Other Parts Discussed in Thread: MOTORWARE, LAUNCHXL-F28069M, BOOSTXL-DRV8301
Hi, I'm considering and studying avaiable technology to do FOC control of a 3-axis gimbal system that I'm developing. The gimbal needs very high precision in position feedback to achieve a 85 µrad RMS stability requisite. This is impossible with Hall effect or ABI incremental with direct drive.
I'm Planning to use a 21bit absolute optical encoder. It uses SSI or SPI to deliver data.
To choose TI's InstaSping motion as a solution to my project, I have to guarantee that is possible to read the sensor data and feed it to the MCU. So, I have some questions:
1 - Is it possible to acquire absolute angle data from an external sensor with SPI or another way of comunication and feed it into the instaSpin Motion code?
2 - What kind of adaptation I would need to do? I would be able to use auto tune calibration with this kind of feedback?
3 - What is the maximum resolution TI's MCUs support for position feedback with Instaspin Motion? I could not utilize ST or Trinamic solutions because of the limitation of 16 bits.
4- How many MCUs I would need to control the 3 motors? Is it possible to put some other basic logic in the MCU while running instaspin motion? (For example, one MCU pulls the roll, pitch and yaw data from a master controller and controls 1 motor, and other MCU receives 2 of the axis data from the firs MCU and control the remaining 2 motors).
Thanks for helping me in advance.