An Application Specific Integrated Circuit forDual-Axis Motion Control

[摘要] An Application Specific Integrated Circuit (ASIC) for dual axis robotic motion control was designed and developed with Computer Aided Design (CAD) tools. The ASIC provides an all-digital dual-axis Pulse Width Modulated (PWM) amplifier interface. The ASIC layout was produced on a SUN workstation using all design tools. A standard cell library of basic digital functions and an automatic placement and autorouting program was used in the course of the design. The design was implemented in 2-micron Scalable CMOS (SCMOS) technology through the Metal Oxide Semiconductor implementation Service (MOSIS). The device was fabricated in both 40-pin ceramic DIP and 44-pin Plastic Leaded Chip Carrier (PLCC) packages. The dual-axis PWM controller chip was designed as part of a complete dual-arm, forcereflecting, master-slave telerobotic manipulator system and provides a 24 KHz PWM drive signal and control for a twoaxis, 500-watt amplifier module. The device interfaces to a microprocessor bus and requires only 100 MW of power at 12 MHz operation.