Affordable, precise, integrated motion control for robotics
Tinymovr r2 PCBs have recently arrived from China. In the meantime I've been improving the firmware, and at the present motor control (position, velocity and current) as well as CAN Bus and UART connectivity are fully functional.
Below is Tinymovr R2 next to a one Euro coin and a 4108 motor for size comparison.
New motor testing bed with UART, CAN Bus connections and oscilloscope probes.
As mentioned previously, this board revision replaces the AS5047 encoder for the MA730, which comes at a significantly lower cost. In addition, the power stage includes larger shunt resistors and 2oz copper traces, allowing a max calculated current of 30A continuous (with proper mosfet cooling).
Stay tuned for more videos of the board in action!
The design of Tinymovr r2 is complete. The board measures 40x40mm, that is 4mm less than r1 on each side. It also features a new magnetic angle sensor, MA730 by Monolithic Power Systems (MPS), which is lower cost than the AM5047/AM5048, and therefore further pushes down the cost of the driver.
The new board also features beefier shunt resistors which allows it to handle bigger currents.
Here below is a preview rendered using Fusion360. Not all components 3D models are available, so some are not visualized.
Boards will be arriving early January, and I'll be reporting on initial testing shortly after.
I've just completed the first implementation of CAN Bus for Tinymovr. A basic set of instructions is implemented so far, but more to follow.
In the tests below Tinymovr achieved a command rate of 500Hz for velocity and position commands, which is satisfactory for high-resolution control.
The video below was captured some time ago and shows initial testing of position control mode