Actuator
Actuator⚓︎
flowchart
%% ==== classDef ====
classDef highPowerSupply stroke-width:5px;
classDef lowPowerSupply stroke-width:3px;
%% ==================
subgraph AZT1[Azimuth Thruster]
subgraph AZD1["Azimuth Thruster Driver (Waterproof Box)"]
CON1_AZD1([?????<br>IN: 24Vdc]):::highPowerSupply
CON2_AZD1([NRW-207-RM<br>IN: 24Vdc]):::lowPowerSupply
CON3_AZD1([RJ-45 Connector<br>ENRW-28SC5E-R])
CON4_AZD1([RJ-45 Connector<br>ENRW-28SC5E-R])
DCDC1_AZD1[DC-DC Conv.<br>OUT: 5Vdc 6A]:::lowPowerSupply
subgraph MD1["Brushed DC Motor Driver (PCB)"]
HB_MD1["(opt-isolated input)<br>Gate Driver + H-Bridge<br>IN: 24Vdc"]:::highPowerSupply
MC1_MD1[mbed]
MC1_MD1 -->|PWM| HB_MD1
end
DCDC2_AZD1[Isolated DC-DC Conv.<br>OUT: 12Vdc]:::highPowerSupply
subgraph DC1["Dynamixel Converter (PCB)"]
MC1_DC1[mbed]
end
CON1_AZD1 ==>|24Vdc| HB_MD1
CON1_AZD1 ====>|24Vdc| DCDC2_AZD1
CON2_AZD1 ==>|24Vdc| DCDC1_AZD1
DCDC1_AZD1 ==>|5Vdc| MC1_MD1 & MC1_DC1
CON3_AZD1 -..- MC1_MD1
CON4_AZD1 -...- MC1_DC1
end
subgraph Azimuth Thruster
subgraph EOM1[Electric Outboard Motor]
BDC_AZT1[LACOMETA 86<br>IN: 24V 48Amax]:::highPowerSupply
end
subgraph ARM1[Azimuth Axis Rotation Motor]
SM1_ARM1[Dynamixel XM540-W270<br>IN: 12Vdc]:::highPowerSupply
end
end
HB_MD1 ==>|24V PWM| BDC_AZT1
DCDC2_AZD1 ==>|12Vdc| SM1_ARM1
MC1_DC1 ---|RS-485 or TTL| SM1_ARM1
end
flowchart
%% ==== classDef ====
classDef highPowerSupply stroke-width:5px;
classDef lowPowerSupply stroke-width:3px;
classDef commentComponent fill:#0000,stroke:#0000;
%% ==================
subgraph BL1[Ball Launcher]
subgraph BLCB["Ball Launcher Control Box (Waterproof Box)"]
CON1_BLCB>NRW-207-RM<br>IN: 24Vdc]
CON2_BLCB>RJ-45 Connector<br>ENRW-28SC5E-R]
DCDC1_BLCB[DC-DC Conv.<br>OUT: 5Vdc 6A]
MC1_BLCB[mbed]
CON1_BLCB ==> DCDC1_BLCB
DCDC1_BLCB ==> MC1_BLCB
CON2_BLCB -..- MC1_BLCB
end
subgraph BLT["Ball Launcher Turret"]
SM1_BLT[waterproof servo motor]
SM2_BLT[waterproof servo motor]
SM3_BLT[waterproof servo motor]
XXX_BLT[LIDAR or REALSENSE]
end
MC1_BLCB --- SM1_BLT & SM2_BLT & SM3_BLT
end