Getting Started

Why do we have to use the VESC?

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Korean
English

The VESC is a motor controller developed by Benjamin Vedderb from Sweden in 2015. Basically, it was developed for DIY of electric skateboards, but it is armed with too many powerful functions to be limited to electric skateboards. The VESC motor controller is sufficient for general purpose motor control in electric bicycles, electric scooters, robots, as well as electric skateboards.

Excellent control of DC motors, BLDC motors, etc., and in particular, field-orientated control (FOC) controls of BLDC motors enable smooth and sophisticated BLDC motor control. One of the main advantages of VESC is the VESC-Tool. The VESC-Tool provides a perfect environment for setting, controlling and testing motors in a colorful and convenient GUI environment. In particular, VESC's Motor Configuration supports a wide spectrum of BLDC motors, ranging from small BLDC motors to large BLDC motors.

VESC was developed as an open source, and the SW code of both Firmware and VESC-Tool in the motor controller is released, allowing you to learn programming. VESC Firmware is developed in C language and VESC-Tool is developed in C++ language and QT. So when you're dealing with VESC, you can naturally become familiar with C and C++.

In addition, the VESC ROS Driver, which works with ROS(Robot Operating System), is developed to control VESC through ROS. This is very helpful in developing robots. VESC can also be controlled using Python. This makes VESC the perfect platform for experiencing and studying all the techniques used in modern robotic technologies such as C, C++, Python, and ROS.

There is a saying that coding is learned through plagiarism. Plagiarism is strictly prohibited in most academic fields, but it is encouraged in coding, and this is open source. Benjamin's coding skills are among the best in the world, and when he deals with VESC, he can study programming on his own through high-level programming.

Korean

VESC๋Š” ์Šค์›จ๋ด ์‚ฌ๋žŒ์ธ Benjamin Vedderb์— ์˜ํ•ด 2015๋…„์— ๊ฐœ๋ฐœ๋œ ๋ชจํ„ฐ์ œ์–ด๊ธฐ์ž…๋‹ˆ๋‹ค.

๊ธฐ๋ณธ์ ์œผ๋กœ ์ „๋™์Šค์ผ€์ดํŠธ ๋ณด๋“œ์˜ DIY๋ฅผ ๋ชฉ์ ์œผ๋กœ ๊ฐœ๋ฐœ๋˜์—ˆ๋Š”๋ฐ, ๊ธฐ๋Šฅ์ ์œผ๋กœ ์ „๋™์Šค์ผ€์ดํŠธ ๋ณด๋“œ์—๋งŒ ํ•œ์ •ํ•˜๊ธฐ์—๋Š” ๋„ˆ๋ฌด๋‚˜๋„ ๋‹ค์–‘ํ•˜๊ณ  ํŒŒ์›Œํ’€ํ•œ ๊ธฐ๋Šฅ๋“ค๋กœ ๋ฌด์žฅ์ด ๋˜์–ด์žˆ์Šต๋‹ˆ๋‹ค.

VESC ๋ชจํ„ฐ์ œ์–ด๊ธฐ๋Š” ์ „๋™์Šค์ผ€์ดํŠธ ๋ณด๋“œ ๋ฟ๋งŒ ์•„๋‹ˆ๋ผ ์ „๊ธฐ ์ž์ „๊ฑฐ, ์ „๊ธฐ ์Šค์ฟ ํ„ฐ, ๋กœ๋ด‡ ๋“ฑ์—์„œ๋„ ๋ฒ”์šฉ์ ์ธ ๋ชจํ„ฐ์ œ์–ด๋ฅผ ๋ชฉ์ ์œผ๋กœ ์‚ฌ์šฉ๋˜๊ธฐ์— ์ถฉ๋ถ„ํ•ฉ๋‹ˆ๋‹ค. DC ๋ชจํ„ฐ, BLDC ๋ชจํ„ฐ๋“ฑ์˜ ์ œ์–ด์— ํƒ์›”ํ•œ ์„ฑ๋Šฅ์„ ๋ณด์ด๋ฉฐ ํŠนํžˆ BLDC ๋ชจํ„ฐ์˜ FOC(Field-Oriented Control)์ œ์–ด๋ฅผ ํ†ตํ•ด ๋ถ€๋“œ๋Ÿฝ๊ณ  ์ •๊ตํ•œ BLDC ๋ชจํ„ฐ์ œ์–ด๊ฐ€ ๊ฐ€๋Šฅํ•ฉ๋‹ˆ๋‹ค.

VESC์˜ ์ฃผ์š”ํ•œ ์žฅ์ ์ค‘์— ํ•˜๋‚˜๋Š” VESC-Tool์„ ๋“ค ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค. VESC-Tool์€ ํ™”๋ คํ•˜๊ณ  ํŽธ๋ฆฌํ•œ GUIํ™˜๊ฒฝ์—์„œ ๋ชจํ„ฐ๋ฅผ ์„ธํŒ…ํ•˜๊ณ  ์ œ์–ดํ•˜๊ณ  ํ…Œ์ŠคํŠธํ•˜๋Š”๋ฐ ์™„๋ฒฝํ•œ ํ™˜๊ฒฝ์„ ์ œ๊ณตํ•ฉ๋‹ˆ๋‹ค.

ํŠนํžˆ VESC์˜ Motor Configuration (์ž๋™ ๋ชจํ„ฐ ํ™˜๊ฒฝ์„ค์ •)์€ ์†Œํ˜• BLDC ๋ชจํ„ฐ์—์„œ๋ถ€ํ„ฐ ๋Œ€ํ˜• BLDC ๋ชจํ„ฐ๊นŒ์ง€ ๋„“์€ ์ŠคํŽ™ํŠธ๋Ÿผ์˜ BLDC ๋ชจํ„ฐ๋ฅผ ์ง€์›ํ•ฉ๋‹ˆ๋‹ค.

VESC๋Š” ์˜คํ”ˆ์†Œ์Šค๋กœ ๊ฐœ๋ฐœ๋˜์–ด ๋ชจํ„ฐ์ œ์–ด๊ธฐ์˜ Firmware ๋ฐ VESC-Tool์˜ SW ์ฝ”๋“œ๊ฐ€ ๋ชจ๋‘ ๊ณต๊ฐœ๋˜์–ด ์žˆ์–ด ์ด๋ฅผ ํ†ตํ•ด ํ”„๋กœ๊ทธ๋ž˜๋ฐ์„ ๋ฐฐ์šธ ์ˆ˜๊ฐ€ ์žˆ์Šต๋‹ˆ๋‹ค. VESC Firmware๋Š” C์–ธ์–ด๋กœ ๊ฐœ๋ฐœ๋˜์—ˆ๊ณ  VESC-Tool์€ C++์–ธ์–ด ๋ฐ QT๋กœ ๊ฐœ๋ฐœ๋˜์–ด ์žˆ์Šต๋‹ˆ๋‹ค. ๊ทธ๋ž˜์„œ VESC๋ฅผ ๋‹ค๋ฃจ๋‹ค๋ณด๋ฉด ์ž์—ฐ์Šค๋ ˆ C์–ธ์–ด์™€ C++์–ธ์–ด์— ๋Œ€ํ•ด ์นœ์ˆ™ํ•ด์งˆ ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.

๋ฟ๋งŒ์•„๋‹ˆ๋ผ ROS์™€ ์—ฐ๋™๋˜๋Š” VESC ROS Driver๊ฐ€ ๊ฐœ๋ฐœ๋˜์–ด์žˆ์–ด, ROS๋ฅผ ํ†ตํ•ด VESC๋ฅผ ์ œ์–ดํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค. ์ด๋Š” ๋กœ๋ด‡ ๊ฐœ๋ฐœ์„ ํ•จ์— ์žˆ์–ด ํฐ ๋„์›€์ด ๋ฉ๋‹ˆ๋‹ค.

VESC๋Š” Python์„ ์ด์šฉํ•ด์„œ๋„ ์ œ์–ดํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค. ์ด๋กœ์จ VESC๋Š” C, C++, Python, ROS๋“ฑ์˜ ์ตœ์‹  ๋กœ๋ด‡ ๊ธฐ์ˆ ์—์„œ ์‚ฌ์šฉํ•˜๋Š” ๋ชจ๋“  ํ…Œํฌ๋‹‰์„ ๊ฒฝํ—˜ํ•˜๊ณ  ๊ณต๋ถ€ํ•˜๊ธฐ์— ์ตœ์ ์˜ ํ”Œ๋žซํผ์ž…๋‹ˆ๋‹ค.

์ฝ”๋”ฉ์€ ํ‘œ์ ˆ์„ ํ†ตํ•ด ๋ฐฐ์šด๋‹ค๋ผ๋Š” ๋ง์ด ์žˆ์Šต๋‹ˆ๋‹ค. ๋Œ€๋ถ€๋ถ„ ํ•™์ˆ ๋ถ„์•ผ์— ํ‘œ์ ˆ์€ ์—„๊ฒฉํžˆ ๊ธˆ์ง€๋˜๋Š” ํ–‰์œ„์ด์ง€๋งŒ ์ฝ”๋”ฉ์— ์žˆ์–ด์„œ๋Š” ์ด๋ฅผ ์žฅ๋ คํ•˜๋ฉฐ ์ด๋Ÿฌํ•œ ๊ฒƒ์ด ์˜คํ”ˆ์†Œ์Šค ์ž…๋‹ˆ๋‹ค. Benjamin์˜ ์ฝ”๋”ฉ ์‹ค๋ ฅ์€ ๊ณผํžˆ ์„ธ๊ณ„์ตœ๊ณ  ์ˆ˜์ค€์œผ๋กœ VESC๋ฅผ ๋‹ค๋ฃจ๋‹ค๋ณด๋ฉด ๋†’์€ ์ˆ˜์ค€์˜ ํ”„๋กœ๊ทธ๋ž˜๋ฐ์„ ํ†ตํ•ด ํ”„๋กœ๊ทธ๋ž˜๋ฐ ๊ณต๋ถ€๋ฅผ ์ €์ ˆ๋กœ ํ•  ์ˆ˜ ์žˆ๊ฒŒ ๋ฉ๋‹ˆ๋‹ค.

1. Unboxing

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English

The box contains the product and the basic gift connector.

The product is stacked with fillers for shock protection, and the sensor measuring the temperature of the motor protrudes, so be careful not to bend or fold.

If the temperature sensor is de-soldered and extended using wires, the motor temperature at the desired location can be measured more accurately.

The gift connectors are the Amass 2 Pin and 3 Pin connectors, which are used for power connections and motor connections. It is recommended to connect and use wires according to one's situation, and to use wires of class 18 AWG.

Korean

๋ฐ•์Šค์•ˆ์—๋Š” ์ œํ’ˆ๊ณผ ๊ธฐ๋ณธ ์ œ๊ณต ์ปค๋„ฅํ„ฐ๊ฐ€ ๋“ค์–ด์žˆ์Šต๋‹ˆ๋‹ค. ์ œํ’ˆ์€ ์ถฉ๊ฒฉ๋ณดํ˜ธ๋ฅผ ์œ„ํ•ด์„œ ์ถฉ์ง„์ œ๋กœ ์Œ“์—ฌ์ ธ ์žˆ๊ณ  ์ด๋•Œ ๋ชจํ„ฐ์˜ ์˜จ๋„๋ฅผ ์ธก์ •ํ•˜๋Š” ์˜จ๋„์„ผ์„œ์™€ ์ „์›, ๋ชจํ„ฐ์ธก ์ปค๋„ฅํ„ฐ๋Š” ๊ธฐ๋ณธ์ ์œผ๋กœ ๋ฏธ์กฐ๋ฆฝ์ƒํƒœ๋กœ ๋™๋ด‰๋˜์–ด ๋ณด๋‚ด๋“œ๋ฆฝ๋‹ˆ๋‹ค.

์˜จ๋„์„ผ์„œ๋Š” ํ•„์š”์— ๋”ฐ๋ผ soldering ํ•˜์—ฌ ์‚ฌ์šฉํ•˜๋ฉฐ ์ „์„ ์„ ์ด์šฉํ•˜์—ฌ ์—ฐ์žฅํ•˜๋ฉด ์›ํ•˜๋Š” ์œ„์น˜์˜ ๋ชจํ„ฐ ์˜จ๋„๋ฅผ ๋ณด๋‹ค ์ •ํ™•ํ•˜๊ฒŒ ์ธก์ •ํ•  ์ˆ˜ ์žˆ์„ ๊ฒƒ์ž…๋‹ˆ๋‹ค. ์˜จ๋„์„ผ์„œ์—๋Š” ๊ทน์„ฑ์˜ ๊ตฌ๋ถ„์€ ์—†์Šต๋‹ˆ๋‹ค.

๊ธฐ๋ณธ ์ œ๊ณต๋˜๋Š” ์ปค๋„ฅํ„ฐ๋Š” Amass 2 Pin, 3 Pin ์ปค๋„ฅํ„ฐ๋กœ ์ „์›์—ฐ๊ฒฐ๊ณผ ๋ชจํ„ฐ์—ฐ๊ฒฐ์„ ์œ„ํ•ด ์‚ฌ์šฉ๋ฉ๋‹ˆ๋‹ค. ๋ณธ์ธ์˜ ์ƒํ™ฉ์— ๋งž๊ฒŒ ์ „์„ ์„ ์—ฐ๊ฒฐํ•˜์—ฌ ์‚ฌ์šฉํ•˜๋ฉฐ ์ด๋•Œ 18 AWG๊ธ‰์˜ ์ „์„ ์„ ์‚ฌ์šฉํ•˜๊ธฐ๋ฅผ ์ถ”์ฒœํ•ฉ๋‹ˆ๋‹ค.

2. Requirement

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English

โ€‹

Korean

VESCular๋ฅผ ์ž‘๋™์‹œํ‚ค๊ธฐ ์œ„ํ•ด์„œ๋Š” 6~60V์˜ ์ „์›์ด ํ•„์š”ํ•˜๋ฉฐ ์ตœ์ดˆ ํ…Œ์ŠคํŠธ ์‹œ์—๋Š” 10A๊ธ‰์˜ ์ „๋ฅ˜์ œ์–ด๊ฐ€ ๊ฐ€๋Šฅํ•œ ํŒŒ์›Œ์„œํ”Œ๋ผ์ด๋ฅผ ์ถ”์ฒœํ•œ๋‹ค. ์–ด๋Š์ •๋„ ์•ˆ์ „์„ฑ์ด ์ž…์ฆ๋œ ํ™˜๊ฒฝ์—์„œ๋Š” ๋ฆฌํŠฌ์ด์˜จ ๋ฒ ํ„ฐ๋ฆฌ๋ฅผ ์‚ฌ์šฉํ•˜๊ธธ ๊ถŒ์žฅํ•˜๋ฉฐ ์ด๋•Œ ์ „์••์€ ์‚ฌ์šฉํ•œ๋Š” ๋ชจํ„ฐ์˜ ์ •๊ฒฉ ์ „์••์— ๋งž๊ฒŒ ์„ ์ •ํ•˜๋ฉด ๋œ๋‹ค.

PC์™€์˜ ์—ฐ๊ฒฐ์„ ์œ„ํ•ด์„œ๋Š” USB-C ์ผ€์ด๋ธ”์ด ํ•„์š”ํ•˜๋ฉฐ Ugreen์‚ฌ์˜ USB-C 2.0 (or 3.0) ์ผ€์ด๋ธ”์„ ์ถ”์ฒœํ•œ๋‹ค. VESC๋Š” ๊ธฐ๋ณธ์ ์œผ๋กœ USB 2.0 ์†๋„๋กœ ๋™์ž‘ํ•˜์—ฌ USB 3.0 ์ผ€์ด๋ธ”๊นŒ์ง€๋Š” ํ•„์š”์—†์œผ๋‚˜ ์ตœ๊ทผ ๋งŽ์ด ์‚ฌ์šฉ๋˜๋Š” USB-C ํƒ€์ž…์˜ ์ปค๋„ฅํ„ฐ๋ฅผ ์‚ฌ์šฉํ•˜์—ฌ ํ˜ธํ™˜์„ฑ์„ ๋†’์˜€๋‹ค. ๋‹ค๋งŒ, ์ฃผ์˜ํ•ด์•ผํ•  ์ ์€ ์ผ€์ด๋ธ”๋งˆ๋‹ค ์—ฐ๊ฒฐ ์•ˆ์ •์„ฑ์— ์ฐจ์ด๊ฐ€ ์žˆ์œผ๋ฉฐ ์ง„๋™์ด๋‚˜ ์ผ€์ด๋ธ”์˜ ํ”๋“ค๋ฆผ์ด ๋งŽ์ด ๋ฐœ์ƒํ•˜๋Š” ํ™˜๊ฒฝ์—์„œ๋Š” ์ผ€์ด๋ธ” ์„ ์ •์— ๋งค์šฐ ์ฃผ์˜๋ฅผ ํ•ด์•ผํ•œ๋‹ค. ๋ณธ์‚ฌ์—์„œ ํ…Œ์ŠคํŠธ ๊ฒฐ๊ณผ, ์•ž์—์„œ ์–ธ๊ธ‰ํ•œ Ugreen ์‚ฌ์˜ usb-c ์ผ€์ด๋ธ”์ด ์—ฐ๊ฒฐ ์•ˆ์ •์„ฑ์ด ๋งค์šฐ ์šฐ์ˆ˜ํ•˜์—ฌ ์ด๋ฅผ ๊ฐ•๋ ฅํžˆ ์ถ”์ฒœํ•˜๋Š” ๋ฐ”์ด๋‹ค.

VESC๋ฅผ ๋‹ค์ˆ˜ ๊ตฌ์ž…ํ•œ ๊ฒฝ์šฐ, CAN ์ผ€์ด๋ธ”์„ ํ†ตํ•ด ํ†ต์‹ ์ด ๊ฐ€๋Šฅํ•˜๋ฉฐ ์ด๋•Œ, ์ƒ์œ„์ œ์–ด๊ธฐ์—์„œ๋Š” ํ•˜๋‚˜์˜ VESC์—๋งŒ USB-C ์ผ€์ด๋ธ”์„ ์—ฐ๊ฒฐํ•˜์—ฌ ๋ช…๋ น์„ ์ „์†กํ•˜๋ฉด ๋œ๋‹ค. CAN ์ผ€์ด๋ธ”์˜ ๊ฒฝ์šฐ, ๋”ฐ๋กœ ์˜ต์…˜์—์„œ ๊ตฌ๋งคํ•ด์•ผํ•˜๋ฉฐ JST-GH 2pin ์ปค๋„ฅํ„ฐ๋ฅผ ์ด์šฉํ•œ๋‹ค. CAN ํ†ต์‹ ์— ์‚ฌ์šฉํ•˜๋Š” ์ผ€์ด๋ธ”์€ 2๊ฐœ์˜ ๋ผ์ธ์ด ๊ผฌ์—ฌ์žˆ๋Š” twisted ์ผ€์ด๋ธ”์„ ์‚ฌ์šฉํ•ด์•ผํ•˜๋ฉฐ 26~28AWG ์ผ€์ด๋ธ”์„ ์ถ”์ฒœํ•˜๋Š” ๋ฐ”์ด๋‹ค.

๋ชจํ„ฐ์˜ ๊ฒฝ์šฐ, BLDC(Brushless Direct Current)์™€ DC(Direct Current)๋ชจํ„ฐ์˜ ์ œ์–ดํ•  ์ˆ˜ ์žˆ์œผ๋ฉฐ Stepping ๋ชจํ„ฐ๋Š” ์ œ์–ด์˜ ๋Œ€์ƒ์ด ์•„๋‹ˆ๋‹ค. BLDC ๋ชจํ„ฐ๋Š” ๋“œ๋ก ๋ชจํ„ฐ์™€ ๊ฐ™์ด ๋‚ฉ์งํ•˜๊ณ  ์ง€๋ฆ„์ด ํฐ ํƒ€์ž…์ด๋‚˜ ๊ณ ํšŒ์ „์ด ๊ฐ€๋Šฅํ•œ ์ง€๋ฆ„์ด ์ž‘๊ณ  ๊ธฐ๋‹ค๋ž€ ํƒ€์ž…์˜ ๋ชจํ„ฐ ๋ชจ๋‘ ์ œ์–ด๊ฐ€๋Šฅํ•˜๋‹ค. DC ๋ชจํ„ฐ์˜ ๊ฒฝ์šฐ, ํ—ˆ์šฉํ•˜๋Š” ์ „๋ฅ˜์ œ์–ด ๋ฒ”์œ„๋‚ด์—์„œ ๋ชจ๋“  ์ข…๋ฅ˜์˜ DC ๋ชจํ„ฐ ์ œ์–ด๊ฐ€ ๊ฐ€๋Šฅํ•˜๋‹ค. ๋‹จ, ์—”์ฝ”๋”์˜ ์„ ํƒ์— ๋”ฐ๋ฅธ ์ œ์–ด์˜ ๊ฐ€๋Šฅ ์ข…๋ฅ˜๊ฐ€ ์ฐจ์ด๊ฐ€ ์žˆ๋‹ค. ์•„๋ž˜ ํ‘œ๋ฅผ ๋ณด๋ฉด BLDC, DC ๋ชจํ„ฐ์˜ Encoder ํƒ€์ž…์— ๋”ฐ๋ฅธ ์ œ๊ฐ€๋Šฅ ๋ชจ๋“œ๋ฅผ ์ •๋ฆฌํ•˜์˜€๋‹ค. BLDC ๋ชจํ„ฐ์˜ ๊ฒฝ์šฐ, ๊ธฐ๋ณธ์ ์œผ๋กœ Hall ์„ผ์„œ์˜ ์œ ๋ฌด์— ๋”ฐ๋ผ Hall sensor๊ฐ€ ์—†๋Š” BLDC ๋ชจํ„ฐ์˜ ๊ฒฝ์šฐ๋ฅผ Sensorless ํƒ€์ž…, Hall sensor๊ฐ€ ์žˆ๋Š” ๊ฒฝ์šฐ๋ฅผ Sensored ํƒ€์ž…์œผ๋กœ ๋ถ€๋ฅธ๋‹ค. ์ด ๋ถ€๋ถ„์— ๋Œ€ํ•ด์„œ๋Š” Wiring ๋ถ€๋ถ„์—์„œ ๋” ์ž์„ธํ•˜๊ฒŒ ์„ค๋ช…ํ•˜๊ฒ ๋‹ค.

BLDC Motor

Sensorless

Hall

AB

ABI

Hall + AB

Hall + ABI

Magnetic

Duty Control

โœ”

โœ”

โœ”

โœ”

โœ”

โœ”

โœ”

Current Control

โœ”

โœ”

โœ”

โœ”

โœ”

โœ”

โœ”

Current Brake

โ€‹

โœ”

โœ”

โœ”

โœ”

โœ”

โœ”

RPM Control

โ€‹

โœ”

โœ”

โœ”

โœ”

โœ”

โœ”

Position Control

โ€‹

โ€‹

โ€‹

โœ”*

โ€‹

โœ”*

โœ”

โœ”* : ์ „์›์ธ๊ฐ€ Index์ด ์ฐพ์•„์ง„ ์ดํ›„์—๋งŒ ์ •์ƒ์ž‘๋™

DC Motor

No Encoder

AB Encoder

ABI Encoder

Magnetic Encoder

Duty Control

โœ”

โ€‹

โ€‹

โ€‹

Current Control

โœ”

โ€‹

โ€‹

โ€‹

Current Brake

โ€‹

โ€‹

โ€‹

โ€‹

RPM Control

โ€‹

โ€‹

โ€‹

โ€‹

Position Control

โ€‹

โ€‹

โ€‹

โ€‹

์—”์ฝ”๋”๋Š” ๊ธฐ๋ณธ์ ์œผ๋กœ Magnetic Encoder๋ฅผ ์ถ”์ฒœํ•˜์—ฌ VESC์—์„œ ๊ธฐ๋ณธ์ ์œผ๋กœ ์ง€์›ํ•˜๋Š” AMS์‚ฌ์˜ AS5047p ๋งˆ๊ทธ๋„คํ‹ฑ ์—”์ฝ”๋”๋ฅผ ์‚ฌ์šฉํ•˜๊ธฐ ์ถ”์ฒœํ•œ๋‹ค. VESCular์˜ ๊ฒฝ์šฐ, AS5047p ์—”์ฝ”๋”๋ฅผ ๋ณด๋“œ ์ค‘์•™์— ๋‚ด์žฅํ•˜๊ณ  ์žˆ์–ด ์ด๋ฅผ ๊ทธ๋Œ€๋กœ ์‚ฌ์šฉํ•˜๊ธฐ๋ฅผ ์ถ”์ฒœํ•˜๋ฉฐ, ๋งˆ๊ทธ๋„คํ‹ฑ ์—”์ฝ”๋”์— ์‚ฌ์šฉํ•˜๋Š” ์ž์„์€ ์žํ™” ๋ฐฉํ–ฅ์ด ์ง€๋ฆ„๋ฐฉํ–ฅ์ธ ์ž์„์„ ๋ฐ˜๋“œ์‹œ ์‚ฌ์šฉํ•ด์•ผํ•œ๋‹ค. ๊ธฐ๋ณธ์ ์œผ๋กœ ์‹œ์ค‘์— ํŒ”๋ฆฌ๋Š” ๋„ค์˜ค๋””์›€ ์ž์„์˜ ๊ฒฝ์šฐ, ์ง€๋ฆ„๋ฐฉํ–ฅ(ํ˜น์€ ์ง๊ฒฝ๋ฐฉํ–ฅ)์ด ์•„๋‹Œ ๋‘๊ป˜๋ฐฉํ–ฅ(ํ˜น์€ ์ถ•๋ฐฉํ–ฅ)์œผ๋กœ ์žํ™”๋œ ๊ฒฝ์šฐ๊ฐ€ ๋งŽ์•„ ์ด๋ฅผ ์ฃผ์˜ํ•ด์•ผํ•œ๋‹ค. AS5047p datasheet์—๋Š” ์ž์„์˜ ๊ฒฝ์šฐ, N35H Grade์˜ ์ง€๋ฆ„ 8mm, ๋‘๊ป˜ 3mm์˜ ๋„ค์˜ค๋””์›€ ์ž์„์„ ๊ถŒ์žฅํ•œ๋‹ค.

์ง€๋ฆ„๋ฐฉํ–ฅ์œผ๋กœ ์žํ™”๋œ ์ž์„ (์‚ฌ์šฉ OK). (์ด๋ฏธ์ง€ ์ถœ์ฒ˜ misumi Korea)
๋‘๊ป˜๋ฐฉํ–ฅ์œผ๋กœ ์žํ™”๋œ ์ž์„ (์‚ฌ์šฉ X). (์ด๋ฏธ์ง€ ์ถœ์ฒ˜ misumi Korea)

๋งˆ๊ทธ๋„คํ‹ฑ ์—”์ฝ”๋”๋ฅผ ์ถ”์ฒœํ•˜๋Š” ๋˜ ํ•˜๋‚˜์ด์œ ๋Š” ์ ˆ๋Œ€์œ„์น˜ ์ธก์ •์ด ๊ฐ€๋Šฅํ•˜๊ธฐ ๋•Œ๋ฌธ์ด๋‹ค. ABI ์—”์ฝ”๋”์˜ ๊ฒฝ์šฐ, ์ „์›์„ ๊ป๋‹ค๊ฐ€ ํ‚ค๋ฉด I์ƒ(Index์ƒ ํ˜น์€ Z์ƒ์œผ๋กœ ๋ถˆ๋ฆฌ๊ธฐ๋„ํ•จ)์ด ์ธก์ •๋œ ์ดํ›„์—์•ผ ๋ชจ์˜ ์ ˆ๋Œ€์œ„์น˜๋ฅผ ์•Œ์•„๋‚ผ ์ˆ˜ ์žˆ๋‹ค. ํ•˜์ง€๋งŒ, magnetic ์—”์ฝ”๋”๋Š” ํ•œ๋ฒˆ ์„ธํŒ…์ด ๋๋‚˜๋ฉด ์ „์›์„ ๋‹ค์‹œ ๊ป๋‹ค๊ฐ€ ์ผœ๋„ ๋ฐ”๋กœ ์ ˆ๋Œ€์œ„์น˜ ์ธก์ •์ด ๋œ๋‹ค. ์ด๋Š” ์œ„์น˜์ œ์–ด์— ์žˆ์–ด์„œ ํฐ ์žฅ์ ์ด๋‹ค. ๋ฌผ๋ก , ABI ํƒ€์ž…์˜ ๊ด‘ํ•™์‹ ์—”์ฝ”๋”๊ฐ€ Noise ์ธก๋ฉด์—์„œ ํ›จ์”ฌ ์•ˆ์ •์ ์ด๋ฉฐ ๋ณด๋‹ค ๊น”๋”ํ•œ ์ œ์–ด๊ฐ€ ๊ฐ€๋Šฅํ•˜๋„๋ก ํ•œ๋‹ค. Magnetic ์—”์ฝ”๋”๋Š” ์•ฝ๊ฐ„์˜ Noise๊ฐ€ ์กด์žฌํ•˜์—ฌ ์•„๋ž˜ ์‹ค์‹œ ๋ชจํ„ฐ ์œ„์น˜ ์ธก์ • ์‚ฌ์ง„์„ ๋น„๊ตํ•˜๋ฉด ๊ทธ ์ฐจ์ด๋ฅผ ์•Œ ์ˆ˜ ์žˆ๋‹ค.

<์—”์ฝ”๋” ์œ„์น˜ ์ธก์ • ์‚ฌ์ง„>

๋งˆ๊ทธ๋„คํ‹ฑ ์—”์ฝ”๋”์˜ ๊ฒฝ์šฐ, ๋ฏธ์„ธํ•œ ๊ฐ๋„๊ฐ€ ๊ณ„์†์ ์œผ๋กœ ํ”๋“ค๋ฆฌ๋Š” ๊ฒƒ์„ ์•Œ ์ˆ˜ ์žˆ์œผ๋ฉฐ ์ด๋Š” ์ž์„์˜ ์ž๋ ฅ์„ ์ธก์ •ํ•˜์—ฌ ์œ„์น˜๋ฅผ ์–ป๋Š” ๋ฐฉ์‹์—์„œ ๋…ธ์ด์ฆˆ๊ฐ€ ๋ฐœ์ƒํ•˜๋Š” ๊ฒƒ์œผ๋กœ AS5047p์˜ datasheet์— ๋‚˜์™€์žˆ๋Š” ์ธก์ • Noise์˜ ์ตœ๋Œ€๊ฐ’์€ 0.068deg ์ด๋‹ค. ์•„์— Noise๊ฐ€ ๋ฐœ์ƒํ•˜์ง€ ์•Š๋Š” ๊ด‘ํ•™์‹ ์—”์ฝ”๋”์— ๋น„ํ•˜๋ฉด ๋†’์€ ์ˆ˜์น˜์ด๊ธด ํ•˜์ง€๋งŒ ๋ชจํ„ฐ์— 50:1์˜ ๊ฐ์†๊ธฐ๋ฅผ ์žฅ์ฐฉํ•˜์˜€๋‹ค๊ณ  ๊ฐ€์ •ํ•˜์˜€์„ ๋•Œ, ๊ฐ์†๊ธฐ ์ถœ๋ ฅ๋‹จ์—์„œ ๋งˆ๊ทธ๋„คํ‹ฑ ์—”์ฝ”๋”์˜ ์ธก์ • ์˜ค์ฐจ์— ์˜ํ•ด ๋ฐœ์ƒํ•  ์ˆ˜ ์žˆ๋Š” ๊ฐ๋„ ์—๋Ÿฌ๋Š” 0.068/50 = 0.00136 deg = 4.896 arcsec (1arcsec = 1/3600deg) ์ด๋‹ค. ์ด๋Š” ์ •๋ฐ€๊ธฐ๊ณ„์—์„œ๋Š” ํฐ ๊ฐ’์ด๋‚˜ ์ผ๋ฐ˜์ ์ธ ๊ต์œก์šฉ ๋จธ๋‹ˆํ“ฐ๋ ˆ์ดํ„ฐ์—์„œ๋Š” ์ž‘์€ ๊ฐ’์œผ๋กœ ์ถฉ๋ถ„ํžˆ ์‚ฌ์šฉํ•ด ๋ณผ๋งŒ ํ•œ ์ˆ˜์น˜์ด๋‹ค.

๊ด‘ํ•™์‹ ์—”์ฝ”๋”์—์„œ๋Š” ์›€์ง์ž„์ด ์—†์„ ๊ฒฝ์šฐ, ์—”์ฝ”๋”์˜ ์ธก์ •๊ฐ’ ๋˜ํ•œ ๋ฏธ๋™์ด ์—†์–ด ๋…ธ์ด์ฆˆ๊ฐ€ ๊ฑฐ์˜ ์กด์žฌํ•˜์ง€ ์•Š๋Š” ๋‹ค๋Š” ๊ฒƒ์„ ์•Œ ์ˆ˜ ์žˆ๋‹ค. ํ•˜์ง€๋งŒ, ๋งˆ๊ทธ๋„คํ‹ฑ ์—”์ฝ”๋”์˜ ๊ฒฝ์šฐ, ๋ฏธ์„ธํ•œ ๋…ธ์ด์ฆˆ๊ฐ€ ์กด์žฌํ•˜์—ฌ ์ด๋Š” ํ™•์‹คํ•˜๊ฒŒ ๋‹จ์ ์œผ๋กœ ์ง€์ ๋  ์ˆ˜ ์žˆ๋‹ค. ๊ทธ๋Ÿผ์—๋„ ๋ถˆ๊ตฌํ•˜๊ณ  ๋งˆ๊ทธ๋„คํ‹ฑ ์—”์ฝ”๋”๋ฅผ ์ถ”์ฒœํ•˜๋Š” ์ด์œ ๋Š” ์ „์›์„ ์ผฐ์„๋•Œ ๋ฐ”๋กœ ์ ˆ๋Œ€์œ„์น˜๊ฐ€ ์ธก์ •๋œ ๋‹ค๋Š” ๊ฒƒ์€ ๊ทธ๋งŒํผ ํฐ ์žฅ์ ์ด ์žˆ๊ธฐ ๋•Œ๋ฌธ์ด๋‹ค. ๋ฌผ๋ก , ์‚ฌ์šฉํ™˜๊ฒฝ๊ณผ ์กฐ๊ฑด์— ๋”ฐ๋ผ ๊ด‘ํ•™์‹ ์—”์ฝ”๋”๋ฅผ ์‚ฌ์šฉํ•ด๋„ ๋ฌด๋ฐฉํ•˜๋‹ค๋ฉด ์‚ฌ์šฉ์„ ๋ง๋ฆด ์ด์œ ๋Š” ์—†์„ ๊ฒƒ์ด๋‹ค.

3. Wiring

English
Korean
English

โ€‹

Korean

์ „์›์˜ ์—ฐ๊ฒฐ์€ +, - ๊ทน์„ฑ์— ํŠนํžˆ ์œ ์˜ํ•ด์•ผํ•œ๋‹ค. ํŒŒ์›Œ์„œํ”Œ๋ผ์ด๋ฅผ ์ด์šฉํ•˜๋ฉฐ ๊ทน์„ฑ์„ ๋ฐ˜๋Œ€๋กœ ์—ฐ๊ฒฐํ•˜๋”๋ผ๋„ ์ผ์‹œ์ ์œผ๋กœ ์ „๋ฅ˜๊ฐ€ ์ฐจ๋‹จ๋˜๋ฉด์„œ ๋ณดํ˜ธ๊ฐ€ ๋˜์ง€๋งŒ, ๋ฒ ํ„ฐ๋ฆฌ๋ฅผ ์‚ฌ์šฉํ•˜๋ฉด์„œ ๊ทน์„ฑ์„ ๋ฐ˜๋Œ€๋กœ ๊ฐ€ํ•˜๋ฉด ๋ฐ”๋กœ Board์˜ ์†์ƒ์œผ๋กœ ์ด์–ด์ง€๋ฉฐ ์ด๋Š” ํšŒ๋ณต์ด ๋ถˆ๊ฐ€๋Šฅํ•˜๋‹ค.

<VESCuino์˜ ์ „์› +, - ์‚ฌ์ง„>

<VESCular์˜ ์ „์› +, - ์‚ฌ์ง„>

๋ฒ ํ„ฐ๋ฆฌ๋ฅผ ์—ฐ๊ฒฐํ•  ๋•Œ๋Š” In-rush current๋ฅผ ์ฃผ์˜ํ•ด์•ผํ•œ๋‹ค. VESC์ƒ์—๋Š” ์ „๋ฅ˜๊ณต๊ธ‰์˜ ์•ˆ์ •๋„๋ฅผ ๋†’์ด๊ธฐ ์œ„ํ•ด ๊ณ ์šฉ๋Ÿ‰์˜ Capacitor๊ฐ€ ๋‚ด์žฅ๋˜์–ด ์žˆ๊ณ  ์ด๋Š” ๋ฒ ํ„ฐ๋ฆฌ๊ฐ€ ์—ฐ๊ฒฐ๋˜๋Š” ์ˆœ๊ฐ„ ์ดˆ๊ณ ์†์œผ๋กœ ์ „๋ ฅ์„ ๋นจ์•„๋“ค์—ฌ์„œ ์ถฉ์ „์ด ๋˜๋ฉฐ ์ด๋•Œ In-rush current๊ฐ€ ๋ฐœ์ƒํ•˜์—ฌ ์ŠคํŒŒํฌ๊ฐ€ ํŠˆ์ˆ˜ ์žˆ๊ณ  ์ž˜๋ชปํ•˜๋ฉด ํšŒ๋กœ์˜ ์†์ƒ์œผ๋กœ ์ด์–ด์ง„๋‹ค. ์ด๋ฅผ ๋ง‰๊ธฐ์œ„ํ•ด์„œ ๋ฒ ํ„ฐ๋ฆฌ์™€ VESC์‚ฌ์ด์— ์—ฐ๊ฒฐ์„ ์•ˆ์ „ํ•˜๊ฒŒ ์ œ์–ดํ•ด์ฃผ๋Š” Anti-spark switch๊ฐ€ ์‹œ์ค‘์— ํŒ๋งค์ค‘์ด๋‹ค. Google๋“ฑ์— Anti-spark switch ๊ฒ€์ƒ‰ํ•˜๋ฉด ์‰ฝ๊ฒŒ ์ œํ’ˆ์„ ์ฐพ์„ ์ˆ˜ ์žˆ์„ ๊ฒƒ์ด๋‹ค. ์‚ฌ์šฉํ•˜๋Š” ๋ฒ ํ„ฐ๋ฆฌ์˜ ์ „์••๊ณผ ์ „๋ฅ˜์šฉ๋Ÿ‰์ด ํฐ ๊ฒฝ์šฐ, ์ด๋ฅผ ์‚ฌ์šฉํ•˜๊ธธ ์ ๊ทน ๊ถŒ์žฅํ•œ๋‹ค.

BLDC ๋ชจํ„ฐ์˜ Wire๋Š” U, V, W์˜ 3์„ ์ด ์กด์žฌํ•˜๋ฉฐ BLDC ๋ชจํ„ฐ์˜ ๊ฒฝ์šฐ, U, V, W ์ƒ์— ์ˆœ์„œ๋Œ€๋กœ ์—ฐ๊ฒฐํ•˜๋ฉด ๋œ๋‹ค. ๋ชจํ„ฐ์„ ์— ๋”ฐ๋กœ U, V, W (ํ˜น์€ A, B, C) ์ƒ์ด ๊ธฐ์ž…๋˜์–ด ์žˆ์ง€ ์•Š์€ ๊ฒฝ์šฐ ์‚ฌ์‹ค์ƒ ์•„๋ฌด๋Ÿฐ ์ˆœ์„œ๋กœ ์—ฐ๊ฒฐํ•ด๋„ ํฌ๊ฒŒ ๋ฌธ์ œ๋˜์ง€๋Š” ์•Š๋Š”๋‹ค. VESC-Tool์—์„œ ๋ชจํ„ฐ Identification์„ ํ†ตํ•ด ๋ชจํ„ฐ์˜ ์ƒ ์ •๋ณด๋ฅผ ์ž๋™์œผ๋กœ ์•Œ์•„๋‚ด์ฃผ๊ธฐ ๋•Œ๋ฌธ์— ์—ฐ๊ฒฐ์˜ ์ˆœ์„œ์— ๋Œ€ํ•ด์„œ๋Š” ๋ฌธ์ œ๊ฐ€ ๋˜์ง€ ์•Š๋Š”๋‹ค. ๋‹ค๋งŒ, ํ•œ๋ฒˆ ์—ฐ๊ฒฐ์„ ํ•˜๊ณ  ๋ชจํ„ฐ ์„ธํŒ…์„ ๋งˆ์ณค๋‹ค๋ฉด ๊ทธ ์ดํ›„์— ๋ชจํ„ฐ ์—ฐ๊ฒฐ ์ˆœ์„œ๋ฅผ ๋™์ผํ•˜๊ฒŒ ํ•ด์•ผํ•œ๋‹ค.

<VESCuino์˜ ๋ชจํ„ฐ uvw ์‚ฌ์ง„>

<VESCular์˜ ๋ชจํ„ฐ uvw ์‚ฌ์ง„>

DC ๋ชจํ„ฐ์˜ ๊ฒฝ์šฐ, VESCuino ํ˜น์€ VESCular์˜ U์ƒ๊ณผ W์ƒ์— ํ•ด๋‹นํ•˜๋Š” ๋‘ ๋ถ€๋ถ„(3์„ ์˜ ์–‘ ๋๋‹จ)์— DC ๋ชจํ„ฐ์˜ +, - ์„ ์„ ์—ฐ๊ฒฐํ•˜๋ฉด ๋œ๋‹ค. +, -์˜ ๋ฐฉํ–ฅ์„ U, W์˜ ์–ด๋Š์ชฝ๊ณผ ์—ฐ๊ฒฐํ•˜๋Š๋ƒ์— ๋”ฐ๋ผ ์ •ํšŒ์ „๊ณผ ์—ญํšŒ์ „์˜ ๋ฐฉํ–ฅ์ด ๊ฒฐ์ •๋˜๋ฉฐ ์ด๋ฅผ ๋ฐ˜๋Œ€๋กœ ๋ฐ”๊พธ๊ณ  ์‹ถ์„ ๊ฒฝ์šฐ DC๋ชจํ„ฐ์˜ +, -์˜ ๋ฐฉํ–ฅ์„ ๋ฐ˜๋Œ€๋กœ ์—ฐ๊ฒฐํ•˜๋ฉด ๋œ๋‹ค.

์—”์ฝ”๋”๋Š” VESCuino Shield์˜ ๊ฒฝ์šฐ๋Š” Front Side์˜ ์šฐ์ธก ์ธก๋ฉด์— ์žˆ๋Š” HALL/Enc ์ปค๋„ฅํ„ฐ์— ์—ฐ๊ฒฐํ•œ๋‹ค. HALL/Enc ์ปค๋„ฅํ„ฐ์˜ ํ•€ ์ˆœ์„œ๋Š” ๋‹ค์Œ๊ณผ ๊ฐ™๋‹ค. ์—”์ฝ”๋” ์ปค๋„ฅํ„ฐ์˜ ๊ฒฝ์šฐ, BLDC ๋ชจํ„ฐ์— ์กด์žฌํ•˜๋Š” HALL ์„ผ์„œ์˜ ์—ฐ๊ฒฐ๋„ ๊ฐ€๋Šฅํ•˜๋„๋ก ์„ค๊ณ„๊ฐ€ ๋˜์–ด์žˆ๋‹ค. ์ฆ‰, BLDC ๋ชจํ„ฐ์—์„œ Hall ์„ผ์„œ๊ฐ€ ์กด์žฌํ•  ๊ฒฝ์šฐ, ๊ธฐ๋ณธ์ ์œผ๋กœ HALL/Enc ์ปค๋„ฅํ„ฐ์—๋Š” Hall ์„ผ์„œ๋ฅผ ์—ฐ๊ฒฐํ•ด์•ผํ•˜๋ฉฐ ๊ธฐ๋ณธ์ ์œผ๋กœ BLDC๊ฐ€ Hall ์„ผ์„œ๋กœ ๋™์ž‘๊ฐ€๋Šฅํ•˜๊ธฐ ๋•Œ๋ฌธ์— Encoder๋Š” Option ์‚ฌํ•ญ์ด ๋œ๋‹ค. ํ•˜์ง€๋งŒ, Hall ์„ผ์„œ๋งŒ์„ ์ด์šฉํ•œ BLDC ์ œ์–ด์—๋Š” ์œ„์น˜ ์ •ํ™•๋„์— ์žˆ์–ด์„œ ๋†’์€ ์„ฑ๋Šฅ์„ ๊ธฐ๋Œ€ํ•˜๊ธฐ๋Š” ์–ด๋ ต๊ธฐ ๋•Œ๋ฌธ์— ๋ชจํ„ฐ์˜ ์œ„์น˜์ œ์–ด๋ฅผ ์ •ํ™•ํ•˜๊ฒŒ ํ•˜๊ธฐ ์œ„ํ•ด์„œ๋Š” Encoder๋Š” ํ•„์ˆ˜์ ์ด๋‹ค. ๊ทธ๋Ÿฌ๋ฏ€๋กœ BLDC ๋ชจํ„ฐ์˜ ์œ„์น˜์ œ์–ด๋ฅผ ์œ„ํ•ด์„œ๋Š” ํฌ๊ฒŒ ๊ฐ€์ง€ Option์ด ์žˆ๋‹ค๊ณ  ๋ณด๋ฉด ๋œ๋‹ค.

  1. Hall sensor + ABI encoder

  2. Sensorless + ABI encoder

  3. Magnetic encoder

์ด์ค‘ 1๋ฒˆ์˜ ๊ฒฝ์šฐ๋Š” OpenRobot์—์„œ ๊ฐœ๋ฐœํ•œ Hall sensor / ABI encoder ์Šค์œ„์นญ ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ์ด์šฉํ•ด ์ „์›์ด ์ธ๊ฐ€๋œ ๋ฐ”๋กœ ํ›„์—๋Š” Hall์„ผ์„œ๋ฅผ ์ด์šฉํ•˜์—ฌ ํšŒ์ „ํ•˜์—ฌ๋„ ์ž๋™์œผ๋กœ ์—”์ฝ”๋” I์ƒ์„ ์ฐพ์•„๋‚ด๊ณ  ๊ทธ ์ดํ›„์—๋Š” ์ œ์–ด๋ชจ๋“œ๋ฅผ Encoder๋กœ ๋ฐ”๊ฟ”์ฃผ๋Š” ์•Œ๊ณ ๋ฆฌ์ฆ˜์ด ์ ์šฉ๋˜์žˆ๋‹ค. ์ด ๋ฐฉ๋ฒ•์„ ์ด์šฉํ•˜๋ฉด ์ „์›์ธ๊ฐ€ํ›„ ABI ์—”์ฝ”๋”์˜ I์ƒ์ด ์ฐพ์•„์ง€๊ธฐ ์ด์ „์˜ ํšŒ์ „ ๋ฌธ์ œ์— ๋Œ€ํ•ด ํ•ด๊ฒฐ์ด ๊ฐ€๋Šฅํ•˜๋‹ค. ์ด๋•Œ๋Š” ABI Encoder๋ฅผ VESCuino Shield Back side์— ์œ„์น˜ํ•œ SPI/Encoder Connector์— ์—ฐ๊ฒฐํ•ด์•ผ ํ•œ๋‹ค.

2๋ฒˆ์˜ ๊ฒฝ์šฐ Hall sensor ์—†์ด ABI encoder ๋งŒ ์ด์šฉํ•œ ์ผ€์ด์Šค์ธ๋ฐ ์ด ๊ฒฝ์šฐ, ์ „์›์ธ๊ฐ€ํ›„ I์ƒ์„ ์ฐพ๊ธฐ ์œ„ํ•ด์„œ Sensorless ๋ชจ๋“œ๋กœ ๋ชจํ„ฐ๋ฅผ ํšŒ์ „์‹œ์ผœ์•ผํ•˜๋Š” ๋ถ€๋ถ„์ด ์žˆ๋Š”๋ฐ ์ด๋•Œ ์ •ํ™•ํ•œ ์ œ์–ด๊ฐ€ ๋ถˆ๊ฐ€๋Šฅํ•˜๊ณ  ๋ชจํ„ฐ์— ๋ถ€ํ•˜๊ฐ€ ๋Š” ์ƒํ™ฉ์ด๋ผ๋ฉด ๋ชจํ„ฐํšŒ์ „์ด ์•„์— ์•ˆ๋  ์ˆ˜๋„ ๊ธฐ ๋•Œ๋ฌธ์— ๋˜๋„๋ก์ด๋ฉด 2๋ฒˆ ๋ณด๋‹ค๋Š” 1๋ฒˆ์˜ ์‚ฌ์šฉ์„ ๊ถŒ์žฅํ•œ๋‹ค.

๋งค์šฐ ์ •ํ™•ํ•˜๊ณ  ๋งค์šฐ ๋…ธ์ด์ฆˆ ์—†๋Š” ์ œ์–ด๊ฐ€ ๋ถˆํ•„์š”ํ•˜๊ณ  ์ ์ ˆํ•  ์ˆ˜์ค€์˜ ์ œ์–ด๋กœ ์ถฉ๋ถ„ ์ƒํ™ฉ์ด๋ผ๋ฉด 3๋ฒˆ์˜ ๊ฒฝ์šฐ๋ฅผ ์ถ”์ฒœํ•˜๋ฉฐ ํ•„์ž๊ฐ€ ๊ฐ€์žฅ ์ข‹์•„ํ•˜๋Š” ๋ฐฉ์‹ ๋˜ํ•œ 1, 2, 3๋ฒˆ์ค‘ 3๋ฒˆ์ด๋ผ๊ณ  ๋ณด๋ฉด ๋˜๊ฒ ๋‹ค.

<VESCuino์˜ ์—”์ฝ”๋” ์ปค๋„ฅํ„ฐ ์‚ฌ์ง„>

์ง€๊ธˆ๊นŒ์ง€๋Š” VESCuino Shield์˜ ์—”์ฝ”๋” ์—ฐ๊ฒฐ๋ฐฉ์‹์— ๋Œ€ํ•œ ์„ค๋ช…์ด์—ˆ์œผ๋ฉฐ VESCular์—์„œ๋Š” ์•ฝ๊ฐ„์˜ ์ฐจ์ด๊ฐ€ ์žˆ๋‹ค. VESCular๋Š” AS5047p ์—”์ฝ”๋”๋ฅผ ๋‚ด์žฅํ•˜๊ณ  ์žˆ๊ธฐ ๋•Œ๋ฌธ์— ์ด๋ฅผ ์‚ฌ์šฉํ•  ๊ฒฝ์šฐ, ๋ณ„๋„์˜ ์—”์ฝ”๋” ์—ฐ๊ฒฐ์„ ํ•„์š”๋กœ ํ•˜์ง€ ์•Š๋Š”๋‹ค. ๋‹ค๋งŒ, ์ง€๋ฆ„ ๋ฐฉํ–ฅ์„ ์žํ™”๋œ ์ž์„์„ ์„ผ์„œ์—์„œ 0.5mm~3mm ์‚ฌ์ด์— ์ด๊ฒฉ์‹œ์ผœ์„œ ๋˜๋„๋ก ๋™์‹ฌ์›์— ๋งž์ถฐ ์„ค์น˜ํ•˜๋ฉด ๋˜๊ฒ ๋‹ค. ์•„๋ž˜ ์‚ฌ์ง„์„ ์ฐธ๊ณ ํ•˜๋ฉด ๋œ๋‹ค.

<VESCular์˜ ์—”์ฝ”๋” ์ปค๋„ฅํ„ฐ ์‚ฌ์ง„>

Magnet Installation reference. (์ด๋ฏธ์ง€ ์ถœ์ฒ˜ AS5047P-TS_EK_AB_Operation-Manual_Rev.1.0)

๋ถ€๋“์ดํ•˜๊ฒŒ ABI Encoder๋ฅผ ์‚ฌ์šฉํ•ด์•ผํ•˜๋Š” ๊ฒฝ์šฐ, VESCular์˜ ๊ฒฝ์šฐ์— communication ์ปค๋„ฅํ„ฐ์— ์—ฐ๊ฒฐํ•  ์ˆ˜ ์žˆ๋‹ค. VESCular Front Side ํ•˜๋‹จ ์ค‘์•™์— ์œ„์น˜ํ•œ Communication ์ปค๋„ฅํ„ฐ๋Š” ๋‹ค์–‘ํ•œ ํ†ต์‹ ๊ณผ์˜ ์—ฐ๊ฒฐ์„ ์ง€์›ํ•˜๋ฉฐ ์—ฌ๊ธฐ์—๋Š” SPI ํ†ต์‹ , UART ํ†ต์‹ , I2C ํ†ต์‹ , ADC 2์ฑ„๋„ ๋“ฑ์ด ๊ฐ€๋Šฅํ•˜๋‹ค. ๊ธฐ๋Šฅ๋“ค์„ ๋™์‹œ์—๋Š” ์‚ฌ์šฉํ•  ์ˆ˜ ์—†์–ด ์ด ์ปค๋„ฅํ„ฐ์— ABI Encoder๋ฅผ ์—ฐ๊ฒฐํ•  ๊ฒฝ์šฐ ์œ„์—์„œ ์—ฐ๊ธ‰ํ•œ ํ†ต์‹ ๋“ค์€ ์‚ฌ์šฉ์ด ๋ถˆ๊ฐ€๋Šฅํ•ด์ง„๋‹ค. Communication ์ปค๋„ฅํ„ฐ์˜ pin์— ๋Œ€ํ•œ ๊ธฐ๋Šฅ ์„ค๋ช…์„ ์•„๋ž˜ ํ‘œ์— ์š”์•ฝํ•˜์˜€๋‹ค.

Communication Pin

SPI

UART

I2C

ADC

ABI Encoder Pin

GND

GND

GND

GND

GND

GND

SCK_ADC_EXT

SCK

โ€‹

โ€‹

ADC

โ€‹

RX_SDA_NSS

NSS

RX

SDA

โ€‹

I

TX_SCL_MOSI

MOSI

TX

SDL

โ€‹

B

MISO_ADC_EXT2

MISO

โ€‹

โ€‹

โ€‹

A

ADC15

โ€‹

โ€‹

โ€‹

ADC15

โ€‹

ํ†ต์‹ ๊ณผ ๊ด€๋ จ๋œ ์‚ฌํ•ญ์€ Additional Guide ๋ถ€๋ถ„์—์„œ ๋” ์ž์„ธํ•˜๊ฒŒ ๋‹ค๋ฃจ๋„๋ก ํ•˜๊ฒ ๋‹ค.

์ „์›, ๋ชจํ„ฐ, ์œ„์น˜์ธก์ •์„ผ์„œ(Hall ๋˜๋Š” Encoder)๊ฐ€ ์—ฐ๊ฒฐ๋˜๋ฉด ๊ธฐ๋ณธ์ ์œผ๋กœ Wiring์€ ๋๋‚ฌ๋‹ค.

4. Basic Run

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English
Korean
English

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Korean

๊ธฐ๋ณธ์ ์ธ ๋™์ž‘์€ VESC-Tool์„ ์ด์šฉํ•˜๋ฉฐ ์ด๋Š” VESC Tool์—์„œ ์ž์„ธํžˆ ์„ค๋ช…ํ•œ๋‹ค.