This reference design uses a single TI C2000™ F28P65 microcontroller for industrial Ethernet motor drives with six-axis control. The design uses a printed circuit board (PCB) with less than 42cm2 to drive a 6 degree of freedom (DoF) humanoid robot hand. The design demonstrates a small form factor and integrated platform. This integrated platform leverages six DRV8376 three-phase motor drivers with integrated current sensing and FETs as the power stage. The platform includes real-time motor control and industrial Ethernet communication using the F28P65 device with two 32-bit C28x Digital Signal Processor (DSP) Central Processing Units (CPU) and one Control Law Accelerator (CLA) CPU, all running at 200MHz.
A fully assembled board has been developed for testing and performance validation only, and is not available for sale.
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Reference design overview and verified performance test data
Detailed overview of design layout for component placement
Complete listing of design components, reference designators, and manufacturers/part numbers
Files used for 3D models or 2D drawings of IC components
Design file that contains information on physical board layer of design PCB
PCB layer plot file used for generating PCB design layout
Detailed schematic diagram for design layout and components
Includes TI products in the design and potential alternatives.
| Top documentation | Type | Title | Format options | Date |
|---|---|---|---|---|
| * | Design guide | Centralized Six-Axis Motor Control Using a Single MCU for Humanoid Robot Hand Reference Design (Rev. A) | PDF | HTML | Jun 24, 2026 |
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