| MCU |
- Microcontroller: STM32F411 (64-pin, Cortex-M4F)
- Deterministic real-time motion control handled on-board
- Pre-developed, profile-based firmware (no application code required)
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| Motion control |
- 2 independent motion axes per board
- Speed, position and torque control
- Torque control via external current sensors
- Acceleration / deceleration ramps
- Limits and soft limits
- Axis coordination and motion mixing
- Interlocks, watchdogs and failsafe behaviors
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| Scalability |
- Native RS485 multi-drop bus
- Designed for 10+ DUILIO F4 boards on the same bus
- Example: 10 boards = 20 motors, centrally coordinated
- Architecture: one host, many Duilio nodes (distributed real-time control)
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| Motor drivers |
- External motor drivers only (no power stages on-board)
- Supported / supportable interfaces:
- PWM / DIR
- ENABLE + DIR + PWM
- Dual-PWM (forward / reverse)
- STEP / DIR (speed or position usage)
- Analog speed (0-5 V)
- Analog speed + direction
- RC-style PWM (ESC / servo pulse)
- Serial / protocol-based drivers (profile-dependent)
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| Encoders and feedback |
- 2 I2C absolute encoders
- 2 quadrature incremental encoders (A/B)
- Z channel and limit switches for homing
- Position feedback, homing and zero reference
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| RC I/O |
- 4 RC servo inputs (PWM pulse capture)
- 4 RC servo outputs
- Usage: RC receivers, ESCs, servos, mixed/manual control
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| Digital I/O (power) |
- 4 NPN low-side outputs
- External relays, solenoids, lamps
- Current: < 2 A per channel
- Firmware-controlled, profile-dependent
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| Digital I/O (logic) |
- End-stops and safety inputs
- Dedicated homing inputs
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| Analog inputs |
- 2 analog inputs (0-5 V)
- Torque reference
- Position reference (potentiometer)
- Analog command input
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| Sensors |
- 2 ultrasonic sonar interfaces (TRIG / ECHO)
- Other digital and analog sensors (profile-dependent)
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| Safety and failsafe |
- Safe state on communication timeout
- Configurable behavior on host or bus loss
- Motion enabled only after valid startup sequence
- Optional multi-condition enable logic
- Hardware and firmware safety interlocks
- Immediate output disable on fault conditions
- Internal watchdog and supervision logic
- Outputs forced to safe state at power-up
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| Configuration |
- Programming interface: ST-Link (SWD)
- Firmware flashing and configuration via ST-Link
- USB: optional / experimental, not the primary interface
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| Host systems |
- Raspberry Pi
- SBCs
- PCs
- Industrial computers
- Role separation:
- Host = logic, UI, networking
- Duilio = real-time motion and I/O control
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| Power |
- VIN: 6 V - 43 V
- USB: 5 V
- Raspberry Pi header: 5 V (HAT mode)
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| Raspberry Pi power output |
- Up to 5.1 V / 5 A
- Direct Raspberry Pi power supply
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| Protection |
- TVS and ESD protection
- Reverse and back-feed protection
- Designed for noisy motor environments
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| System philosophy |
- Motor-agnostic and driver-agnostic
- Same control logic reusable across different machines
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