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Overview

Setting up a new motor is quite straight forward. Initially you’ll need to solder on the 3 motor phases, power up the board, and then proceede to configuring the ACB v2.0. On this new motor the ACB needs a few pieces of information to operate:
  • The numeber of Pole Pairs (half the number of poles).
  • The relative orientation of the encoder magnet. This is also known as the zero electrical angle. (if using closed loop control).
  • PID parameters for controlling the velocity, position, and torque.
There’s a wizard available in the OpenActuator GUI. Navigate to “Tools/Setup New actuator” in the menubar. You’ll be propted to enter in the Pole Pairs, and then you may proceede with the calibration. Auto calibration for the PID variables is being worked on, check back for updates!
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