TIDA-010992
Centralized six-axis motor control using a single MCU for humanoid robot hand reference design
TIDA-010992
개요
This reference design uses a single TI C2000™ F28P65 microcontroller for industrial Ethernet motor drives with six-axis control. The design uses a printed circuit board (PCB) with less than 42cm2 to drive a 6 degree of freedom (DoF) humanoid robot hand. The design demonstrates a small form factor and integrated platform. This integrated platform leverages six DRV8376 three-phase motor drivers with integrated current sensing and FETs as the power stage. The platform includes real-time motor control and industrial Ethernet communication using the F28P65 device with two 32-bit C28x Digital Signal Processor (DSP) Central Processing Units (CPU) and one Control Law Accelerator (CLA) CPU, all running at 200MHz.
특징
- Compact design with highly integrated circuits (IC) facilitates a PCB size less than 42cm2
- Single real-time microcontroller (MCU) with two CPUs to control six independent closed-loop field-oriented control (FOC) for current, velocity, and position
- High-efficiency current monitoring and small form factor of DRV8376 with integrated low-side current-sense amplifier and integrated field-effect transistors (FET)
- Flexible communication interface option for chip-to-chip communication, for example, fast serial interface (FSI), universal asynchronous receiver-transmitter (UART), and controller area network with flexible data-rate (CAN-FD)
완조립 보드는 테스팅과 성능 검증을 위해서만 개발되었으며 판매를 위한 것이 아닙니다.
설계 파일 및 제품
설계 파일
바로 사용 가능한 시스템 파일을 다운로드하여 설계 프로세스에 속도를 높여 보십시오.
설계 구성요소, 참조 지정자 및 제조업체/부품 번호의 전체 목록
제품
TI 제품을 설계 및 잠재적 대안에 포함합니다.
TMS320F28P650DK — C2000™ 32비트 MCU, 2x C28x+CLA CPU, 잠금 단계, 1.28MB 플래시, 16b ADC, HRPWM, EtherCAT, CAN-FD, AES
기술 자료
| 상위 문서 | 유형 | 직함 | 형식 옵션 | 최신 영어 버전 다운로드 | 날짜 |
|---|---|---|---|---|---|
| * | 설계 가이드 | Centralized Six-Axis Motor Control Using a Single MCU for Humanoid Robot Hand Reference Design (Rev. A) | PDF | HTML | 2026. 6. 24 |