Thus, they should be able to handle the full range of regeneration power in most robotics applications. These types of batteries also have a fairly high charge rating, and if the regeneration is only over a couple of 100 milliseconds, they can probably handle a fair bit more than specified. A battery like this one can deliver around 3kW. The solution: Put high-power energy-storage on the DC bus. Most power supplies do not like having energy dumped back into them. Also, when the actuator is being decelerated, there is energy absorbed. However, power supplies that can deliver this kind of power are expensive. The drive is designed to be able to deliver incredibly high peak power, more than 1kW per motor channel. Goto (position control with trajectory planning).G-code parser for interfacing with existing automation tools.Some general purpose digital and analogue pins.Step/direction - Existing motion controllers.
CAN - CANOpen and CiA 402 is a possibility.
Expandrive vs odrive serial#
USB Serial port - PC, BeagleBone, RaspberryPi, etc.You can also read this post about outrunner motors. Stay up to dateĬheck out the ODrive motor guide. 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.Ĭheck out the ODrive Community. The mass being moved is 3kg, and the peak power was about 200W.
The new version (v3) will be able to deliver much more power.īelow is a demo with v1. The peak power output in these tests were only about 60W. The design is based on two earlier prototypes.