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Internal Electro-Mechanical Interface
ie, Electrical components that need mounting
- Up to 2 boards (about 10 square inches)
- One is a Logic Board
- One is a Power Board
- Needs direct mounting to metallic heat sinking plate
- Significant wiring necessary between these boards
- All inter-board comms are DIGITAL (except motor drive lines)
- Sensors are not included in the 2-board limit
- No Holes in the boards!!! (except mounting screws)
- 1 linear sensor for the worm shaft axial translation
- 1 rotational sensor
- 2 Powered wires from Power Board to the motor
- 2 Power wires into the Power Board
- All other wires (including logic power) to the Logic Board
Internal Electrical Interface
- I2C/SPI Board-2-Board
- Analog from PIC->Bridge Driver
- Wheatstone Bridge Strain Gauge->Instrumentation Amplifier
External Mechanical Interface
- exact size
- exact bolt pattern
- thread size, bore depth
- defined for all faces
- case strength requirements
- output shaft hole diameter
External Electrical Interface
- Ethernet port input (from brain / last actuator)
- Ethernet port output (to next actuator)
- Power line input (2 or 3 lines? 1 GND, 1 High Power, 1 Logic Power (depends on comm))
- PWM input (3 Wires, 1 GND, 1 5V, 1 PWM)
- PWM control selector: Force or Position.
- PWM Position range selection. (may be set in software?)