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Releases: jcwebber93/Duet3Expansion

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3.7 FOC - TI DRV8136 and SimpleFOCMini

3.7 FOC - TI DRV8136 and SimpleFOCMini Latest
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@jcwebber93 jcwebber93 released this 23 Aug 11:17
3.7-FOC
4ba0285

Added support for FOC control of BLDC motors (and previous control of DC servos + cascaded control loop). Major highlights:

  • Added support for control of drivers that are not TMC stepper drivers.
  • Added center aligned PWM.
  • Added support for basic FOC drivers (e.g. SimpleFOCMini), where the expansion board just emits UVW control signal.
  • Added driver support for TI's DRV8316.
  • Added low-side current sense support (e.g. for use with TI's DRV8316).
  • Added additional M569.1 terms to support FOC-controlled motors, and additional control loop terms.
  • Added support for additional closed loop tuning log entries in the ClosedLoopTuning Plugin

Tested hardware is the MB6HC mainboard, and the experimental SAMME51 expansion board.

Assets 5
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DcServo

DcServo Pre-release
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@jcwebber93 jcwebber93 released this 16 Nov 01:47
3.6.0-dcservo
f8c0a61

Configure DC servo by (example): M569.1 P123.0 T4 C500 R0.2 I0.07 D0.005 V2000 A0 E1000:2000

  • T4 for DC servo
  • C for encoder PPR

M92 value will be equal to (1/circumference) * (PPR * 4 * Gearing). Example: Circumference = 54mm, PPR=400, Gearing=86:1 -> (1/54) * (500 * 4 * 86)=3185, which is pretty close to the estimate I'm using of 3200.

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