25
whole-body axes bound to paired branch slots
50
candidate populated TPS259482L devices
8
one-bus board instances and independent feed domains
8 open
feed-level brake/dump circuits still require measured sizing
Why two devices are required
TI documents that TPS25948 can pass bidirectional steady-state current when RCBCTRL is low, but its overcurrent protection acts only from IN to OUT. The selected P0.1 candidate therefore places one device in each direction. This remains an engineering inference requiring TI application review and physical validation.
Why the topology changed
The earlier five-instance grouping was rejected during whole-body reconciliation. A shared-input arm board would tie RS-LARM to RS-RARM. A shared-input distal board would tie TTL-LDIST, TTL-RDIST and TTL-HEAD together downstream of three independent 9 V regulators.
The corrected package instantiates one six-channel pattern for each of the eight authoritative buses. Empty positions are DNP and do not create another feed.
Native KiCad and routed board
Open the native KiCad project | open the routed PCB | front copper view | ERC report | DRC report.
The project contains one boundary sheet, six channel-template sheets, the exact TI YWP0012A example land pattern and a routed 150 x 68 mm ten-layer candidate. ERC and DRC are 0/0 with zero unconnected pads. Production stackup, fabricator DFM, assembly yield, thermal rise and physical tests remain open.
Eight board instances and 25 axes
| Board | Bus | Channel | Axis | Feed net | Nominal feed | Internal cap A |
|---|---|---|---|---|---|---|
| WPS-RS-LLEG | RS-LLEG | 1 | L_HIP_YAW | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-LLEG | RS-LLEG | 2 | L_HIP_ROLL | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-LLEG | RS-LLEG | 3 | L_HIP_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-LLEG | RS-LLEG | 4 | L_KNEE_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-LLEG | RS-LLEG | 5 | L_ANKLE_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-LLEG | RS-LLEG | 6 | L_ANKLE_ROLL | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-RLEG | RS-RLEG | 1 | R_HIP_YAW | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-RLEG | RS-RLEG | 2 | R_HIP_ROLL | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-RLEG | RS-RLEG | 3 | R_HIP_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-RLEG | RS-RLEG | 4 | R_KNEE_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-RLEG | RS-RLEG | 5 | R_ANKLE_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-RLEG | RS-RLEG | 6 | R_ANKLE_ROLL | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-LARM | RS-LARM | 1 | L_SHOULDER_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-LARM | RS-LARM | 2 | L_SHOULDER_ROLL | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-LARM | RS-LARM | 3 | L_ELBOW_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-LARM | RS-LARM | 4 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-LARM | RS-LARM | 5 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-LARM | RS-LARM | 6 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-RARM | RS-RARM | 1 | R_SHOULDER_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-RARM | RS-RARM | 2 | R_SHOULDER_ROLL | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-RARM | RS-RARM | 3 | R_ELBOW_PITCH | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 1.998670 |
| WPS-RS-RARM | RS-RARM | 4 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-RARM | RS-RARM | 5 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-RARM | RS-RARM | 6 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-WAIST | RS-WAIST | 1 | WAIST_YAW | ACT_MAIN_SAFE_12V | 12 V nominal candidate | 2.499010 |
| WPS-RS-WAIST | RS-WAIST | 2 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-WAIST | RS-WAIST | 3 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-WAIST | RS-WAIST | 4 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-WAIST | RS-WAIST | 5 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-RS-WAIST | RS-WAIST | 6 | DNP SPARE | ACT_MAIN_SAFE_12V | 12 V nominal candidate | DNP |
| WPS-TTL-LDIST | TTL-LDIST | 1 | L_WRIST_ROTATION | TTL_LDIST_SAFE_9V | 9 V regulated candidate | 0.700000 |
| WPS-TTL-LDIST | TTL-LDIST | 2 | L_GRIPPER | TTL_LDIST_SAFE_9V | 9 V regulated candidate | 0.700000 |
| WPS-TTL-LDIST | TTL-LDIST | 3 | DNP SPARE | TTL_LDIST_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-LDIST | TTL-LDIST | 4 | DNP SPARE | TTL_LDIST_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-LDIST | TTL-LDIST | 5 | DNP SPARE | TTL_LDIST_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-LDIST | TTL-LDIST | 6 | DNP SPARE | TTL_LDIST_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-RDIST | TTL-RDIST | 1 | R_WRIST_ROTATION | TTL_RDIST_SAFE_9V | 9 V regulated candidate | 0.700000 |
| WPS-TTL-RDIST | TTL-RDIST | 2 | R_GRIPPER | TTL_RDIST_SAFE_9V | 9 V regulated candidate | 0.700000 |
| WPS-TTL-RDIST | TTL-RDIST | 3 | DNP SPARE | TTL_RDIST_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-RDIST | TTL-RDIST | 4 | DNP SPARE | TTL_RDIST_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-RDIST | TTL-RDIST | 5 | DNP SPARE | TTL_RDIST_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-RDIST | TTL-RDIST | 6 | DNP SPARE | TTL_RDIST_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-HEAD | TTL-HEAD | 1 | HEAD_PAN | TTL_HEAD_SAFE_9V | 9 V regulated candidate | 0.700000 |
| WPS-TTL-HEAD | TTL-HEAD | 2 | HEAD_TILT | TTL_HEAD_SAFE_9V | 9 V regulated candidate | 0.700000 |
| WPS-TTL-HEAD | TTL-HEAD | 3 | DNP SPARE | TTL_HEAD_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-HEAD | TTL-HEAD | 4 | DNP SPARE | TTL_HEAD_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-HEAD | TTL-HEAD | 5 | DNP SPARE | TTL_HEAD_SAFE_9V | 9 V regulated candidate | DNP |
| WPS-TTL-HEAD | TTL-HEAD | 6 | DNP SPARE | TTL_HEAD_SAFE_9V | 9 V regulated candidate | DNP |
Pair conduction-loss screen
These values use the axis cap as if simultaneous and therefore bound silicon conduction loss only. They are not measured walking duty or a thermal release.
| Board | Axes | Cap sum A | Pair loss typ W | Pair loss hot-max W |
|---|---|---|---|---|
| WPS-RS-LARM | 3 | 5.996010 | 0.292411 | 0.479362 |
| WPS-RS-LLEG | 6 | 13.993380 | 0.804457 | 1.318783 |
| WPS-RS-RARM | 3 | 5.996010 | 0.292411 | 0.479362 |
| WPS-RS-RLEG | 6 | 13.993380 | 0.804457 | 1.318783 |
| WPS-RS-WAIST | 1 | 2.499010 | 0.152379 | 0.249802 |
| WPS-TTL-HEAD | 2 | 1.400000 | 0.023912 | 0.039200 |
| WPS-TTL-LDIST | 2 | 1.400000 | 0.023912 | 0.039200 |
| WPS-TTL-RDIST | 2 | 1.400000 | 0.023912 | 0.039200 |
The honest remaining blocker
Each authoritative feed still needs its own measured, independently powered brake/dump circuit. No resistor, chopper, voltage threshold or energy rating is released.
Open the eight feed obligations | eight power states | architecture decisions.
Open holds
- WPS-H01 TPS259482L paired use is extrapolated from TI's TPS2595 two-eFuse application note
- WPS-H02 current-limit setpoints, resistors and ITIMER values are not selected
- WPS-H03 six XC330 caps are 0.700 A, below the TPS25948 1 A minimum limit
- WPS-H04 datasheet maximum current-limit accuracy is stated only above 3 A while every HR-30 candidate cap is below 3 A
- WPS-H05 eight bus-domain brake/dump circuits have no selected devices, thresholds or energy ratings
- WPS-H06 source absorption and reverse-energy behavior are not characterized
- WPS-H07 paired startup, disable and fault timing are unvalidated
- WPS-H08 routed exact-land-pattern PCB candidate lacks production stackup and assembly validation
- WPS-H09 connector, conductor, fuse and eight-feed coordination remain open
- WPS-H10 dynamic walking demand and regenerative events are unmeasured
- WPS-H11 functional safety allocation and stopping performance are not validated
- WPS-H12 no procurement, fabrication, connection, powered-test, motion or energization authority exists