I have been able to get the yaskawa sigma5 motors turning with the bldc component in qh mode.
The encoders are a sort of hybrid incremental/absolute encoder. Once they pass the index point a flag and an offset are returned in the encoder data that allows the exact rotor angle position to be computed. I'm trying to find the best path forward for facilitating commutation. Any guidance would be appreciated. Scenario A BLDC needs a way to set the exact rotor angle in the bldc component once the reference point is crossed. I think this may be a slightly different scenario than bldc currently handles. (Not sure) I imagine hal wiring like so would be appropriate. Perhaps an "r" mode that allows self referencing encoders. bldc config would be "qhr" net sigma5abs.00.referenced bldc.0.referenced net sigma5abs.00.ref-offset bldc.0.ref-offset The motor would be commutated via halls and once the reference point is crossed the referenced pin goes True and the bldc uses the ref-offset value to adjust its internal rotor angle value to match. Scenario B Have the sigma5 encoder module output a "commutation" count which would behave like rawcounts, but would "jump" ahead or behind by the reference offset when the encoder becomes referenced. I don't think that it would be so large of a jump that would be even noticeable as the bldc component would have already determined a fairly close alignment via that hall sensors and the encoder rawcounts. Scenario C Would be possible to use the encoder to output a rotor-angle directly to be used with an 8i20 or other type drive thus removing the need for the bldc component when using the yaskawa motor. That would simplify configuration for users. Would that be possible or recommended? Any other ideas welcome. Thanks, Curt _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
