
ˇ Limit switch feedback to prevent moving to beyond specified limits.
ˇ A CAN communication module that facilitates communication among the seven
DSPs.
ˇ Surge protection for the electronic components on power up/down.
ˇ Voltage regulation for the electronic component power supplies (3.3V &
5.0V) that isolates each power supply rail from ripple and other power
supply rails.
ˇ Voltage regulation for the motor power supplies (24V) making each 24V
supply independent.
ˇ Computer interface circuitry for FLASH programming the DSP while on the PCB.
ˇ Jumpers for unused DSP inputs for future expansion.
ˇ A four layer PCB to isolate power, ground and signal traces.

if anyone is interested email me.
A.Kovacic-at-unsw.edu.au

the control code will be in c... need lots of work with this

the boards are ready for prototyping.....

At 10:36 AM 18-12-02 -0500, you wrote:
>
>Hello y'all,
>
>If a feedback loop is too much for emc on a PC via standard ports, has
>anyone made a microcontroller digital servo loop controller for emc
>yet?  Who wants one?  How many?  I can design such and nowadays it can
>even be lower cost then microcontrollers/memory when you design it into
>a FPGA system chip.  
>
>John Griessen 
>Austin TX
>
>On Wed, 2002-12-18 at 01:22, Till Franitza wrote:
>to detect encoder Feedback directly via parallel port whould put a too
>> heavy load on the processor. I do not think it would even work with
>> reasonable resolution.
>> Till
>> 
>> > -----Ursprüngliche Nachricht-----
>> > Von: emc-at-nist.gov [emc-at-nist.gov]Im Auftrag von Adam Hunt
>> > Also, could one use the parallel port for quadrature encoder feedback IO?
>> >
>> > --adam
>
>
>
>
>
>
Alex Kovacic
FISH Lab
CYTOGENETICS UNIT,
SEALS,Level 4, Campus Centre,
Prince Of Wales Hospital,
RANDWICK, NSW, 2031,
AUSTRALIA,
Tel: (61) (02) 9382 9168
Fax: (61) (02) 9382 9157
email1:A.Kovacic-at-unsw.edu.au
email2:kovacica-at-sesahs.nsw.gov.au
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