GraniteCore
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
- Control power stage directly
- Axis homing functionality
- Virtual scope to capture variables at high sample rate
- Galvanically isolated from I/O side
- 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 reference inputs
- Handle SimpleMotion V2 communication
- Display device state via digital outputs and LED indicators
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.
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