I have 3 development boards with follow IC, each board can control two servo motors.
3 development board can control 6 motors (axis): XXYZAB.
I’m need write program (better in FreeRTOS) for execute G-code (linear and circular interpolation).
MCU - Renesas SH7216
2 * IGBT Mitsubishi PSS20S71F6 for control 2 servomotor
2 * RS485 for receive data from two encoders of servomotor
1 * RS485 for connection with another development board (for sync interpolation).