FICO-44 driver

Joint motor based on SIMPLE FOC, DRV8313 driver, AS5600 magnetic encoder, LGT8F328P master control, supports RS485 communication

Introduction video: https://www.bilibili.com/video/BV1Yh41147wo/

Features:
- BLDC FOC (no current loop) control based on SIMPLE FOC, the control board integrates control, drive, and encoder;
- The material cost of a single joint is about 80 yuan
- Using an integrated two-stage planetary reducer, the reduction ratio reaches 30;
- Except for bearings, screws, and nuts, all structural parts are 3D printed, which greatly reduces costs.

parameter

Rated voltage: 16V
Rated power: 25W
Maximum torque: 1N·M (estimate, the error may be large)
Maximum speed: 80RPM
Peak current: 2.5A

defect

- Lack of current loop makes it easy to run away during high load and fast movement, resulting in poor usability of the current version. We are considering a solution to keep the cost from rising significantly
- when 3D printing the gears and ring gears of the planetary reducer, the lack of accuracy of the printer leads to assembly problems or excessive resistance during movement. Using ENDER-3S printer and PLA filaments, the yield rate is higher and the friction is acceptable when the printer is adjusted to a good state.
hint

- The 3D printed model needs to be dynamically adjusted according to the printer model and status before outputting the STL file for printing. The interference fit and gear transmission
motor must be made without limits by the merchant, otherwise...

Instructions for use

LGT8F328P environment construction guide: https://oshwhub.com/costar/larduino