|3200μm x 3200μm
An existing robot system consists of several actuators and sensors for up to 6 degrees of freedom. Each degree of freedom has its own local circuit board containing A/D and D/A converters for sensors and actuators. A central processor evaluates all required data for the actuators based on sensor information sampled at regular intervals. More than 100 bits per degree of freedom at a sample rate of 5kHz require a data transmission rate in excess of 5 Mbit/s. To provide an efficient link to all the peripheral boards and to keep the weight of the cables low, a serial communication system suitable for such applications has been defined.For this system a RObot COmmunication COntroller ASIC has been developed. ROCOCO accepts data from the central processor via the DPRAM and sends them through a serial chain to the boards. Simultaneously it reads the sensor data from the boards and puts them into the DPRAM. The number and order of bits for each individual board can be defined by the processor and is stored in a special section of the DPRAM.