Closed-loop torque control is also used to maintain correct wire tension. The system is controlled by an STM32G431 microcontroller. The motor driver used is the DRV8313. There are three GBM5208 ...

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DC (BLDC) motor series to extend capabilities for applications that demand a compact footprint and low weight.

Its a very easy to use foc controller framwark, this framwark supply a basic foc control logic, you can define every loop control algrithm by yourself.