What hardware for Torque control of GM3506 / AS5048A gimbal motor?

hardware support
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Hey there! I’m looking to play with haptic feedback on one of those GM3506 gimbal motors, and have some fun ideas that would require accurate torque sensing. I believe I need accurate current sensing for that. What hardware would be best for this use case?

The B-G431B-ESC1 looks like a great board, but seems to lack native SPI pins broken out for the AS5048A encoder. Is there something that does tick all the boxes out there?

2 Answers

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For future reference to anyone with the same question:

I ended up purchasing an STM32G474 Nucleo (a platform I’m familiar with, with lots of processing power, that seems to well supported by SimpleFOC)

And an MKS DUAL FOC PLUS, which has current sense amplifiers and shunts, so I’ll be able to decrease the current sense range as needed to get a high enough resolution for what I’m planning.

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I considered the SimpleFOCV3.2 as well, but I preferred the current shunts over the fixed gain / noise ACS712s.

Here’s a link to the board: https://www.aliexpress.com/item/1005005066500496.html

Hey, thank you for sharing!

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Could you be kind enough to provide us with a sample code for this setup? I have the exact setup as you but am facing some issues with identifying the exact pinouts

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Hi, Im curious if the MKS DUAL FOC PLUS did end up working with the GM3506 gimbal motors? If it did, do you think that the MKS controller could handle larger gimbal motors? Thanks!

Yeah, worked beautifully! For larger gimbal motors just check the current requirements. Gimbal motors don’t tend to require too much compared to BLDCs and the like

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I have been working with the MKS DUAL FOC PLUS and GM3506 gimbal motors and I cant figure out how to to get good current readings, they seem completely wrong. What values did you put for InlineCurrentSense(0.01f, 50.0f, 39, 36)? And should I include: current_sense1.gain_b *= -1; current_sense1.gain_a *= -1;? Thank you!

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