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Biorobotics Lab

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

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  1. Biorobotics Lab 3Mixel Smart Stand-alone Controller G.F. Liqui Lung, Bsc

  2. Biorobotics Lab Robotis Dynamixel 3mE 3Mixel .

  3. 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)

  4. Biorobotics Lab Instruction Packet : is used to send commands to the slave.

  5. Biorobotics Lab Status Packet : is used to send relpies to the main controller

  6. Biorobotics Lab

  7. 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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