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