University of Maribor , Institut for Robotics :Projects
IR-T8 Transputer card for servo motor control
The IR-T8 card is originally intended for the control of the high dynamic
motor drives like electrical drives of the CNC machines and the robots.
It was developed as a double Europe format card and consists of:
the transputer T805 + 0.5Mbyte SRAM memory and
four 20 Mbit per second serial comunication links and the line for the
sinhronisation between more cards.
the position measurement (16 and 32 bit counter) for two incremental encoders.
Integrated circuit enables the connection of the incremental encoders with
the square and sinus signals, is used for position measurement.
two 12-bit D/A converters,
16 digital TTL inputs with the possibility of programming (GAL),
8 digital outputs -- TTL and open collector,
timer for the clock and watch dog, and
the vector modulator with integrated circuit, which enables the realization
of the vector modulator that can be used to control various transistor
Paper: Karel Jezernik: "Robust Chattering Free
Sliding Mode Control of Servo Drives", Int. J. Electronics, 1996,
vol. 80, no. 2, pp. 169-179.
Last modified Sep., 09, 2002