commons/solo12

Twelve-degree-of-freedom quadruped and the torque-controlled actuator modules behind it, published as a complete mechanical and electronics design set.

v1.0.0BSD-3-Clauseupdated today

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Texas Instruments Evaluation Board Electronics

<img src="images/ti_eval_board_1.jpg" width="400"> Launchpad F28069M with two DRV8305 Booster Packs - weight: 85g

Description

the Launchpad F28069M is optimized for high performance dual brushless motor control
each Booster Pack drives one brushless motor with continuous current up to 15A (20A peak)
max supply voltage 45V - we operate our robots at 24V
Field Oriented Control (FOC) at 10kHz for each channel
1kHz control loop with realtime pc and can card
CAN or USB communication

Description	Details	Ordering Information	Comments
TI Launchpad F28069M	Launchpad Product Page	Mouser 595-LAUNCHXL-F28069M<br>DigiKey 296-38832-ND	Launchpad F28069M Overview
TI Booster Pack DRV8305EVM	Booster Pack Product Page	Mouser 595-STXL-DRV8305EVM<br>DigiKey 296-43181-ND	BOOSTXL-DRV8305EVM User’s Guide

The TI Evaluation Board Electronics are used for the following robots:

Brushless Motor Control System Overview

FOC - Field Oriented Control

Seminar with Dave Wilson from Texas Instruments - Teaching Old Motors New Tricks

Miniaturized Motor Driver Electronics

<img src="images/launchpad_comparison_2.jpg" width="400"> Comparision: Micro Driver Electronics and TI Evaluation Boards

we have developed a miniaturized version of the Texas Instruments motor driver cards called Micro Driver Electronics
the micro driver electronics have the same capabilities as the TI evaluation boards
the only difference is that the onboard USB flash programmer was removed - so for flashing the micro driver cards you need an external flash programmer
the Micro Driver v2 board also features SPI communication for controlling the motors via the MasterBoard
the micro driver cards are a factor of 10 smaller and a factor of 6 lighter
more information: Micro Driver Electronics Documentation

Launchpad Pin Assignment

we use the digital GPIO pins to connect status leds
connecting the GPIO 26 to ground will disable the motor drivers
the launchpad has 16 analog input channels
for each booster pack it measures the three phase voltages, the three phase currents and the supply voltage
so there are only 2 analog channels free - ADCIN A6 and ADCIN B6
Caution: Don't connect 5V sources to the analog input channels
the maximal voltage for the analog input channels is 3,3V

Booster Pack Positions

Preparing the Launchpad

Setting the Jumpers

<img src="images/ti_board_preparation_1.jpg" width="600"> TI Launchpad with jumper setting as delivered

<img src="images/ti_board_preparation_2.jpg" width="600"> Remove the jumpers JP1, JP2, JP4 and JP5.

Caution: Make sure that the jumpers JP1 and JP2 are removed when you connect the launchpad to USB and an external power supply. This insulates your computer from the external power that is supplied through the booster backs.

<img src="images/ti_board_preparation_3.jpg" width="600"> Install jumper JP6 - make sure that JP7 and JP3 are also connected

Preparing the Connector Interface

<img src="images/connector_interface.jpg" width="400"> Connector interface TI Evaluation Boards after modification.

We modify the connectors of the TI Evaluation Boards in order to make them compatible with our actuator module connector interface.

Installing the Encoder Connectors

<img src="images/launchpad_preparation_1.jpg" width="300"> Prepare the encoder wires and a 5 pole Hirose connector.

<img src="images/launchpad_preparation_2.jpg" width="300"> Solder the wires to the Hirose connector.

<img src="images/pin_assignment_connector.png" width="350"> Pin assignment Hirose connector.

<img src="images/launchpad_preparation_3.jpg" width="300"> Apply thin heat shrink to the red and yellow wire.

<img src="images/launchpad_preparation_4.jpg" width="300"> Apply a larger heat shrink around all the wires.

<img src="images/launchpad_preparation_5.jpg" width="300"> Repeat the steps and prepare the second cable.

<img src="images/launchpad_preparation_6.jpg" width="300"> Find the encoder pins on your launchpad. The two ports are labeled QEP_A and QEP_B.

<img src="images/launchpad_preparation_7.jpg" width="300"> Use flat pliers to bend the pins down by 90 degrees.

<img src="images/launchpad_preparation_8.jpg" width="300"> Solder the encoder wires and apply heat shrink.

<img src="images/pin_assignment_launchpad.png" width="300"> Encoder pin assignment Launchpad.

<img src="images/launchpad_preparation_9.jpg" width="400"> The Launchpad is now prepared.

Preparing the Booster Packs

Modifying the Screw Terminals

<img src="images/booster_preparation_3.jpg" width="350"> We modify the screw terminals on the booster packs. This is optional - you can also route the wires differently. Both booster packs have to be connected to the power supply.

<img src="images/booster_preparation_4.jpg" width="300"> Loosen the screws on the screw terminal as much as possible.

<img src="images/booster_preparation_5.jpg" width="300"> Use a small screwdriver to bend the metal clips outwards.

<img src="images/booster_preparation_6.jpg" width="300"> Repeat for all 5 metal clips.

<img src="images/booster_preparation_7.jpg" width="300"> Push on the screws from the bottom side and remove them. Keep the screws for reinstalling them later.

<img src="images/booster_preparation_8.jpg" width="300"> Remove the metal clips - they are no longer needed.

<img src="images/booster_preparation_9.jpg" width="300"> Mark the hole locations on the two pin power terminal with a thin pen.

<img src="images/booster_preparation_10.jpg" width="300"> Use your fingers or pliers to push the plastic covers inwards. It helps to gently rotate and wiggle the cover.

<img src="images/booster_preparation_11.jpg" width="300"> Remove the power terminal and the motor phase terminal covers.

<img src="images/booster_preparation_12.jpg" width="300"> Drill the plastic cover in the two locations that you have marked before. Start with a 2mm drill, then drill with 2,5mm and finally with 3mm.

<img src="images/booster_preparation_13.jpg" width="300"> Reinstall the plastic covers. The cover of the 2 pin power terminal is installed as before. Rotate the 3 pin cover by 180 degrees and install it reversed.

<img src="images/booster_preparation_14.jpg" width="400"> On the bottom booster pack we only modify the 3 pin phase terminal. The two pin power terminal can remain unchanged. (picture above - right side)

Preparing the Power Supply Wires

<img src="images/booster_preparation_15.jpg" width="300"> Prepare the power supply wire - we use 1mm² wire. Carefully cut into the insulation with a cutter. Rotate the wire and cut all the way around.

<img src="images/booster_preparation_16.jpg" width="300"> Cut the insulation again with an offset of about 5mm.

<img src="images/booster_preparation_17.jpg" width="300"> Carefully cut a part of the insulation off. Remove the rest of the separated insulation with your fingers.

<img src="images/booster_preparation_18.jpg" width="300"> Twist the wire and apply solder.

<img src="images/booster_preparation_19.jpg" width="300"> Repeat the same steps for the power supply ground wire.

<img src="images/booster_preparation_20.jpg" width="300"> Shorten the wires to about 7cm, remove 5mm of the insulation and apply solder.

<img src="images/booster_preparation_21.jpg" width="350"> You can place the booster packs on the launchpad to determine the wire lenght.

<img src="images/booster_preparation_22.jpg" width="400"> Install the 4mm connectors for the power supply. The power supply wires are now prepared.

Preparing the Motor Phase Wires

<img src="images/booster_preparation_23.jpg" width="300"> Prepare the six motor phase wires and connectors. We use 0,5mm² wire and 2mm connectors.

<img src="images/booster_preparation_24.jpg" width="300"> Solder the connectors, apply heat shrink and label the motor phases.

<img src="images/booster_preparation_25.jpg" width="400"> Install the power wire and the motor phase wires. The booster packs are now prepared.

Installing the Booster Packs

<img src="images/booster_preparation_26.jpg" width="300"> Install the two booster packs on the bottom of the launchpad. Make sure that the pin headers are lined up correctly.

<img src="images/booster_preparation_27.jpg" width="500"> The TI dual motor driver electronics are now ready to be used with the actuator modules.

Setting the Dip Switch

For running the motor driver board from flash set the dip switch to: ON - ON - OFF
For programming the motor driver board via USB set the dip switch to: ON - ON - ON

CAN Control

<img src="../images/can_card.jpg" width="300"> Dual Channel CAN card

<img src="../images/can_connector.jpg" width="300"> 9 pin D-sub connector

for CAN communication we use a dual channel can card
the pin assignment of the 9 pole D-sub connector is documented here: CAN Connector Wiring
flash the Launchpad via USB with dip switch setting ON - ON - ON
then set the dip switches to ON - ON - OFF (run from flash) for motor control via CAN

More Details

More Information

Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview
Back to Electronics Overview

Authors

Felix Grimminger

License

BSD 3-Clause License

Copyright

Specs

-layer PCB
0 BOM lines: $0.00 at quantity 1

quadruped legged actuator torque-control research

What’s included

14%

Assembled model
Printable parts40 meshes
PCB layout
Fab-ready gerbers
Schematic
Bill of materials
Firmware

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Manifest

View gizmo.yaml

bom: []
name: solo12
tags:
  - quadruped
  - legged
  - actuator
  - torque-control
  - research
links:
  source: https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware
title: Solo12
license: BSD-3-Clause
summary: Twelve-degree-of-freedom quadruped and the torque-controlled actuator modules behind it,
  published as a complete mechanical and electronics design set.
version: 1.0.0
category: Robotics
apiVersion: gizmogit/v1
difficulty: advanced
electronics:
  schematic: electronics/micro_driver_electronics/eagle_design_files/microDriver_v2.sch

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