SDK motor control example description:

• pmsm_servo - pmsm servo example uses float arithmetic, the example contains improved position Field Oriented Control (FOC) loops with feed-forward and also sensorless FOC. Digital encoder is used instead of the quadrature encoder. This example can be used for single motor control application. Default motor

configuration is tuned for the TGT3-0065-60-48 motor.

• pmsm_servo_dual - pmsm servo dual example uses float arithmetic, the example contains improved position Field Oriented Control (FOC) loops with feed-forward and also sensorless FOC. Digital encoder is used instead of the quadrature encoder. This example can be used for dual motor control application.

Default motor configurations are tuned for the Hedrive HMD06-011-048 motor (Arduino Motor Control 1 connector) and for the TGT3-0065-60-48 motor (Arduino Motor Control 2 connector).

Note: For performance optimization, the macro SERVO_OPTIM is defined in the project settings by default.

Only position control is available in this case. Remove this macro to enable all control modes.

The SDK motor control example contains several additional features:

• FreeMASTER pmsm_float_servo_dual.pmpx project provides a simple and user-friendly way for algorithm tuning, software control, debugging, and diagnostics.

• MCAT - Motor Control Application Tuning page based on the FreeMASTER runtime debugging tool.

The control software and the PMSM control theory, in general, are described in Sensorless PMSM Field- Oriented Control (FOC) (document DRM148).