RollerCAN - kit with BLDC motor and CAN/I2C controller

Description

The RollerCAN Unit is a motion control system for brushless DC (BLDC) motors with numerous built-in control functions, designed for efficient motion management. The device supports DC power input ranging from 6 to 16 V via a CAN interface (XT30) or 5 V (via a Grove interface) and automatically adjusts the power factor, ensuring optimal performance. It features an integrated FOC closed-loop control system using a 3504 200KV brushless motor. The maximum continuous phase current is 0.5A without forced cooling and 1A for short periods. The controller uses a magnetic encoder for feedback and supports a triple control loop: current, speed, and position, ensuring precise control.

The device’s axis includes a slip ring, allowing for 360° rotation while maintaining the Grove connection with the bottom part of the device, enabling power and data transmission through the rotating part. The RollerCAN Unit features a 0.66-inch OLED display showing real-time device status. It also includes an RGB indicator and functional button for easy user interaction. The top and bottom parts of the device have mounting holes compatible with LEGO blocks and M3 screw holes, allowing for quick and easy assembly and integration. Both hardware and software are fully open, supporting motion control and parameter adjustment via CAN or I2C bus. The device also offers SWD and SWO debugging interfaces, providing greater flexibility for developers. This product is widely used in robotic arms, motion control, industrial automation, and visual projects.

Features

• Precise control of brushless DC motor
• Control via CAN or I2C bus
• Built-in OLED display
• RGB indicator for status signaling
• Closed-loop control (FOC) for precise control
• Slip ring with 360° rotation while maintaining Grove connection
• LEGO block compatibility for easy assembly
• Fully open-source software
• MCU: STM32G431CBU6 @ Cortex-M4, 128KB Flash, 32KB SRAM, 170MHz
• Motor type: D3504 200KV brushless motor @ diameter: 41mm
• Driver chip: DRV8311HRRWR
• Angle sensor: TLI5012BE1000
• Communication interfaces: 2x CAN (XT30 interface) @ XT30 (2+2) PW-M, 2x I2C (0x64)
• Display: 0.66-inch OLED display, resolution: 64x48, SPI communication
• RGB LEDs: 2x WS2812-2020
• Motor power supply: CAN (XT30 interface) @ 6-16V, Grove DC5V power supply
• Slip ring: Grove DC5V power supply
• Load:
  • Load: 50g, motor speed: 2100rpm, current: DC16V/225mA
  • Load: 200g, motor speed: 1400rpm, current: DC16V/601mA
  • Load: 500g (maximum load), motor speed: 560rpm, current: DC16V/918mA
  • No load: DC16V/78mA
• Standby current: Grove DC5V power supply @ 70mA, CAN (XT30) DC16V power supply @ 32mA
• Torque:
  • Grove DC5V power supply: 0.021N.m / 0.2kgf.cm @ 350mA current
  • CAN (XT30) DC16V power supply: 0.065N.m / 0.66kgf.cm @ 927mA current
• Slip ring capacity (Grove): DC5V / 300mA
• Noise level: 48dB
• Operating temperature: 0 to 40°C
• Dimensions: 40 x 40 x 40 mm
• Weight: 84.4g

Kit contains

• RollerCAN Unit
• PwrCAN cable (10 cm)
• 2x Grove HY2.0-4P cables (5 cm)
• 6x Cotter pins
• Holder
• Hex key (2.5 mm)
• Hex key (2 mm)
• 6x M3 nuts
• 2x M3x14mm screws
• 4x M3x14mm countersunk screws
• 4x M3x12mm countersunk screws
• 5P debugging cable (100 mm), 1.25 mm pitch