Our CPCI-CPU/750 - CompactPCI PowerPC with Ethernet and CAN - has been integrated into NASA's Robonaut R2 design. Robonaut is a humanoid robotic development project conducted by the Dextrous Robotics Laboratory at NASA's Johnson Space Center (JSC) in Houston, Texas.
Furthermore we would like to draw your attention to a new CompactPCI board, the CPCI-CAN/400, which we have added to our wide range of CompactPCI boards.
Robonaut 2 - for short R2
A Robonaut acts differently than other, similar devices such as robotic arms, cranes, and exploration rovers, which are primarily designed to move large objects. The task of a Robonaut requires more sophisticated abilities like using space tools and work alongside astronauts. The latest Robonaut version, tagged R2, was the first US-built robot to make it to the International Space Station (ISS) in February of 2011.
It is a robotic torso designed to assist with the crew's extra-vehicular activities (EVA), and it can hold tools used by the crew. R2 will provide performance data about how a robot may work side-by-side with astronauts, and the experience gained will support future endeavors that might even go beyond low earth orbit. It must be emphasized, however, that the robot cannot perform spacewalks in its current configuration; that will require some upgrades in the future.
CompactPCI PowerPC with ETHERNET and CAN
The CPCI-CPU/750 is a CompactPCI board in 3U format. The powerful IBM PPC750FX with 800 MHz enables a performance of
up to 1850 DMIPS. With on-board PCI-arbiter and PCI-clock distributor it acts as a CompactPCI host. The board is equipped with 256 Mbyte or 512 Mbyte DDR-SDRAM with ECC and 64 Mbyte Flash. A non-volatile NVRAM/RTC enables the CPCI-CPU/750 to save valuable process variables during power off sequences.
The CPCI-CPU/750 comes with an ETHERNET interface (IEEE 802.3) that is accessible via RJ45 connector in the front panel. The CPCI-CPU/750 provides a CAN interface based on a SJA1000 CAN controller. It is designed according to ISO 11898-2 with electrically isolation and a DSUB9 connector and allows data transfer rates of 1 Mbit/s. A serial port is available as RS-232 via RJ12 connector.
The Flash memory carries the standard ‘U-Boot’ program that enables the CPCI-CPU/750 to boot various operating systems from network or on-board Flash. Thus Linux and VxWorks are directly supported with full support of on-board drivers by esd, others on request. There is also a bunch of higher layer protocols like CANopen® as well as an on-board web server available.
Up to 4 CAN with ARINC 825 + IRIG-B + PXI-Interface (optional)
The CPCI-CAN/400-4 is a CompactPCI board in 3U format, that features four electrically isolated CAN High-Speed interfaces
according to ISO 11898-2. CAN is driven by the esd Advanced CAN Core (esdACC) CAN controller implemented in the Xilinx Spartan 3e FPGA. The CPCI-CAN/400-4 provides high resolution hardware timestamps.
The CPCI-CAN/400-4 IRIG-B features an IRIG-B interface that offers inputs for analog or RS-422 IRIG-B coded signals. Both are electrically isolated. IRIG-B evaluation is controlled by an additional microcontroller. IRIG-B is used directly for CAN timestamping.
CAN layer 2 (CAN-API) software drivers are available for Windows, Linux, VxWorks, QNX and RTX. The CANopen software package and the ARINC 825 as another higher layer protocol are available for Windows, Linux, VxWorks, QNX and RTX. Drivers for other operating systems are available on request.
The CPCI-CAN/400-4 optionally features a PXI interface:
The signals TRG 0-7, CLK 10 and STAR are controlled via the FPGA. The signals LBL/LBR1-12 are looped through. An optional 32-bit MicroBlaze microcontroller is available in the FPGA.
If you need any further information please contact our sales team.