FLASH-BUS™ - modular robot control system
The FLASH-BUS™ robot control system is a set of modular components attached to the unified backplane system. It is a flexible solution that allows to set up custom robot control systems equipped with a wide array of external components such as mobile platform, motors, sensors, multimedia, communication, I/O expanders, etc. It provides a completely redundant and secure control and monitoring system. It is a perfect idea for a physically compact solution that maintains a high level of integration and modularity.
Initially, the system was designed for the robot FLASH™ where it enables control of a mobile platform and two 7 DoF arms and provides a communication layer between various components.
In its most basic form, the backplane can be used to connect 2-3 modules. It is equipped with one external I/O connector.
The extended backplane connects up to 6 modules. It can have multiple external I/O connectors as well as additional measuring components.
The double-sided backplane allows the modules to bo inserted from both sides, facilitating compact sytem design.
PC1070-1B Platform controller
PC1070-1B enables control of differential, classic or balancing robot mobile platform. It has two DC or BLDC motors outputs up to approximately 700 Watts each. PC1070-1B provides multiple control modes: torque, velocity and position. It is delivered complete with a configurable PID control algorithm as well as trapezoidal velocity control. Balancing motion is achieved by a linear algorithm based on data received from an Inertial Measurement Unit optionally connected to the module. PC1070-1B utilizes two independent communication buses: CAN bus for optional slave operation (e.g. in systems aided by supervisor module SMK70-1B) and a RS232/UART bus with an implemented protocol compliant with the ARCOS system installed on mobile platforms such as Pioneer 3-DX, PeopleBot or PowerBot (produced by Adept® Mobile Robots, LLC.). PC1070-1B is managed by NXP MQX™ real-time operating system.
SC0550-1B Dual servo controller
SC0550-1B enables control of two DC or BLDC motors up to approximately 250 Watts per channel. It is an extremely versatile controller which can be applied to drive robot components such as arms, graspers, mobile platforms, and more. Both module channels contain encoder inputs from motors as well as the joints they control. SC0550-1B provides multiple control modes: torque, velocity and position. It is delivered com buses: CAN bus for optional slave operation (e.g. in multi-joint systems aided by supervisor module SMK70-1B) and a RS232/485/UART bus with an implemented protocol compliant with popular Dynamixel® servos (e.g. for communication with an external PC). SC0550-1B is managed by NXP MQX™ real-time operating system.
CMVXYZ-1B Communication & multimedia module
CMVXYZ-1B is a module that provides the communication layer for a system built with FLASH-BUS™ modules. It contains a set of systems that enable communication between individual components and the host computer. The interface types are fully configurable and are selected based on the set of FLASH-BUS™ component required by the application at hand. In addition, this module is equipped with a system for measuring voltage and current drawn by the entire system. If the system is powered from a battery, this feature may be employed to estimate the state of charge. This component can also generate various warning signals (e.g. in case of exceeding the allowable current draw or over-discharge of the battery). The module contains a class-D amplifier which can also be utilized by a host computer or a supervisor module SMK70-1B.
PM3/4/5-1B Power supply module
PM3/4/5-1B is a module comprised of DC/DC converters, which can serve as a stable and reliable power source for individual components of your system. The module is delivered in three versions with between three and five outputs of up to 200W each. On board each module is a microcontroller that monitors the status of each channel (voltage and current) and the temperature of the entire module. The module also contains an automated active cooling system. Each channel can be activated and deactivated remotely. The module communicates via UART/RS232/RS485 or CAN with a PC or a host device (e.g. SMK70-1B).
SMK70-1B Supervisor module
SMK70-1B is an optional module for visualizing, protecting, and monitoring a system composed out of FLASH-BUS™ components. This module communicates with other devices using CAN interface. Data received from other components is compared with internal parameter ranges. If any abnormality is detected, alerts can be issued and appropriate actions taken (e.g. shutdown of noncritical system components in case of voltage drop). SMK70-1B is managed by NXP MQX™ real-time operating system.
BP Backplane board
The backplane is the common insertion point for all FLASH-BUS™ modules. It is designed and implemented with a number of options (basic, extended, double-sided). It can also be created on demand according to customers’ specification. Backplane is equipped with various I/O connectors which are used to connect external devices (IMU, rangefinder, motors, etc.). In addition, the extended and double-sided backplane can be equipped with additional components to measure temperature or power supply parameters of the entire system. Each backplane is supplied with an installation kit which enables a quick setup. The backplane can also be ordered with a dedicated cover and passive or active cooling system.
Example set up: