ELECTRO-MECHANICAL Engineering Control System (EMECS)
Specification
Inertial Load Control Tuner：
- Φ 60mm,Weight 75g
- Supports position/speed/haptic control mode.
DSP-Target Controller：
High performance 150MHz TI-F28335 DSP and DCmotor drive board
Servo-Motor Module Link 1/2
Including both 24V DC motor and 500 Pulses/Rev. Encoder.
- Link 1：Rotary Inverted Pendulum
- Arm : length 16cm, Weight 60±5g
- Pendulum : length 16cm, Weight 25±3g
- Encoder : 500 Pulses/Rev. Weight 58±3g
- - Link 2：Arm-Driven Inverted Pendulum
- Arm : length 20cm, Weight 60±5g
- Pendulum : length 16cm, Weight 25±3g
- Encoder : 500 Pulses/Rev. Weight 58±3g
Servo-Motor Module
- Weight: 3±0.1kg
- Includes Servo-Motor and Encoder:
- Encoder(500 Pulses/Rev.)
- Servo-Motor(DC 24V)
- Hightest efficiency: 5800RPM/1.6A/0.4kgf-cm
- Output Power : 31.5 Watt
- Starting Torque : 1.8Kgf-cm
- - Flexible Control System:
- → Can also connect with other controller
1 . DSP-Target Controller：
DSP target controller is an integration of a DSP Target controller and motor power driver.
- Includes TMS320 F 2812 DSP
- 32K words on board data RAM
- 32K words on board program RAM
- On board 30 MHz crystal
- I/O Functions
- PWM*12
- Digital I/O*56(shared)
- CAP/QEP*6
- Enhanced Controller Area Network (eCAN)*1
- Serial Communications Interfaces (SCI)*1, Standard UART
- Serial Peripheral Interface (SPI)*1
- Multichannel Buffered Serial Port (McBSP)With SPI Mode*1
- ADC*16(12 Bit):
- 2 * 8 Channel Input Multiplexer
- Two Sample-and-Hold
- Single Conversion Time: 200 ns
- Pipeline Conversion Time: 60 ns
- DC Motor Driver Circuit(+/- 24V)：PWM to DAC circuit module
- Switching Power Supply（100/240V）：Output +/-24V, 1.8A
2 . Software Requirements
Auto-Code：Work on MATLAB/Simulink Model-based environment, and with Real-Time workshop to have auto-code generation. Compiling the code by TI CCS (Version 2.2 or above), then download it to DSP target controller with JTAG Emulator.
Software：MATLAB (Version 7) / Simulink / RTW / Link for TI CCS / Embedded Target for TI C2000 / Signal Processing Blockset / Control Toolbox / Fixed Point Toolbox / RTW Embedded Coder(Optional) and TI CCS (Version 2.2 above) including JTAG Emulator。
Hand-Code：Write C –Source Code and compile it by TI CCS (Version 2.2 or above), then download it to DSP target controller with JTAG Emulator.
