Project source code at GitLab https://gitlab.com/pikron/sw-base/pxmc/
git clone git@gitlab.com:pikron/sw-base/pxmc.git
The PXMC is Portable, highly eXtendable Motion Control library and system core. The PXMC project started as the next generation, ground up rewrite of motion control systems used and evolved at PiKRON Ltd. company. The previous generation of the code has been used in MARS-2 motion control units. The variants of the new code have been used successfully on many targets for robotic, laboratory and medical instruments. The library development is lead and coordinated by PiKRON company developers. The core of the motion system and complete HW/SW know how has been provided even to CTU university for building motion controllers for Eurobot competition by Flamingos team and other projects and CTU contributed some code back to the project as well but initial cooperation objectives has not been realized.
The next platforms has been tested with version of the PXMC core code at PiKRON Ltd:
FreeScale M68376 based MO_CPU board and MARS-8 system with up to 8 DC motors or single BLDC motor
MARS 8 BigBot and Robot Bosch SR 450 Drawing Roses demonstration on an old refurbished robot
Renesas H8S2633/H8S2638 with stepper feedback and feedback-less motors
Ti MSP430 - PXMC subset with adaptive current stepper motor control
Used for more medical infussion systems
NXP LPC1768 Cortex-M3 based PiKRON's LMC board with BLDC and stepper motor with feedback support
NXP LPC4088 Cortex-M4 based LX_CPU board with Spartan 6 FPGA
LX_RoCoN motion and robotic control system
up to 4 PMSM/BLDC, stepper or DC motors with and withoutposition feedback
up to 8 DC motor axes with IRC extension board
FPGA based coprocessor for PWM cycle by cycle phases comutation (20 kHz)
The systems are used at CIIRC as universal motion controller box
At Czech Academy of Sciences, Institute of Plasma Physic, TOPTEC, for high precision PMSM and stepper motor control to position up to 30 kg aspherical lens under precise optical interferometer
Raspberry Pi 1 and 2 with FPGA based extension for IRC and PWM peripherals and power drivers board from PiKRON
boards hardware developed by Petr Porazil at PiKRON
FPGA VHDL developed by Martin Prudek at CTU based on template started from LX_RoCoN related PiKRON's components
Git repository wih rpi_pmsm_control VHDL design is available at PiKRON GitLab
Raspberry Pi 1 and 2 with simple DC motor running RTEMS system
Ti AM437x with SPI connected PiKRON power stage driver
Xilinx Zynq based system on MZ_APO education kit and PiKRON PMSM power stage