Open-source dual-channel high power servo controller

[Luke Weston]

Hi everyone,

Here's a little something that I've been working on lately.

https://github.com/lukeweston/OpenServoDrive

The PCB layout is not finished yet but you can see the schematic there.

This is a high-power servomechanism for two DC brush motors, as used in the AUSROC2.5 throttle.

Effectively, this plugs directly into both DC motors, the 60V power supply, the two rotary encoders on the backs of the motors, the CAN, and a 12-24V power supply (supplied on the CAN loom) and provides the motor control.

This is the equivalent functionality of the Rutex R2020 board, plus the extra add-on board I designed, for both motors integrated together, into one relatively compact board which is fully open hardware and isn't dependent on any proprietary blob of expensive, not really well documented, not really well supported, blob of hardware and embedded software which doesn't have any assurance of continued supply availability into the future (i.e. the Rutex R2020s.)

No other hardware is involved, except for the motors, gearheards, the encoders on the motors, the 60V power supply, and the computer on the other side of the CAN network sending instructions, and the relatively low current 12V-24V supply included over the CAN cable. This single board is relatively small and compact, relatively lightweight, relatively inexpensive, and fully open source without any dependence on a closed commercial product which might be badly documented.

This hardware is based on the design of the electronic controller which my friend Daniel designed for the "Ruby" Rubik's cube solving robot at Swinburne - a project some of you may have already seen, which uses two large brush motors and the servo controller to spin the cube very fast with a very solid amount of torque but also with accurate positioning control. I've made a few tweaks, modifying the power supply slightly, changing the MOSFETs to accommodate a higher motor voltage, removed the USB interface, added the CAN interface, etc.

You could also theoretically use it for any other applications where precise servo control of two large high power brushed motors is desirable, for example large CNC plotting, engraving etc. machines.

Let me know your thoughts.

Regards,
  Luke

[marco....@gmail.com]

Hey Luke,

Great work. Where to from here development wise?

Any comments from others regarding design specifics?

Cheers,
Marco
--

--
You received this message because you are subscribed to the Google Groups "Lunar Numbat" group.
To view this discussion on the web visit https://groups.google.com/d/msg/lunar-numbat/-/umEhrH64PSMJ.
To post to this group, send email to lunar-...@googlegroups.com.
To unsubscribe from this group, send email to lunar-numbat...@googlegroups.com.
For more options, visit this group at http://groups.google.com/group/lunar-numbat?hl=en.