Documentation Index
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Electronics Overview
The Open Robot Actuator Hardware project offers three main electronics options for motor control, each designed for different use cases and requirements.Electronics Options
TI Evaluation Boards
Ready-to-use evaluation boards with integrated USB programming
Micro Driver
Miniaturized motor driver for compact robot designs
Master Board
Central communication hub for coordinating multiple motor drivers
Comparison
| Feature | TI Evaluation Boards | Micro Driver | Master Board |
|---|---|---|---|
| Size | Large (85g) | Compact (13g) | Medium |
| Channels | 2 motors | 2 motors | Coordinates up to 6 boards |
| Programming | Onboard USB | External JTAG | N/A |
| Communication | CAN/USB | SPI | SPI + Ethernet |
| Use Case | Testing & prototyping | Compact robots | Multi-motor systems |
| Current | Up to 15A continuous (20A peak) | Similar to TI boards | N/A |
| Voltage | 5V - 45V (typically 24V) | 5V - 32V (typically 24V) | N/A |
Key Features
Brushless Motor Control
- Field Oriented Control (FOC) at 10kHz per motor
- Real-time torque control
- Encoder feedback integration
- Phase current measurement
Communication Options
- CAN: For standalone operation with PC control
- SPI: For Master Board coordination
- USB: For programming and debugging (TI boards only)
- Ethernet: For high-level control via Master Board
Voltage and Current
- Operating voltage: 24V nominal (5V-45V range)
- Continuous current: Up to 15A per channel
- Peak current: 20A per channel
System Architecture
The electronics system consists of:
- Power Supply: 24V DC power input
- Motor Drivers: TI boards or Micro Drivers for motor control
- Master Board (optional): Central coordinator for multi-motor systems
- Communication: CAN, SPI, or Ethernet connection to control PC
- Encoders: High-resolution position feedback from actuator modules
Choosing the Right Option
Use TI Evaluation Boards when:
- Getting started with the project
- Testing and prototyping new designs
- Easy programming access is needed
- Size and weight are not critical
Use Micro Driver when:
- Building compact, lightweight robots
- Integrated into robot structure
- Using Master Board for coordination
- Production-ready designs
Use Master Board when:
- Controlling multiple motors (6+ motors)
- Ethernet communication is required
- Centralized control architecture is preferred
- Building complex multi-DOF robots
Compatible Robots
TI Evaluation Boards
- TriFingerEDU v1
- Quadruped Robot 8dof v1
- Leg Test Stand v1
Micro Driver + Master Board
- TriFinger v2 and v3
- Quadruped Robot 12dof
- Solo v2 and v3
- NYU Finger
Wiring and Connections
All electronics options use standardized connectors:- Encoder wires: 5-pole Hirose DF13 connectors
- Motor phases: 2mm Reely gold connectors
- Power: XT30 connectors
- SPI: 5-pole Hirose DF13 connectors
Getting Started
- Choose your electronics option based on your requirements
- Review the specific documentation for your chosen option
- Prepare the necessary connectors and wiring
- Follow the setup and programming instructions
- Integrate with your actuator modules