Hi,
I'm have some strange problems in tuning a servo (5i23 + 7i39).
The strange thing is, it worked yesterday and for a while today, but it
doesn't work anymore. I guess I changed some parameters and ruined my setup.
I began to set things up by looking up the pattern (3 in my case) and
running in hall sensor only mode at first. The PID was set to (p=0.5,
d=0, i=0, sacle=1, maxout=10). The motor ran perfectly smooth in both
directions.
than I change to qh mode and the motor ran just as smooth. I played with
PID parameters to get it stiffer and faster and was able to get quite an
improvement, still smooth.
No something happens (my fault probably, changed the 7i39 already - same
thing) and the motor does not run smooth at at all and stalls easily. In
hallscope I noticed that the PWM signal for phase A is no longer a sinus
wave as it used to be, but looks almost rectangular:
+------+ +-------+ +-------+
| | | | | |
-+ +--+ +--+ +--+ +--+ +--+ +--
| | | | | |
+-------+ +-------+ +------+
As a result the motor runs, but this strange commutation causes some
vibration and a non constant momentum.
I have now idea what might cause this. I tried to change everything back
to the last working config, but no luck. Any idea what might be wrong?
See you
Flo
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