2013/5/31 propcoder <[email protected]> > Today I tried to run BLDC motor with MESA 5i23 and 7i39HV. I used 12V PSU > instead of 48V to be safe. > Motor has hall sensors and I mounted CUI encoder with quadrature A, B and > index on it, set to 8192 counts per revolution. > I managed to spin the motor. This is what I am happy about. The motor is > spinning nice in one direction - it runs quiet and smooth, I can't stop > it's shaft by hand, but it runs with noise and vibration in opposite > direction. I get joint following error often when vibrations grow up. And I > can see over current LED blinking, PWM waveforms are interrupted > periodically (motor phase on scope) when running in that direction.. >
Sounds like wrong bldc pattern to me. There are total number of 48 of them... The way I start getting control over motor is: 1) first step - get it to spin in n mode; that will require that You setp bldc.value and bldc.frequency pins at some value. I usually set value at 0.15 and frequency 10 Motor is reversed by changing value to negative number. Easy way to do is issue setp bldc.n.value -0.15 in "Show HAL configuration" window. 2) Then I usually try h mode to get the Hall pattern right. Best way to cycle through them is again in HalShow window. Here I also have specified particular bldc value with setp, not connected to pid or anything. 3) And when hall pattern is correct - motor moves approximately the same velocity in both directions with the same value positive and negative (encoder velocity pin tells that), only then I introduce bldc with encoder and qh mode -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Get 100% visibility into Java/.NET code with AppDynamics Lite It's a free troubleshooting tool designed for production Get down to code-level detail for bottlenecks, with <2% overhead. Download for free and get started troubleshooting in minutes. http://p.sf.net/sfu/appdyn_d2d_ap2 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
