FlexSEA-Execute 0.x Specifications

FlexSEA-Execute v0.1:

Elect. Supply voltage (V) 15-24V
Motor current (A) 8A Continuous, 25A pulsed (100ms every s)
Intermediate supply 10V 500mA SMPS
Logic supply 5V 500mA SMPS
Motor Type 3-phase brushless (BLDC)
Sensor(s) Hall effect, optical encoder
Commutation Block (Sinusoidal & FOC HW supp.*)
PWM 12 bits 20kHz, 9.65 bits 100kHz
Inductance Unspecified, min. value tested 63µH
CPU Reference PSoC 5LP – CY8C5888AXI-LP096
Special features Programmable analog and digital blocks
CPU/RAM/IOs 80MHz ARM Cortex-M3, 256KB RAM, 62 IOs TQFP
Software / IDE PSoC Creator 3.1, C (GCC 4.7.3) and graphical prog.
Co-processor(s) PSoC 4 – CY8C4245LQI-483
Serial interface Type 3x Half-Duplex RS-485
Bandwidth Up to 4Mbps with 1TP, 2Mbps tested
USB Full-Speed (FS) 12 Mbps
Current control Hardware 5mΩ resistor
Software / control 20kHz PI controller, 12.2mA/bit
Safety features Overvoltage TVS clamps at 36V
Overcurrent Software protection
Locked rotor Hardware – lead shorting circuit
Board temperature CPU + bridge temperature reading
Clutch Variable voltage, 8-bits PWM, 400mA
Strain gauge amplifier Dual stage, 500 < G < 10000, high CMRR
External periph. Connector Molex PicoClasp 40 positions, SMD 1mm pitch
IOs available 12
Digital IOs Up to 12
Analog inputs Up to 8 (12-bit SAR, 8-20-bits Sigma Delta)
Serial I²C, SPI, UART
Other 1 optical encoder (A/B/I), 1 Hall effect encoder (3 pins)
Physical X (mm) 49
Y (mm) 49
Z (mm)
Weight
 
From 12 to 15mm depending on capacitors
 
20.1g barebone, 34.8g with heatsink
PCB tech. Layers 6
Copper 1 Oz
Trace/space/via 5/5 mils trace/space, 8/20 mils blind vias
Assembly Double-sided
Other 6-axis IMU, RGB LED
 

FlexSEA-Execute v0.2:

***Preliminary***

Elect. Supply voltage (V) 18-48V
Motor current (A) xA Continuous, 30A pulsed (100ms every s)
Intermediate supply 10V 500mA SMPS
Logic supply 5V 500mA SMPS
Motor Type 3-phase brushless (BLDC)
Sensor(s) Hall effect, optical encoder
Commutation Block (Sinusoidal & FOC HW supp.*)
PWM 12 bits 20kHz, 9.65 bits 100kHz
Inductance Unspecified, min. value tested 63µH
CPU Reference PSoC 5LP – CY8C5888AXI-LP096
Special features Programmable analog and digital blocks
CPU/RAM/IOs 80MHz ARM Cortex-M3, 256KB RAM, 62 IOs TQFP
Software / IDE PSoC Creator 3.1, C (GCC 4.7.3) and graphical prog.
Co-processor(s) PSoC 4 – CY8C4245LQI-483
Serial interface Type 3x Half-Duplex RS-485
Bandwidth Up to 4Mbps with 1TP, 2Mbps tested
USB Full-Speed (FS) 12 Mbps
Current control Hardware 3mΩ resistor
Software / control 20kHz PI controller, 18.5mA/bit
Safety features Overvoltage TVS clamps at ?V
Overcurrent Software protection*
Locked rotor Hardware – lead shorting circuit
Board temperature CPU + bridge temperature reading
Power output Variable voltage, 8-bits PWM, 1A
Strain gauge amplifier Single stage, 5 < G < 1000, high CMRR
External periph. Connector Molex PicoClasp 40 positions, SMD 1mm pitch
IOs available 12
Digital IOs Up to 12
Analog inputs Up to 8 (12-bit SAR, 8-20-bits Sigma Delta)
Serial I²C, SPI, UART
Other 1 optical encoder (A/B/I), 1 Hall effect encoder (3 pins)
Physical X (mm) 49
Y (mm) 49
Z (mm)
Weight
 
From 12 to 15mm depending on capacitors
 
20.1g barebone, 34.8g with heatsink
PCB tech. Layers 6
Copper 1 Oz
Trace/space/via 5/5 mils trace/space, 8/20 mils blind vias
Assembly Double-sided
Other 6-axis IMU, RGB LED, FLASH memory
 

*Hardware supported, no software written as of today
 
 

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