As a general guideline, in theory any BLDC motor can work, but in practice there are the following limitations:
- motor and driver must be able to work together. For most of the drivers I’ve seen so far in conjunction with SimpleFOC, this means a motor that does not require current limiting, e.g. one with fairly high winding resistance. You’re on the safe side if the DC current (no PWM) from phase to phase is within the driver’s capacity for your chosen voltage. Eg. if phase 2 phase resistance is 10Ohm then 10V will be 1A, within the range of all drivers… If phase to phase resistance is 1Ohm then 10V will be 10A, and that’s too much for most small drivers.
- in practice, you will also need fairly low KV values. There are a variety of reasons why 20000RPM won’r work well at the moment with SimpleFOC. But for the pendulum slow turning, holdable motors are what you want anyway.
In terms of encoders, I highly recommend the AS5048A or AS5048B - they’re not cheap, but they’re the most precise and fast magnetic encoder on the market that I have found at least. The B (I2C) version is simpler to use, while the A (SPI) version can give you very high sample rates. Both versions also have PWM outputs. In my experience the B version is sufficient. You can order test PCBs for either version from AMS for about 13EUR. They work directly with SimpleFOC.
Regards from Vienna,