Andy,
during the orientation, I'm assuming the device operates in trapezoidal
mode. Is that correct?
If so, would it be possible to combine the orientation with homing, since
homing is a time when the user expects the machine to move anyway.
Presumably, to do the phase orientation, you must move the motor until you
see one of the hall signals, and then switch to sinusoidal commutation.
Neil
On Tue, Jul 27, 2010 at 3:01 PM, Andy Pugh <[email protected]>wrote:
> Following a discussion with Jepler on IRC just now about whether to
> add this to either of the EMC2 branches:
>
> The question that remains unresolved is how to tie the initialisation
> / orientation phase into the starup sequence.
> The HAL file I used for testing has the following code:
>
> net estop-out iocontrol.0.user-enable-out => bldc-sine.0.init =>
> iocontrol.0.emc-enable-in pid.0.enable
> net align bldc-sine.0.init-done => motion.enable
>
> This runs the alignment sequence as soon as the machine comes out of
> e-stop (F1). The drawback is that to do this in most machines it would
> be necessary to bypass the amp-enable signal.
>
> An alternative would be to perform the init on "enable" (F2), which
> would allow the amp-enable to be used conventionally, but might also
> cause spurious and troublesome re-orientations.
>
> The issue is that the orientation has to happen with the amps enabled,
> but with motion (and f-error detection) off, and it needs to happen at
> the appropriate time in the startup sequence.
>
> --
> atp
>
>
> ------------------------------------------------------------------------------
> The Palm PDK Hot Apps Program offers developers who use the
> Plug-In Development Kit to bring their C/C++ apps to Palm for a share
> of $1 Million in cash or HP Products. Visit us here for more details:
> http://ad.doubleclick.net/clk;226879339;13503038;l?
> http://clk.atdmt.com/CRS/go/247765532/direct/01/
> _______________________________________________
> Emc-developers mailing list
> [email protected]
> https://lists.sourceforge.net/lists/listinfo/emc-developers
>
--
http://www.pixpopuli.com
------------------------------------------------------------------------------
The Palm PDK Hot Apps Program offers developers who use the
Plug-In Development Kit to bring their C/C++ apps to Palm for a share
of $1 Million in cash or HP Products. Visit us here for more details:
http://ad.doubleclick.net/clk;226879339;13503038;l?
http://clk.atdmt.com/CRS/go/247765532/direct/01/
_______________________________________________
Emc-developers mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/emc-developers
