JMC–JointMotionController.pptVIP

JMC – Joint Motion Controller Complete guide to building and testing each JMC 2 channel 24v Motor Controller The motor controller is a flash programmable, compact servo driver that can be used for all of the power axes on the hubo. The amplifier stage contains the power electronics like the MOSFETs, filter capacitors, and current sensors. On the controller board, The Controller Area Network interface connects to the main computer, converting drive commands into servo output. The controller board reads the motor encoder and uses a PD loop for position control. Soldering the PCB The density of parts and complexity of these circuits means that soldering and assembly has to be correct the first time. A good order to solder part is: Large, dense chips such as quad-flat pack Components with pads underneath the part that require a lot of room to reach Chip resistors, capacitors, and diodes by size: By only soldering one kind of part at a time, the chance of choosing the wrong one accidentally is reduced. Bulky components such as radial capacitors, MOSFETS, DC-DC converters, inductors, etc. Headers and connectors 4 1 1 3 3 3 5 5 4 5 5 1 1 4 3 Check Solder Joints Bad Joints Look tarnished or dirty Lack solder Have a bubble-like appearance parts crooked or tilted have solder whiskers or bridges between pins Pictures for each point (coming soon) Check Solder Joints Good Joints Have even distribution of new solder Look shiny and clean Are aligned with the pads Have distinct edges Pictures for each point (coming soon) Connectors Connector layout Encoder for Motor 1 (8 pins) Encoder for Motor 2 (8 pins) Pot 1 (ignore) Pot 2 (ignore) CAN Bus (2 pins) 24V 12V (do NOT plug 24V here) Motor 1 Motor 2 Motors The leg joints use 90W and 400W motors to drive each of the 6 axes. Brush DC motors were chosen for their efficiency, as well as the simplicity of the controller. For testing, the rack of motors is connected to the motor driver outputs. An embedded computer identic