ROBOTIC SG2076/D, 07/2004 MPC500 embedded microcontrollers i
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ROBOTIC
SG2076/D, 07/2004
MPC500 embedded microcontrollers ideal control-intensive applications like robotic Compatible with PowerPC instruction architecture Features 2.0B (TouCAN) system control Available kbps simple control (repetitive acts part movement from point production line) kbps kbps complex control mobile machinery moving through various environments requiring many sensor feedbacks from numerous sources
OVERVIEW
hybrid architecture combining MPC5xx microcontroller unit (MCU) three TouCAN modules used applications from toys industrial manufacturing. Each node robotic application standalone functioning module designed enable modular construction, which leads adaptable robotic arms. Nodes include sensors designed gauge temperature, pressure, position allow feedback central control unit. nodes driven from embedded controller. MPC500 embedded microcontrollers ideal control intensive applications like robotic arm. Compatible with PowerPC instruction architecture, these devices available with three TouCAN modules that send control signals drivers (one each TouCAN module). systems communication essentially achieved between lines with 2.0B protocol. Each driver engineered able drive nodes across entire robotic application. nodes designed independently deliver control commands motors actuators send receive sensor information about robot surrounding environment. Imagine cave exploration robot rolling downward into rough, dark terrain. examines rock with remote controlled arm-scratching surface detecting compounds. Next, robot plunges into liquid pool. Sensors inform central processor that liquid di-hydrous oxide (water), proceeds next observation.
MPC5XX
Robot Application Sensor Feedback Pressure Position
MC33394
Xceiver
TouCAN Module
CANH Nodes CANL Power Supply Termination
Xceiver Motor Control MC33886 MC33887
Figure Robotic Application
FREESCALE SEMICONDUCTOR ORDERING INFORMATION
Part Number DSP56F801 Product Highlights Additional Information MHz, MIPS, SCI, SPI, ADC, PWM, Quad Timer MCU-friendly instruction set, OnCE debug, Program Flash, Program RAM, Data Flash, Data on-chip relaxation oscillator, BootFLASH GPIO available 48-pin LQFP. MHz, MIPS, SCI, SPI, ADC, PWM, Quad Timer MCU-friendly instruction set, OnCE debug, Program Flash, Program RAM, Data Flash, Data on-chip relaxation oscillator, BootFLASH GPIO available 32-pin LQFP. MHz, MIPS, CAN, SCI, SPI, ADC, PWM, Quad Timer MCU-friendly instruction set, OnCE debug, Program Flash, Program RAM, Data Flash, on-chip relaxation oscillator, BootFLASH Data GPIO available 100-pin LQFP. MHz, MIPS, CAN, SCIs, SPI, ADC, PWMs, Quadrature MCU-friendly instruction set, OnCE debug, Decoder, Quad Timer 31.5K Program Flash, 512K on-chip relaxation oscillator, BootFLASH, Program RAM, Data Flash, Data external memory expansion, GPIO available 144-pin LQFP. MHz, MIPS, CAN, SCIs, SPI, ADCs, PWMs, Quadrature Decoder, Quad Timer Program Flash, Program RAM, Data Flash, Data MCU-friendly instruction set, OnCE debug, on-chip relaxation oscillator, BootFLASH, external memory expansion, GPIO available both 160-pin LQFP MAPBGA.
DSP56F802
DSP56F803
DSP56F805
DSP56F807
MC56F8322
MHz, MIPS, 48KB Flash 12KB with SPI, Industrial (-40°C 105°C) Extended (-40°C SCI, ADC, PWM, COP, PLL, Decoder, Quad Timers, 125°C) Temperature Ranges with FlexCAN, MCU-friendly instruction set, Enhanced OnCE GPIOs 48-pin LQFP. debug, on-chip relaxation oscillator, temperature sensor.
SG2076-2
Robotic
FREESCALE SEMICONDUCTOR ORDERING INFORMATION (continued)
Part Number MC56F8323 Product Highlights Additional Information MHz, MIPS, 48KB Flash 12KB with SPI, Industrial (-40°C 105°C) Extended (-40°C SCI, ADC, PWM, COP, PLL, Decoder, Quad Timers, 125°C) Temperature Ranges with FlexCAN, MCU-friendly instruction set, Enhanced OnCE GPIOs 64-pin LQFP. debug, on-chip relaxation oscillator, temperature sensor. MHZ, MIPS, 144KB Flash 12KB RAM, with SPI, Industrial (-40°C 105°C) Extended (-40°C SCI, ADC, PWM, COP, PLL, Decoders, Quad Timers, 125°C) Temperature Ranges with FlexCAN, MCU-friendly instruction set, Enhanced OnCE GPIOs 128-pin LQFP. debug, temperature sensor. MHZ, MIPS, 144KB Flash 12KB RAM, with SPI, Industrial (-40°C 105°C) Extended (-40°C SCI, ADC, PWM, COP, PLL, Decoders, Quad Timers, 125°C) Temperature Ranges with FlexCAN, MCU-friendly instruction set, Enhanced OnCE GPIOs 144-pin LQFP. debug, temperature sensor. MHZ, MIPS, 144KB Flash 12KB RAM, with SPI, Industrial (-40°C 105°C) Extended (-40°C SCI, ADC, PWM, COP, PLL, Decoders, Quad Timers, 125°C) Temperature Ranges with FlexCAN, MCU-friendly instruction set, Enhanced OnCE GPIOs 160-pin LQFP. debug, temperature sensor. MHZ, MIPS, 280KB Flash 20KB RAM, with SPI, Industrial (-40°C 105°C) Extended (-40°C SCI, ADC, PWM, COP, PLL, Decoders, Quad Timers, 125°C) Temperature Ranges with FlexCAN, MCU-friendly instruction set, Enhanced OnCE GPIOs 128-pin LQFP. debug, temperature sensor. MHZ, MIPS, 280KB Flash 20KB RAM, with SPI, Industrial (-40°C 105°C) Extended (-40°C SCI, ADC, PWM, COP, PLL, Decoders, Quad Timers, 125°C) Temperature Ranges with FlexCAN, Off-Chip Memory Expansion, MCU-friendly GPIOs 144-pin LQFP. instruction set, Enhanced OnCE debug, temperature sensor. MHZ, MIPS, 280KB Flash 20KB RAM, with SPI, Industrial (-40°C 105°C) Extended (-40°C SCI, ADC, PWM, COP, PLL, Decoders, Quad Timers, 125°C) Temperature Ranges with GPIOs 160-pin LQFP. FlexCAN, Off-Chip Memory Expansion, MCU-friendly instruction set, Enhanced OnCE debug, temperature sensor. Floating point unit Compatible with PowerPC Available with code compression Flash memory 26.5 operating range transient) Step-up/step-down switching preregulator Multiple linear regulators with current limiting Adjustable voltage linear regulator with external pass transistor www.motorola.com/semiconductors
NOTE
MC56F8345
MC56F8346
MC56F8347
MC56F8355
MC56F8356
MC56F8357
MPC500
MC33394
www.motorola.com/semiconductors
NOTE
MC33886 MC33887
150°C Integrated H-Bridge 25°C, sleep mode Integrated H-Bridge
NOTE: Search listed part number.
Robotic
SG2076-3
DESIGN CHALLENGES
Design challenges robotic manipulations include boundary control, strength movement, intricate interaction between various parts dual robotic arms working together. Boundary control controlling force applied movement essential safety proper motion robotic arm. This assisted with queued analog-to-digital converter (QADC) modules. Intricate timing interactions assisted with timer processor unit (TPU) modules. Timely communication these other controls achieved through TouCAN modules. these modules part Freescale Semiconductor's MPC500 family.
FREESCALE SEMICONDUCTOR SOLUTION
robotic features Controller Area Network (CAN) 2.0B (TouCAN) system control. available kbps simple control such repetitive acts part movement from point production line. also available kbps kbps complex control mobile machinery that moves through various environments requiring many sensor feedbacks from numerous sources. example this functionality seen vehicle such submersible cave explorer that arms exploration, which provide feedback about texture, hardness, grip. Line termination requirement system function properly. important customer know about line termination remove "mystery physics" required operate system. This requirement achieved three ways: resistor across CANH CANL resistors each across CANH CANL resistor from CANH resistor from CANL with capacitor between resistors Freescale Semiconductor offers MPC500 embedded microcontrollers featuring three TouCAN controllers each MPC500 part (two MPC555). This connectivity provides customer with higher degree freedom when developing final application. Several operations parallel independently segmented from rest system operate under unique parameters. Additionally, offers 2.0B protocol much more. companion chip-the MC33394 SmartMOS Power Oak-controls control/communication nodes with high-speed module designed communication speeds kbps. However, noise immunity such speeds achieved wave shaping alone. common mode choke required some applications. device engineered with additional three levels power supply control board (2.6 well serial peripheral interface (SPI) module with 16-bit Data/StatusExchange.
SG2076-4
Robotic
DEVELOPMENT TOOLS
Vendor Metrowerks CodeWarriorfor PowerPC Embedded Systems CodeWarrior OSEK RTOS CodeWarrior Development Systems OSEKturbo (RTOS) Low-Level Driver Library Flash Programming CodeWarrior Embedded PowerPC Flash Programming CodeWarrior OSEK RTOS Wind River Systems Debugger SingleStep Debugger SingleStep with Vision Flash Programming SingleStep Debugger VisionCLICK Nexus Debugger VisionCLICK Nexus Debugger SingleStep with Vision Flash Programming VisionCLICK Compiler DiabData MATRIXx Simulator SingleStep Lauterbach Debugger Trace32 Nexus Debugger Trace32 Code Trace (with access) Code Trace (Nexus) Axiom Manufacturing Low-Cost Evaluation Board Mid-Range Evaluation Board Full-Feature Evaluation Board Ashling Microsystems Debugger Opella, Genia, Vitra Nexus Debugger Vitra (w/trace) Nexus Debugger Opella, Genia Green Hills Software IDE, Debugger Multi Compiler C/C++/EC++ MPC555 MPC561 MPC562 MPC563 MPC564 MPC565 MPC566
Robotic
SG2076-5
DEVELOPMENT TOOLS (continued)
Tool Type Software Hardware Hardware Hardware Hardware Hardware Hardware Hardware Hardware Hardware Product CW568X 56F800DEMO DSP56F801EVM DSP56F802EVM DSP56F803EVM DSP56F805EVM DSP56F807EVM MC56F8300DSK MC56F8323EVM MC56F8357EVM Vendor Freescale Semiconductor Freescale Semiconductor Freescale Semiconductor Freescale Semiconductor Freescale Semiconductor Freescale Semiconductor Freescale Semiconductor Freescale Semiconductor Freescale Semiconductor Freescale Semiconductor Description CodeWarrior Development Studio 56800/E Hybrid Controllers with Processor Expert (Metrowerks) 56F800 Demonstration Evaluation Module 56F801 Evaluation Module 56F802 Evaluation Module 56F803 Evaluation Module 56F805 Evaluation Module 56F807 56F8300 Developers Start Evaluation Module 56F8322 56F8323 Hybrid Controllers Evaluation Module 56F8345, 56F8346, 56F8347, 56F8355, 56F8356, 56F8357
FREESCALE SEMICONDUCTOR REFERENCE DESIGNS
Design Number RD68HC908RKE Description Additional Information
NOTE
Radio Frequency Reference Design Remote Keyless Entry www.motorola.com/semiconductors Radio frequency ideal wireless technology low-cost applications where users only need transmit data. There many uses technology such gate openers, smoke detectors, remote sensors variety consumer industrial products. Passive Infrared (PIR) Security Peripherals Other www.motorola.com/semiconductors Remote Networks self-calibrating detector reference design demonstrates ability device from 68HC908JL/JK family MCUs form core intelligent detector that capable self-calibration walk-through test from data provided handheld remote control unit communicating infrared protocol. remote control unit also implemented using MC68HC908GP32.
RD68HC08PIR
NOTE
NOTE: Search listed design number.
RELATED INFORMATION
inquiries about Freescale Semiconductor products, contact Technical Information Center 1-800-521-6247 480-768-2130, visit online Document Number APDPAK SG1002Q32004 Description Analog Integrated Solutions Pitch Pack Analog Product Selector Guide
SG2076-6
Robotic
NOTES
Robotic
SG2076-7
Reach
USA/Europe/Locations Listed: Freescale Semiconductor Literature Distribution Center P.O. 5405 Denver, Colorado 80217 1-800-521-6274 480-768-2130 Japan: Freescale Semiconductor Japan Ltd. Technical Information Center 3-20-1, Minami-Azabu, Minato-ku Tokyo 106-8573, Japan 81-3-3440-3569 Asia/Pacific: Freescale Semiconductor Hong Kong Ltd. King Street Industrial Estate N.T., Hong Kong 852-26668334 Home Page:
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Freescaleand Freescale logo trademarks Freescale Semiconductor, Inc. other product service names property their respective owners. Freescale Semiconductor, Inc. 2004
SG2076/D 07/2004
July2004
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