EW: ROBOTICS
of phase, or no pulse). TDR test is usually run to find the root-cause when there is no active link between the PHYs. When used in a humanoid, these powerful and effective fault isolation tools improve overall system reliability and uptime. System implementation The Application Specific MCUs (ASM), such as C2000 family and Arm-based MCU portfolio at TI is compatible with several real-time Ethernet communication protocols that can also be leveraged with Standard Ethernet technology. In addition, TI developed SORTE protocol, that can achieve cycle times of 4μs, is compatible with Arm-based MCU family for applications that require higher throughput and implement SPE. For more details, please refer to Simple Open Real-Time Ethernet (SORTE) Device with PRU-ICSS reference design. Designing functional safety capable Ethernet PHYs and working with third parties to certify MCU software stack makes sure functional safety requirements within the robotic system are met. In humanoid robots, SPE is used in either point-to-point or daisy-chain configurations to connect motor controllers that coordinate movement across various subsystems. Frequently, a gateway-based architecture is employed for managing multiple controllers and motor subsystems. With ASM + DP83TC812S-Q1 (100BASE-T1 SPE PHY) evaluation module, TI has demonstrated how a multi-node real-time based system
Figure 7. Possible faults along the cable
can achieve 60ns jitter performance, enabling deterministic and predictable system behavior. Please contact TI for further information about the test setup. Summary SPE technology plays a transformative role in advancing humanoid robotics and paving the way for future scalability by addressing critical design challenges such as high bandwidth real-time communication, precise time synchronisation and EMI/EMC noise robustness in a constrained space. By integrating features like IEEE 802.1AS and GPIO event trigger, Single Pair Ethernet enables most accurate system reaction and response. Building on these capabilities, TI’s portfolio of highly integrated MCUs is optimized to work seamlessly with TI Ethernet PHY drivers, providing compatibility and streamlining system development to meet high performance needs of a modern-day humanoid. Visit Texas Instruments at embedded world: 3A-131 and 3A-619
Figure 8. TDR concept
Figure 9. Application specific MCU and 100BASE-T1 SPE PHY evaluation module
27 ELECTRONICSPECIFIER.COM
Powered by FlippingBook