Motor driver with the
It allows you to build a 3-axis stabilizer based on a modular scheme (see connection diagram) or an extended regular stabilizer by the 4th, 5th axis, with the optimized wiring between modules that is perfectly immune to EMI noise.
|Size of the board:||50×30 mm, with capacitor 60.5×31.5mm|
|Weight||11.50 g PCB with capacitor|
|Power supply voltage:||6–26 V (2s - 6s LiPo)
||6–40 V (2s - 9s LiPo)
|Maximum motor current:||15A continuous (with heatsink installed), max. 40A impulse||30A continuous (with heatsink installed), 40A short-time|
|Current sensor max. range adjustment||no||15A or 45A via solderable jumpers SW5-SW7
Support a big number of models of absolute rotary encoders with the following interfaces:
- A, B, Z
- SSI, BiSS-C (3v3, RS422)
Main controller connection:
- 2x CAN, optional onboard terminator
- Limit switch,
Z-Indexswitch, Emergency switch, and several digital I/O pins
- 1-wire for thermal sensor connection
- Address selection pins
Over-current Under-voltage Short-circuit
Compatible with all hardware versions.
CAN Driver firmware v.1.26 (100Kb 27.12.2022)
- Improved efficiency in a high-speed rotation mode
- Bugfix: not all combinations of motor/encoder rotation direction worked properly
CAN Driver firmware v.1.16 (105Kb 7.06.2021)
- Netzer VLX60 encoder support (Biss-C)
CAN Driver firmware v.1.15 (105Kb 10.01.2021)
- Aksim2 encoder support (SPI & Biss-C)
- Change method of PWM encoder capture (RLS Orbis PWM fixed errors in reading near zero point)
- AMT223/AMT222 encoder support
- CAN protocol update - more stable, ready to work in parallel with GPS_IMU
CAN Driver firmware v.1.11 (113Kb 21.05.2020)
- Improved calibration of R,L motor parameters
- Added extra safety checks and safety limit parameters
- Minor bugfixes and other improvements
CAN Driver firmware v.1.07 (105Kb 24.10.2019)
- Add a support of new encoders: Zettlex IncOder (SPI-over-RS422), iC-Haus iC-MU (SPI), TLE5012B (SPI, PWM), A1335 (SPI, I2C), AM4096 (I2C), AS5048B (PWM), MA730 (SPI, PWM)
How to upgrade firmware
To upgrade the firmware in the CAN_DRV module(s), connect modules by CAN interface to the main controller connected to a PC running SimpleBGC32 GUI.
Note: it's required to connect main power supply to make CAN_DRV working (they are not powered from USB).
In SimpleBGC32 GUI:
- Turn motors OFF by the button "MOTORS ON/OFF"
- Go to "Upgrade" tab, open "Connected modules" tab. Press the "Refresh" button to load information about modules.
- Select a required module from the list. GUI will show current hardware, firmware and bootloader versions for each module
- Browse for the file containing new firmware. Be careful, flashing improper file will make the device "bricked" and it will be hard to make it alive.
- Press "Flash" button to write firmware.
- Reconnect USB to restart gimbal controller and let him see changes.
- Connect GUI and repeat steps 2, 3 to check that new firmware is working and system operates normally.
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