In the large-scale, Dark Energy Spectroscopic Instrument (DESI), thousands of fiber positioners will be used. Those are robotic positioners, with two axis, and having the size of a pen. They are tightly packed on the focal plane of the telescope. Dedicated micro-robots have been developed and they use 4mm brushless DC motors. To simplify the implementation and reduce the space occupancy, each actuator will integrate its own electronic control board. This board will be used to communicate with the central trajectory generator, manage low level control tasks and motor current feeding. In this context, we present a solution for a highly compact electronic. This electronic is composed of two layers. The first is the power stage that can drive simultaneously two brushless motors. The second one consists of a fast microcontroller and deals with different control tasks: communication, acquisition of the hall sensor signals, commutation of the motors phases, and performing position and current regulation. A set of diagnostic functions are also implemented to detect failure in the motors or the sensors, and to sense abnormal load change that may be the result of two robots colliding.

Date Published: 8 July 2014
PDF: 7 pages
Proc. SPIE 9147, Ground-based and Airborne Instrumentation for Astronomy V, 914744 (8 July 2014); doi: 10.1117/12.2055197

Published in SPIE Proceedings Vol. 9147:
Ground-based and Airborne Instrumentation for Astronomy V
Suzanne K. Ramsay; Ian S. McLean; Hideki Takami, Editor(s)