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High performance motor control


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High performance motor control


ODrive

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Hobby Motors For Robotics

Stepper motors are ubiquitous in hobby robotics projects: If you make a robotics or automation project today, it is very likely you will use them. Almost all DIY projects from 3D printers and CNC mills, to various custom robots and automation solutions use them. However in industrial automation, brushless servomotors have taken over, and it's clear why: They don't lose steps, are much more powerful, efficient, and silent. 

Brushless motors are not unique to expensive industrial automation equipment. In fact, you can get some very powerful and cheap motors at hobby shops. The electronics to drive these motors are also dirt cheap. So how come virtually no non-industrial automation systems use them? 

To be honest, I have no idea. Seriously, a driver that allows this should clearly exist. 
But since it didn't, I decided to make one. 

And you are invited! 
This project is open source, both in hardware and software, and I warmly welcome anyone who wants to join.

 
 
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Features


Features


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Key specs

  • Two motor channels.
  • 24V, designed for more than 100A peak current.
  • DC-DC converter, for brake resistor or energy storage.
  • Encoder feedback for arbitrarily precise movements.
  • Supports power regeneration.
  • Optional use of a high power density battery means you can achieve >1kW peak power output with only a modest power supply.
  • Open source: Hardware, Software

Interfaces

  • USB Serial port -- PC, BeagleBone, RaspberryPi, etc.
  • CAN -- CANOpen and CiA 402 is a possibility.
  • UART -- Arduino, mBed, etc.
  • PWM -- RC Recievers, Arduino, etc.
  • Step/direction -- Existing motion controllers
  • Some general purpose digital and analogue pins

Protocols

  • Many types of command modes
    • Goto (position control with trajectory planning)
    • Position commands
    • Velocity command
    • Torque command

Please be aware that ODrive is an unfinished product currently in alpha testing phase: the hardware is ready to support all of the above features, but some features are under firmware development.

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Demos


Demos


Version 2

This is a demo of the 2nd version of the project. The peak power output in these tests were only about 60W. The new version (v3) will be able to deliver more than 1000W.


Version 1

This is a demo of the first version of the project. The mass being moved is 3kg, and the peak power was about 200W. The noise is not from the motor, but from my poor mechanical design which means that the belt teeth rubs against the idler pulley edge.

More info


More info


Availability

Currently the project is in alpha, and only the minimal core features are ready. The v3.3 alpha board batch is ready soon. Sign up to the newsletter to stay up to date about the release date.


Community

Ask questions, share your ideas! Join the ODrive community.


Motors

Check out the ODrive motor guide. You can also read this post about outrunner motors, and this post about encoders.


hackaday.io

This website is still under construction. Please keep reading over at the ODrive project page on hackaday.io.