Скачать с ютуб Connecting Brushless Motor Controllers to Linux via USB (PMSM, BLDC, Direct Drive, Brushed) в хорошем качестве

Connecting Brushless Motor Controllers to Linux via USB (PMSM, BLDC, Direct Drive, Brushed)

https://www.servosila.com/en/motion-c... In this video, we will look at how to connect brushless motor controllers to a Linux computer. Specifically, we will use a Debian Linux computer. The same steps would work for Ubuntu Linux and other Linux distributions derived from Debian. A spoiler: no drivers need to be installed. The brushless motor controllers come in several form factors with either a circular or a rectangular shape. The controllers come with a set of connectors for motors and encoders as well as for USB or CANbus networks. The controllers can be powered by a power supply unit or by a battery. To spice up my setup, I am going to use a battery to power the controllers and thus their motors. The controllers need 7 to 60 volts DC of voltage input. If I connect the battery, the controllers get powered up. The small LED lights tells us that the controllers are happy with the power supply. Now, we need to connect the brushless motor controllers to the Linux computer. There are two ways to do that - via CANbus or via USB. Lets look at the USB option first. A regular USB cable is used. Only one of the controllers needs to be connected to a computer or a PLC. Next, we need to build an internal CANbus network between the controllers. We are going to use a CANbus cross-cable to interconnect the controllers. Each controller comes with two identical CANbus ports that help chain multiple controllers together in a network. If one of the interconnected brushless motor controllers is connected to a computer via USB, then that particular controller becomes a USB-to-CANbus gateway for the rest of the network. Up to 16 controllers can be connected this way via a single USB cable to the same control computer or a PLC. The limit is due to finite throughput of the USB interface. The controllers come with blade terminals for connecting the motors. The terminals are designated as A, B, C and G. There are also soldering holes for the motor cables. Unplug the power supply before connecting the motors. Now, lets power up our motor controllers, and turn our attention to Debian Linux computer. The controller connected to the computer appears to Linux as a virtual serial port. If we list all the serial devices in Linux, we shall find our controller in the list. Here it is. The controllers use text messages to deliver telemetry data to the computer. We are going to look at the messages now. This command is supposed to display text messages that the controller sends to the computer. Well, what happened is that Linux prevented us from accessing the serial port due to some default security restrictions. To lift the restrictions, we need to add the current user account to a user group called "dialout". The group lists the users who are allowed to access serial ports. Use the "adduser" command in Debian, or an equivalent "sudo usermod" command in Ubuntu. You have to invoke administrative privileges to add yourself to the "dialout" group. Linux requires you to log out and log in again for the updated security permissions to go into effect. One more thing. If you plug the USB cable, and then immediately try to connect to the serial port, you may observe a "Device Busy" error. The ghost error disappears on its own in a few seconds as you keep trying to connect to the port. This issue can be fixed. What happens is that a standard Linux program called Modem Manager, automatically connects to the serial port thus preventing you from accessing it. The simplest way to fix the problem is to uninstall the Modem Manager using a "apt-get purge modemmanager" command. Now that we have finished configuring Linux, we can install a graphical software tool called Servoscope. The Servoscope program provides means to configure your brushless motor controllers, read telemetry, send commands to the controllers, plot performance charts, and so on. You can monitor multiple controllers at the same time. We will look into the Servoscope software with a great detail in a separate video. At this time, you may wish to check input voltage displayed in the telemetry section. What I am going to show next is just a demo of the controller's auto-configuration function. I suggest that you watch a dedicated video regarding the Auto-Configuration function, since this topic requires some background information. The beauty of the Auto-Configuration function is that the controller automatically configures itself when commissioning a new motor. Once again I suggest that you watch a separate video dedicated to peculiarities of the Auto-Configuration routine. In this video we looked at how to connect brushless motor controllers to a Linux computer via USB. We will look at CANbus interface option in a separate video. #Linux #Brushless #Encoder #PMSM #BLDC #Motor #Debian #Ubuntu #Sensorless #Sensored #DirectDrive #Controller #MotorControl #Brushed