T1 target system — Real-Time Computing

National Instruments (NI) myRIO 1900

The NI myRIO 1900 is a single-board computer. The board uses field-programmable gate array (FPGA)-based fast input/output (I/O). The operating system is the NI Linux Real-Time OS, which is based on the popular Real-Time Linux OS.

Quantity: 1

System on a chip (SoC)	Xilinx Z-7010
Microprocessor	ARM Cortex-A9
Microprocessor architecture	ARMv7
FPGA	Artix-7
Interrupt controller	PL390

Suppliers: National Instruments · Newark

Keypad — User input device

A 16-key keypad. The buttons are momentary contact single-pole single-throw (SPST) switches. The circuitry is arranged in a $4 \times 4$ matrix and requires 8 digital input/output (DIO) lines to interface.

Quantity: 1

Keys	16
Switches	Momentary contact SPST

Grayhill 88BB2 (recommended)

Setup instructions	[link](/grayhill-88bb2-setup)
Legend sheet accessory for labeling keys	[Grayhill 87AC2046](https://www.digikey.com/en/products/detail/grayhill-inc/87AC2046/255619)

Suppliers: Digi-Key · Mouser

Serial display — Display

Quantity: 1

Interface	Serial
Encoding	ASCII
Rows	4
Characters per row	20

Parallax 27979 LED dot-matrix display (recommended)

An 80-character LCD transreflective dot-matrix display. It has four 20-character lines and each character has $5 \times 8$ dots. The serial interface is natural for UART communication. It requires a $5$ V supply.

Baud-rate	TODO
Directives	TODO

Suppliers: Digi-Key · Newark · Mouser

EM Board — board

Quantity: 1

EM Board T1a (recommended)

Setup details	[Description and Purchasing](/em-board-T1a)

Suppliers: See Description and Purchasing

Analog current amplifier — amplifier

Quantity: 1

Interface	Analog input

Maxon ESCON Module 24/2 466023 (recommended)

A small, digital, four-quadrant current amplifier with an analog input. It can act as a controller, but we will use it as a current amplifier (in "current controller" mode). It is compact, light, and relatively inexpensive.

Gain (A/V)	0.06
Max current (A, $< 4$ seconds)	6
Max continuous current (A)	2
Analog input voltage range	$[-10,+10]$ V
Power continuous/max	$48$ W/$144$ W
Nominal operating voltage $V_\text{CC}$	$10$-$24$ VDC
Breakout board (not needed if used with our EM Board)	ESCON Module 24/2 Motherboard [486400](https://www.maxongroup.com/maxon/view/product/accessory/Starter-kitsEva-BoardsMotherboards/486400){target="_blank"}
Datasheet	[link](/assets/manuals/EN-21-498-500.pdf)
Manual	[link](/assets/manuals/466023-ESCON-Module-24-2-Hardware-Reference-En.pdf)
Setup details	[link](https://rtcbook.org/escon-24-2-setup)

Suppliers: Maxon

Junus JSP-090-20 analog current amplifier (recommended)

Industrial-grade analog current amplifier

Gain (A/V)	TODO
Max continuous current (A)	TODO
Setup and enclosure details	[link](https://rtcbook.org/analog-current-amp-setup-enclosure)

Suppliers: Regional distributors · E-Motion · MotionUSA

PMDC motor — motor

Quantity: 1

Faulhaber 2642W048CR (recommended)

A small PMDC motor of good quality.

Motor constant (N$\cdot$m/A)	69.8e-3
Rotor inertia (kg$\cdot$m$^2$)	11e-7
Damping (N$\cdot$m/(rad/s))	5.3368e-6
Resistance ($\Omega$)	23.8
Inductance (H)	2200e-6
Nominal voltage (V)	48
Stall torque (N$\cdot$m)	0.137
Shaft diameter (mm)	4
Continuous torque (N$\cdot$m)	0.032
Continuous current (A)	0.56
Continuous speed (RPM)	4330
Bearings	Ball-bearings
Mechanical time constant (s)	5.4e-3
Datasheet	[link](/assets/manuals/EN_2642_CR_DFF.pdf)

Suppliers: Faulhaber (with encoder)

Electrocraft 23SMDC-LCSS brushed PMDC motor (recommended)

An large, industrial-grade PMDC servomotor.

Motor constant (N$\cdot$m/A)	TODO
Rotor inertia (kg$\cdot$m$^2$)	TODO
Damping (N$\cdot$m/(rad/s))	TODO
Resistance ($\Omega$)	TODO
Inductance (H)	TODO

Quadrature encoder — Encoder

Quantity: 1

Type	Quadrature/incremental

HEDS-5540-I06 (recommended)

A 512 CPR quadrature encoder.

CPR	512
SPR	2048
Channels	4
Datasheet	[link](/assets/manuals/av02-1046en_ds_hedm-55xx_2014-11-20.pdf)

Suppliers: Faulhaber (with motor)

HP HEDS-5640-A06 optical quadrature encoder (recommended)

TODO

CPR	500
SPR	2000

DC power supply for amplifier — Power supply

Quantity: 1

Alitove 12V 8A 96W Power Supply (recommended)

Voltage-nominal (V)	12
Current-max (A)	8
Connector	5.5x2.5 mm barrel

Suppliers: Amazon

TODO (recommended)

Voltage-nominal (V)	24
Current-max (A)	TODO

Flywheel — Load

A flywheel inertial load.

Quantity: 1

Chuck flywheel (Jacobs 30243) (recommended)

A drill chuck that serves as a flywheel inertial load.

Inertia (kg$\cdot$m$^2$)	9.9e-6

Suppliers: McMaster-Carr

Steel flywheel (recommended)

TODO

Inertia (kg$\cdot$m$^2$)	56.5e-6

Aluminum flywheel (recommended)

TODO

Inertia (kg$\cdot$m$^2$)	TODO

External bearings — external-bearings

External bearings to support the shaft

Quantity: 1

Brand name TODO (recommended)

TODO

Damping	TODO

A NAND IC with open-collector outputs and transistor-transistor logic (TTL) — NAND integrated circuit (IC)

Quantity: 1

Output-type	Open-collector
Logic-levels	TTL

TI SN7438N

This is a chip with four NAND gates, $5$ V supply (TTL), and open-collector outputs. Get the PDIP package for breadboard prototyping. The 7401 will also work, but we have chosen the 7438 because it is currently more readily available. The 7438 can handle more current, but this is not necessary for our application.

Suppliers: Digi-Key · Mouser · Newark