The controller coordinates cobot arm motion operates in a real-time environment. It generates the joint trajectories and sends coordinated position commands to every joint over the bus. It also runs the functional-safety monitoring on torque, speed, and position limits, and manages authentication, calibration, and configuration.
Functionalities and devices
- Motion computation and coordination: trajectory generation and synchronized setpoint distribution across all axes, on an STM32MP1/MP2 or STM32H7/N6 application processor
- Functional-safety monitoring: redundant, dual-channel supervision of torque, speed and position, on STM32 with the X-CUBE-STL self-test libraries
- Authentication and secure boot: a hardware root of trust in an STSAFE secure element
- Configuration and calibration storage: joint parameters and kinematic calibration held in serial EEPROM (M24, M95)
- Power-rail supervision: current, voltage, and power monitoring of the controller rails