On Thu, 14 Nov 2013, Marius Alksnys wrote: > Date: Thu, 14 Nov 2013 18:53:03 +0200 > From: Marius Alksnys <[email protected]> > Reply-To: EMC developers <[email protected]> > To: [email protected] > Subject: [Emc-developers] BLDC component homing to encoder index - is it > correct? > > I kind of noticed that BLDC init sequence has no good repeatability. > Maybe this is the reason: > > else if (in_type == 0x0D) { // homing to encoder index > if (!index_enable){ // index has reset > offset_measured = long_rawcounts; > in_type = 0x02; > } > } > > Shouldn't it take some of offset, as a result of hardware encoder reset? > What if servo-period is higher than encoder pulse period at init > procedure? This is especially possible on vibrations, when init starts > near index, starting oscillations on the motor.
I think that code looks OK. The high speed parts of index handling are all done in hardware so even at 1000's of encoder counts/servo period, the index position should still be set correctly. If you have access to the motor shaft. I would check that the index initialization is correct (a raw count of 0 should always be in the same angle after initialization) If this is not correct the reason needs to be determined (index signal noise, polarity issues etc) > > > ------------------------------------------------------------------------------ > DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps > OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access > Free app hosting. Or install the open source package on any LAMP server. > Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! > http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access Free app hosting. Or install the open source package on any LAMP server. Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
