Beschreibung
..and why is the answer "it depends"? 😁
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Learn more about SimpleFOC https://simplefoc.com/
BLDC stuff I used:
MKS ESP32 FOC boards
These are available with an onboard ESP32 or as separate parts. Either one works (but the ESP32 plug-in modules are a non-standard size and pinout)
https://go.toms3d.org/mksdualfoc
BLDC motors
Generally, lower "kv" ratings mean higher torque at the same current - but also means you'll need to supply more voltage to the driver to get to that current. For robotics, you'll most likely want a kv rating as low as possible.
The smallest I would recommend for motion/robotics work is "2807" or "2806.5" size (stator diameter x height) - 1300kv
https://go.toms3d.org/28065bldc
Mid-size motor - actually closer to 4006, but they call it a "5010", which it absolutely is not. 360kv
https://go.toms3d.org/5010bldc
Alternate mid-size motor, higher pole count (finer resolution) - 380kv
https://toms3d.org/4108bldc
Large motor, probably the upper end up what the MKS SimpleFOC boards can handle. Typically "MiToot" branded - 335kv
https://toms3d.org/5008bldc
The OG of BLDCs for robotics: The Eaglepower 8308 90kv. Requires Odrive-class hardware.
https://toms3d.org/goat
Magnetic encoders
There are basically three relevant options:
The AS5600 has barely enough resolution to be usable with robotics-class BLDCs, but can be a decent option for smaller (lower pole count) motors. But... it's cheap https://go.toms3d.org/as5600
The AS5048 is a drop-in upgrade, but can cost 10x as much as an AS5600 https://toms3d.org/as5048
The MT6701 should perform as good as the AS5048 at a fraction of the price. Supported by SimpleFOC in I2C mode since June 2024. https://toms3d.org/mt6701
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Read the article to this video here: https://toms3d.org/2025/10/10/why-are-3d-printers-still-using-ancient-motors/
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