Hello. I use this gimbal 3-phase BLDC motor with encoder AS5048A https://cdn.sparkfun.com/assets/d/6/b/5/8/27477_27478_Datasheet.pdf Based on the motorShinano.json file from the ST Motor Control Workbench, I built my own JSON file, please see below. However, I have the following questions. The motor has the encoder. Hence, should TRUE be for HasHallSensor? I use a Pololu power board (voltage regulator) Pololu - 9V, 5A Step-Down Voltage Regulator D42V55F9 . and two Sparkfun TMC6300 3-phase BLDC motor-drivers. Therefore, what to write for pwr_board? What to write for foc_rate? What to write for acceleration and max_speed_startup?
{
“id”: “motorSparkfun”,
“label”: “Sparkfun DM3505/3505EC”,
“hardwareFamily”: “MOTOR”,
“description”: “Outer rotor type - 11 poles pairs - brushless DC motor with encoder”,
“compatibility”: [“FOC”, “sixStep”],
“polePairs”: 11,
“nominalCurrent”: 1.1,
“nominalDCVoltage”: 12.0,
“rs”: 6.34,
“ls”: 1.08,
“magneticStructure”: {
"type": "BLDC"
},
“BEmfConstant”: 1.23,
“inertia”: 56.0,
“friction”: 0.04,
“maxRatedSpeed”: 1610,
“hasHallSensor”: true,
“hallSensor”: {
"sensorsDisplacement": 120,
"placementElectricalAngle": 300
},
“hasQuadratureEncoder”: true,
“quadratureEncoder”: {
"pulsesPerMechanicalRevolution": 16384,
"hasIndexPin": false
},
“motorProfiler”: {
"ctrl_board": "NUCLEO-F401RE",
"pwr_board": "???????????",
"operating_condition": {
"cutoff_frequency": 2000,
"pwm_frequency": 20000,
"foc_rate": ????
},
"mechanical": {
"acceleration": ?????,
"max_speed_startup": ?????
}
}
}