CAN_Driver

Motor driver with the CAN-bus interface is intended to be used with the CAN-enabled SimpleBGC32 controller.

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.

This module was designed for use with the "extended" controllers (Extended, Pro, CAN_MCU), replacing the onboard drivers. Requires firmware version 2.66b1 or higher.

Specifications

Size: board 50 x 30 mm, with capacitor 60.5 x 31.5mm

Weight: 13.20 g

Input voltage: 2s–6s (6–26V)
Current: 10A continuous (15A with heatsink installed), max. 40A impulse.

Support a big number of models of absolute rotary encoders with the following interfaces:

SPI
PWM
I2C
A, B, Z
SSI, BiSS-C (3v3, RS422)

Main controller connection:

2x CAN, optional onboard terminator

Other interfaces:

Limit switch, Z-Index switch, Emergency switch, and several digital I/O pins
1-wire for thermal sensor connection
Address selection pins

Protections:

Over-current
Under-voltage
Short-circuit
Over-temperature

Downloads

Driver CAD drawings (4Mb 13.03.2018) Case Model for 3D printing (STL) (139Kb 2.07.2020) CNC heat-sink enclosure (STL,STEP,DWG) (822Kb 18.04.2022)

Manuals

SBGC CAN Modular System Connection Diagram (74Kb 10.03.2020) CAN_Drv module datasheet (413Kb 15.10.2020) CAN_Drv initial setup guide (384Kb 15.10.2020) CAN_Drv module configuration reference manual (201Kb 13.08.2020)

Firmware

Changelog (1018 b 28.11.2022)
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)

CAN Driver firmware v.1.00 (110Kb 1.01.2018)

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.

Support

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