FOC motor controller

Field Oriented Controller is designed to communicate the direction control of current through the windings.

There are two main method of Commutation technique:

• Block commutation technique [inefficient]: conducting two coil at anytime and the third remain unexcited

• Sinusoidal Commutation technique: all signal is displaced by 120 degree.

ODrive motor controller is a FOC motor controller

Motor configuration

Condition:

Current noise <= 100mA

=> choose MOTOR_TYPE_HIGH_CURRENT

Condition:

• Less current noise

• Not spin fast

• Motor large resistance (>= 1 ohm)

=> choose MOTOR_TYPE_GIMBAL

Gimbal motor do not use current feedback, it use voltage feedback.

ODrive Calibration Sequence

1. Measure motor electrical property( phase resistance && phase inductance)

2. Encoder offset

WITHOUT BIASED LOAD DURING STARTUP

Safety Feature (Watchdog)

Enable Watchdog at all time

axis<#>.config.enable_watchdog = True
axis<#>.config.watchdog_timeout = <value measured in seconds>