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Guest Blog: UBC Thunderbots
UBC Thunderbots is an engineering design team at the University of British Columbia, where students create and compete with autonomous soccer-playing robots. Since the team began in 2006, we have been continuously improving our robots so we can then compete on the international level at the annual RoboCup competition. After years of hard work, we […]
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Driving a linear stage with the TMC4671 – Firmware Adaptation
In our last blog post, we were able to determine stable P-I-parameters for our cascaded controller loop. With that knowledge in mind I want to show you how I created a small example program which I will include in the firmware of the Landungsbrücke. What this code basically does is initializing the TMC4671 for stepper motor control. This is done in init_Basics(…) by writing several […]
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Driving a Linear Stage With the TMC4671 – Controller Tuning
Welcome back to my blog post series! I previously described how I set everything up in the post: Driving a Linear Stage With the TMC4671 – Setup. Today I will show you how I tuned my controller gains for torque/flux-, velocity- and position-mode. In order to do this, I use the USB-2-RTMI adapter and the […]
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Driving a Linear Stage With the TMC4671 – Setup
The TMC4671 is Trinamic‘s FOC servo controller IC, capable of controlling BLDC, DC and stepper motors. In this post, I’d like to show you how to configure the TMC4671-Eval Board with our Landungsbrücke interface board to drive a linear stage. For this, I use the TMCL-IDE, Trinamic’s free and easy to use graphical user interface. […]