Here is the release-candidate bldc interface component. I have spent much of today testing it, and it works as it should with actual hardware in the configurations I have been able to test, and the outputs look plausible in the others. The Fanuc Red-Cap input/output options are the least tested, due to me having no hardware. For reasons that are not clear at the moment the correct encoder index offset is different in index-homed forced-trapezoidal mode to its value in other modes. This would be a rather eccentric choice of configuration.
I think that, with the 6-bit output and2-ed to a software PWM you could now run a Fanuc red-cap using only EMC2 and 6 power semis (or an encapsulated power module). Whether it would be even slightly sensible is a different question. -- atp "Torque wrenches are for the obedience of fools and the guidance of wise men"
bldc.comp
Description: Binary data
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