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작성자 Admin(admin) 시간 2016-08-22 15:36:43
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m451award_1_3_png_908041492.png

DC Servomotor Controller based on M451

(Robot Arm control application)

•Title: AgonMo  ( Agon Motion Controller )
  Note: Agon was the God of Competitions in ancient Greek mythology

1. Single-axis architecture

M451award_1_1_png_1542143678.png

2. 6-axis robot arm connection architecture

M451award_1_2_png_154706629.png

 

*Completed project

 M451award_1_3_png_604007983_3.png
*Completed Product

 M451award_1_6_jpg_654886382_3.jpg

*Functional schematic of AgonMo connector

 M451award_1_4_png_140944589_3.png

*Applications: For any applications that need to use DC servomotors

 M451award_1_5_png_668152924_3.png

 

Notice:

The M451 series was selected given the nature of this competition. However, the best choice would be the NUC442 series for its QEI interface.  Software QEI emulator was used in this project, so maximum speed should not exceed 100 KHz (interrupt processing). In other words, if motor revolution is 3000 rpm, the Encoder line should be lower than 1000 CPR for best results.
 
The following lists the unfinished portions of this project:

1. CAN bus communication
2. RC servo mode  (RC servo PWM signals can be used to direct control loca)
3. Current mode  (constant current control to ensure constant output torque)
4. Speed mode  (using input voltage to control rotating spee)
5. Pulse mode  (using pulse + CW/CCW signal control, e.g.. stepping motor control mode

 

*문의

031-479-1828-9

alex_sung@picoinc.co.kr