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Industrial Control
Robot DCU board
Core Features
● Dual-core drive, ultimate real-time performance
It adopts a collaborative architecture featuring an FPGA and a DSP. The FPGA handles multi-channel encoder acquisition, high-speed I/O control, and hardware protection, with response times down to the nanosecond level. The DSP excels in floating-point computations, executing sophisticated robotic kinematics and closed-loop control algorithms with exceptional precision.
● Multi-axis high-precision control
Supports servo drive control for 6 axes or more, with each axis featuring high-precision PWM output and multi-turn absolute encoder feedback to achieve precise pose control.
● Full interface integration, seamless connectivity
Integrating industrial real-time Ethernet buses such as EtherCAT and CANopen, it can be easily connected as a slave device to the robot’s host computer system, while also providing a rich array of I/O interfaces for connecting sensors and actuators.
● Hardware-level security protection
The FPGA implements hardware-level safety logic (overcurrent, overvoltage, overtravel, and brake control) with a response time of less than 1 μs, providing the highest level of safety assurance for robotic systems.
● Compact, high-reliability design
Industrial-grade chip selection, precision PCB design, and support for wide-temperature operation from -40℃ to +85℃—meeting the stringent requirements of industrial robots for reliability and compact space.
Email: sales@sengkeda.com
Core specification parameters
| Parameter Category | Detailed indicators |
| FPGA processor | Altera EP3C5E144I7N |
| FPGA logic unit | 5,136 LEs |
| DSP processor | TI TMS320F28335PGFA |
| DSP clock frequency | 150 MHz (with a floating-point unit FPU) |
| System memory | SRAM (on the FPGA side) + 512KB Flash (on the DSP side) |
| Number of control axes | Supports 6-axis servo control (expandable) |
| Encoder interface | Supports incremental, absolute (EnDat2.2/SSI/Biss-C), and resolvers. |
| Control cycle | Current loop ≤ 50 μs, speed/position loop ≤ 100 μs |
| Communication protocol | EtherCAT (slave), CANopen, Modbus |
| Operating temperature | -40°C ~ +85°C (Industrial Grade) |
| Power supply | DC 24V (industrial standard) |
Interface Information
Motion control interface (primarily implemented by FPGA)
| Interface Type | Quantity/Specification | Function Description and Applications |
| PWM drive output | Channel 6 (3 pairs of complementary PWM) | The three-phase PWM signal driving the output servo motor has a programmable dead-time. |
| Encoder input | 6-way differential input | Receive the incremental encoder (A/B/Z) signals from the servo motor. |
| Absolute encoder interface | Route 2-3 | Supports protocols such as EnDat2.2, SSI, and Biss-C for connecting high-end multi-turn absolute encoders. |
| Analog Input | 6-channel 16-bit ADC | Collect the phase currents of the motor for closed-loop current control. |
| Hardware protection input | Multiple channels | It receives overcurrent, overvoltage, and IGBT fault signals to enable nanosecond-level hardware protection. |
| General IO | Multiple DI/DO inputs/outputs | Used for limit switches, home sensors, brake control, status indicator lights, and more. |
Communication and System Interface (primarily implemented by DSP)
| Interface Type | Quantity/Specification | Function Description and Applications |
| Real-time industrial network | EtherCAT slave controller (via FPGA + PHY) | As a slave device, seamlessly connect to EtherCAT-based robot master control systems (such as TwinCAT and ROS2) to enable high-speed data exchange. |
| Fieldbus | 2x CAN (isolated) | Supports the CANopen protocol and can connect to teach pendants, IO modules, or other CAN devices. |
| Debugging interface | 1x JTAG (DSP), 1x USB 2.0 | Used for program downloading, debugging, and data log output. |
| Expansion interface | SPI, I2C, UART | For expanding sensors (IMU, vision), flash storage, and more. |
Software and Features
Main functions of FPGA:
- Ultra-high-speed acquisition: Synchronously acquire data from multiple encoders.
- Real-time control: Generate high-resolution PWM to implement a hardware current loop.
- Security Guardian: Executes hardware security logic and responds to faults at the first opportunity.
- Protocol Offloading: Handles the underlying data link for EtherCAT and encoder protocols.
Main functions of DSP:
- Core algorithms: position loop control algorithm, velocity loop control algorithm, and robot inverse kinematics computation.
- Communication Management: Handles the EtherCAT application layer protocol and the CANopen protocol stack.
- System scheduling: Run a real-time operating system (such as FreeRTOS) and manage tasks.
Typical application scenarios
- Industrial robots: six-axis articulated robots and joint servo drive controllers for SCARA robots.
- AGV/AMR: The core technology for hub-motor drive and motion control of mobile robots.
- Collaborative robots: lightweight, high-precision joint drives and control.
- High-end CNC equipment: Multi-axis linked CNC system with servo drives.
- Automated production line: controllers for precision positioning modules and rotary tables.
Keywords：Robot DCU board
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Guangzhou SENGKEDA Technology Co., Ltd
Contact: Elaine Huang
Service hotline: +86 20 8792 5274
Email: sales@sengkeda.com
Company Address: Building D, No. 1, Cai Pin Road, Science City, Huangpu District, Guangzhou, Guangdong Province
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