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Submitted by jgourley@griff… on Fri, 08/19/2016 - 04:45

Feature Request:

currently with the 3540 type sine amps, you can lock the phase of a brushless motor two ways (that i'm aware of):
1. use BR to only output current through two phases
2. disconnect the encoder and issue OF

It would be helpful if we could change the angle between the current vector and the torque vector for debugging purposes. Typically they are separated by 90 degrees to provide maximum torque. But if we could change the angle to 0, then you could rotate the motor in open loop by setting OF and changing BD. You could rotate the electrical angle slowly and verify each of the halls are working and that they are phased correctly. You could also check the encoder is counting the correct direction and magnitude.

currently there is no way of disconnecting the encoder from commutation in the standard firmware. I have tried this with the -sin firmware and it is possible if you set AF=1 (analog feedback) and then increase:

KP0
KD0
KI0
OE0
AF1
SHA
OF2
#LOOP
BDA=_BDA+3
WT100
JP#LOOP

Comments 1

Galil_RobinR on 08/22/2016 - 14:57

As long as there are no actual legal Hall sensors wired to the Hall inputs, if you set BI-1, you can then increment 0-360 degrees with BDA=_BDA+n. This could test for encoder polarity. Once the encoder is considered "good" you can initialize the motor normally BA/BM/BZ, then initiate a slow jog. Then QH will report the Halls, expecting 5-1-3-2-6-4 or the opposite