Motion Controller

Motion Control Board

• Researchers

  • • Jeong-Keun Kim (Master), Young-Min Kim (Master)

• Research Periods

  • • 2004.03 ~ 2007.09

• • Research Results

                                      <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>