EtherCAT based Motor Driver For BLDC Motor

Firmware development for a motor driver to run a BLDC Motor in position, velocity and torque control modes. Supports both 6-step control and FOC for the Misso Surgical Robot.

Platform
ASIX AX58400 Evaluation Board (Dual Core STM32H755x with Cortex M4 and Cortex M7). ST IHM08M1 3sh Motor Driver Hat.

PID Control for Position, Velocity and Torque

EtherCAT Slave design for User Interface.