2012/12/27 Peter C. Wallace <p...@mesanet.com>: > > Just thinking that noise on the HAL signals might cause > flakey commutation initialization so might be a good thing to halscope >
Ok, here is a result: http://picpaste.com/hall-1xe8rtyI.png Seems totally fine for me. How can I check consistency of hall signals - if the signals do change every 60 degrees? I could try to finetune the feedback loop to smooth out encoder velocity and then try to scope hall signals again and see, but I would like to find out, if there is any other way to skin the cat. I also tried bldc cfg=qi to find out, if I can make it work without hall sensors. I tried the path suggested by Andy: 1) started up LinuxCNC 2) in HalShow ran: setp hm2_5i23.0.encoder.00.index-enable 1 3) watched "counts" and "rawcounts" pins 4) turned motor by hand until "counts" pin was reset to 0 and "index-enable" went false; 5) in HalShow I ran: setp hm2_5i23.0.3pwmgen.00.A-value 0.9 setp hm2_5i23.0.3pwmgen.00.B-value -0.9 setp hm2_5i23.0.3pwmgen.00.C-value -0.9 6) enabled pwmgen with F2; 7) wrote down "counts" pin value of -103 and saved as: setp bldc.0.encoder-offset -103 8) connected bldc.0.init and pwmgen-enable to estop loop so that motor is homed, before motion is enabled to avoid triggering following error; 9) for testing purposes I set PID parameters to following values: P=0.1 Deadband = 0.001 all the remaining values are set to 0 10) if I try to jog that joint, pid immediately gets saturated 11) if I comment out the encoder offset line like this: # setp bldc.0.encoder-offset -103 then I can jog that joint What puzzles me is that in step 11 bldc still manages to home rotor - init-done pin is true. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Master Visual Studio, SharePoint, SQL, ASP.NET, C# 2012, HTML5, CSS, MVC, Windows 8 Apps, JavaScript and much more. Keep your skills current with LearnDevNow - 3,200 step-by-step video tutorials by Microsoft MVPs and experts. ON SALE this month only -- learn more at: http://p.sf.net/sfu/learnmore_122712 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
