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Biorobotics Lab. 3Mixel Smart Stand-alone Controller G.F. Liqui Lung, Bsc. Biorobotics Lab. Robotis Dynamixel 3mE 3Mixel. Biorobotics Lab. USB2.0 HS to connect to host Size PCB = 60 * 150 mm RS485 bus speed up to 10Mbaud 2 DC motors with incremental encoders

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biorobotics lab

Biorobotics Lab

3Mixel

Smart Stand-alone Controller

G.F. Liqui Lung, Bsc

slide2

Biorobotics Lab

Robotis Dynamixel 3mE 3Mixel .

biorobotics lab1

Biorobotics Lab .

  • USB2.0 HS to connect to host
  • Size PCB = 60 * 150 mm
  • RS485 bus speed up to 10Mbaud
  • 2 DC motors with incremental encoders
  • 2 H bridges, 60V-40A
  • dsPIC33FJ128MC804 @80MHz/40MIPS
  • PID control modes :
      • Position (1 kHz)
      • Velocity (1 kHz)
      • Motor current ( 4 kHz)
      • Series Elastic (1 kHz)
slide4

Biorobotics Lab

Instruction Packet :

is used to send commands to the slave.

slide5

Biorobotics Lab

Status Packet :

is used to send relpies to the main controller

slide7

Biorobotics Lab

Dynamixel control table : 49 entries3Mxel control table : 160 entries3Mxel has special init functions :

Index InitExternal sensor initZero speed initManual initSEA init

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