Schematic review needed - robotic project.

XCore Project reviews, ideas, videos and proposals.
User avatar
lilltroll
XCore Expert
Posts: 955
Joined: Fri Dec 11, 2009 3:53 am
Location: Sweden, Eskilstuna
Contact:

Schematic review needed - robotic project.

Postby lilltroll » Fri Jan 04, 2019 4:55 pm

Hi

I have a long-term hobby project, to build a robot that can do something that is very boring for a human - placing SMD components.
I have built a machine from scratch, including the electronics and software. Everything is open-source - but is work in progress.
So far, the explorer KIT has been used with different daughter cards connected to it.

I would appreciate if someone could check my XTAG, Xlink connections etc. on the new "CPU" board. The board is intended to be connected in a galvanic isolated XLink network, for an example like this
https://github.com/lilltroll77/XMOS-XU216_FB236-BOARD/blob/master/Doc/8%20Axis%20Tree%20network.pdf or
https://github.com/lilltroll77/XMOS-XU216_FB236-BOARD/blob/master/Doc/8%20Axis%20Star%20network.pdf
The networks above run in the xTIMEcomposer simulator without errors.

The PCB's can either be populated as a hub with USB, and a Gigabit ethernet shield, or as a network node that runs
FOC SVPWM for BLDC (Field-oriented control combined with Space Vector Pulse Width Modulation for Brushless DC Motors) by connecting a daughter card/shield power by the 48V motor rail.
USB ground will be isolated from power ground.

Image
Image

Schematic, board layout and virtual reality files can be found here.
https://github.com/lilltroll77/XMOS-XU216_FB236-BOARD


---------------------------------------------------------------------------

Here is an old video when using the eXplorer KIT + stepper motors + the machine itself.
https://www.youtube.com/watch?v=MYEp6bmtVj4
https://www.youtube.com/watch?v=U8llYMeUdWE
https://www.youtube.com/watch?v=jBj-VGELGH0

First BLDC version can be found here with eXplorer KIT.
https://workspace.circuitmaker.com/Projects/Details/Mikael-Bohman/BLDC-motor-output-driver


There is also a large GUI on the host side written in Qt (C++). Below is 2 early pictures. XMOS streams ~ 10Mbyte/s of controller real-time data to the host over a custom bulk USB driver.
Image
Image

GCODE for moving the robot is created by the http://openpnp.org/ software which also uses machine vision.
Probably not the most confused programmer anymore on the XCORE forum.

Who is online

Users browsing this forum: No registered users and 52 guests