Motion Control Board - Researchers
- Jeong-Keun Kim (Master), Young-Min Kim (Master)
<Motion control board>
- Research Objectives
- Development of the motion control board for robot systems in IRL's(Intelligent Robot laboratory)
- Structure of Motion control board
- Drive two DC motors or BLDC motors
- Position,velocity,torque control
- Data transfer between multi-number motion control boards by CAN communication
- Data trensfer to host PC or network by an ethernet module
<Block diagram of motion controller>
- Features of TMS320F2812 - motor controller
- 32-bit DSP
- Single 32 bit * 32 bit Mac - high accurate calculation
- Interrupt latency: 10 ~ 11cycle
- 6.67-ns Cycle Time : 150MHz
- Unified memory programming model
- 12-bit ADC, two event managers
<Block diagram of TMS320F2812>
- Features of motor driver
- Drive two DC motors or BLDC motors
- Ouput current : 6A(continuous)
- Currnet sensing by using HCPL-7800
<Block diagram of motor driver> | 
