I solved this problem! I am using bldc servo amplifier with two sinusoidal input, the third one is computed by the amplifier itself. A feed the amplifier with bldc.A-value and bldc.B.value, than i changed this to bldc.A-value and and bldc.C-value and success :) now the motor moves as suppose to (i have to tune the pid parameters).
I have one more problem. Now when i start the bldc.init the motor moves the opposite direction, away from index marker. And i can not change this (i can not twist the phases because of previous problem). Is there a way to somehow change the home direction or should i change the bldc.comp? Regards Klemen ________________________________ From: Klemen Dovrtel <klemen_dovr...@yahoo.com> To: andy pugh <bodge...@gmail.com>; Enhanced Machine Controller (EMC) <emc-users@lists.sourceforge.net> Cc: Peter C. Wallace <p...@mesanet.com> Sent: Sunday, February 24, 2013 9:45 AM Subject: Re: [Emc-users] hal - bldc - linear motor Thank you Andy, now i see this, i looked at the source code... Now i set up a clarke.comp and feed it to with sin/cos signal. I did one electrical revolution (2pi) and measured the motor linear move - tt was 60000 encoder counts = 30 mm. Then I indexed the motor and measured the encoder offset, it was -0.7 rd. Then i set up bldc.com again. I set the bldc.scale = 60000 and bldc.poles = 2 and tested it. I indexed the motor and then moved it manually. I can see the rotor-angle is 0 at x=0 mm and again at x = 30 mm. So this should be fine now. Then i set the encoder-offset to -0.7/2pi *60000 = -6687 encoder counts. I tested the set up again and it seems ok, the rotor-angle is 0.11 at x=0 mm and again at x = 30 mm. Ten i feed the bldc.value with some value. The motor just moved a bit and stayed still. But if I understand this correctly the motor should accelerate? I don't get this. I than randomly tried different encoder-offset values and the result was always the same, the motor just moved a bit and stayed still again. Any idea what could be wrong? Regards, Klemen ________________________________ From: andy pugh <bodge...@gmail.com> To: Klemen Dovrtel <klemen_dovr...@yahoo.com>; Enhanced Machine Controller (EMC) <emc-users@lists.sourceforge.net> Cc: Peter C. Wallace <p...@mesanet.com> Sent: Sunday, February 24, 2013 1:12 AM Subject: Re: [Emc-users] hal - bldc - linear motor On 23 February 2013 16:30, Klemen Dovrtel <klemen_dovr...@yahoo.com> wrote: > I noticed that at the index the rotor angle is set to 0. Is it possible that > there should be some offset regarding to real motor angle? I did not find any > rotor angle offset input in bldc.component. Is this the way to solve this? The rotor angle should be the actual rotor position. With a linear motor this is a slightly different concept, but ought to be a measure of where the motor is electrically. If the index is not at the motor electrical zero then you can use the encoder-offset parameter to offset it. I think a linear motor will always be declared as 2-pole to bldc (you _might_ want to choose a different number if the encoder counts per electrical cycle are not an integer, but I can't think of any other reason). If you need changes to bldc to suit a linear motor, I am open to suggestions. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Everyone hates slow websites. So do we. Make your web apps faster with AppDynamics Download AppDynamics Lite for free today: http://p.sf.net/sfu/appdyn_d2d_feb _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Everyone hates slow websites. So do we. Make your web apps faster with AppDynamics Download AppDynamics Lite for free today: http://p.sf.net/sfu/appdyn_d2d_feb _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
