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POWER STEERING
Each year, the Formula Student Team named High-Octane Motorsports e.V. of the Friedrich-Alexander-University Erlangen-Nürnberg, designs, constructs, and builds innovative and unique racing cars. These are then entered in the Formula Student Competition in three different categories, competing teams from all over the world. All three categories, Electric, Driverless, and Combustion, come with their challenges. This […]
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Controlling brushless motors with ROS
By Shubham Sharma One of the challenges while developing any robotic hardware is to handle the communications with the motors along with sending commands to them as per the generated trajectory in real time. Since the motor accepting trajectories should respect the time limits, it becomes important that the communication between the motor driver and […]
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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. […]