Difference between revisions of "GraniteCore"
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Revision as of 21:57, 9 August 2013
GraniteCore a.k.a. GC is the motor control core developed for Argon (servo drive).
Argon architecture
Argon consists dual CPU architecture which run in tight synchronism and have different tasks:
- GraniteCore
- Servo control functionality for torque, velocity and position control
- High dynamic range torque control
- Dead-time distortion correction
- Control power stage directly
- Axis homing functionality
- Virtual scope to capture variables at high sample rate
- Galvanically isolated from I/O side
- Based on Digital Signal Controller
- I/O side CPU
- Feed GraniteCore with real time data consisting
- Position & velocity feedback device data
- State of physical inputs (enable, clear faults, hall sensors etc)
- SimpleMotion V2 commands to read/write parameters
- Interface different types feedback devices and setpoint inputs
- Handle SimpleMotion V2 communication
- Display device state via digital outputs and LED indicators
- Based on ARM Cortex M3 microcontroller
I/O side CPU has open source firmware allowing end users to implement additional drivers for feedback devices and/or create stand-alone servo drive applications without external Controller.
