STMBL - Finding AC brushless servo parameters RLJ?
17 Jul 2018 11:20 #114360
by cmorley
Replied by cmorley on topic STMBL - Finding AC brushless servo parameters RLJ?
yes open loop (the first demonstration in the docs) is fine.
I can see fb_switch0,pos_fb change - it does a 5 point sawtooth for each revolution.
reslimitt0.pos_out doesn't change
what should I be watching to match to?
Chris M
I can see fb_switch0,pos_fb change - it does a 5 point sawtooth for each revolution.
reslimitt0.pos_out doesn't change
what should I be watching to match to?
Chris M
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17 Jul 2018 14:09 #114389
by andypugh
res0.pos should show the resolver position feedback.
Replied by andypugh on topic STMBL - Finding AC brushless servo parameters RLJ?
yes open loop (the first demonstration in the docs) is fine.
I can see fb_switch0,pos_fb change - it does a 5 point sawtooth for each revolution.
reslimitt0.pos_out doesn't change
what should I be watching to match to?
res0.pos should show the resolver position feedback.
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18 Jul 2018 05:15 #114444
by cmorley
Replied by cmorley on topic STMBL - Finding AC brushless servo parameters RLJ?
yes it does.
I then I plotted sim0.vel - which seems like the commanded speed.
I now see command with a sawtooth pattern that is twice that of my resolver.
there is more then one offset pin.
Motor offset
fb_switch offset
Neither seemed to make much difference.
res0.poles makes change - it makes the feedback signal flatter.
Could you give a bit more detail of how to make them match?
Chris M
I then I plotted sim0.vel - which seems like the commanded speed.
I now see command with a sawtooth pattern that is twice that of my resolver.
there is more then one offset pin.
Motor offset
fb_switch offset
Neither seemed to make much difference.
res0.poles makes change - it makes the feedback signal flatter.
Could you give a bit more detail of how to make them match?
Chris M
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18 Jul 2018 07:20 - 18 Jul 2018 07:20 #114449
by andypugh
That's odd. I would rather expect it to change the sawtooth frequency of the res0.pos.
Is your conf0.polecount correct for the motor?
I am afraid I am stumbling about in the dark even more than you here, I am not anywhere near an STMBL.
Replied by andypugh on topic STMBL - Finding AC brushless servo parameters RLJ?
I now see command with a sawtooth pattern that is twice that of my resolver.
...
res0.poles makes change - it makes the feedback signal flatter.
That's odd. I would rather expect it to change the sawtooth frequency of the res0.pos.
Is your conf0.polecount correct for the motor?
I am afraid I am stumbling about in the dark even more than you here, I am not anywhere near an STMBL.
Last edit: 18 Jul 2018 07:20 by andypugh.
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18 Jul 2018 20:44 #114490
by Wireline
Hi Andy
I must admit the conversation has left me a little confused too! So far I have been testing the motor with servoterm, running the sine wave input. As I am seeing feedback that matches input, and servoterm seems to error if there is anything wrong with feedback, I had assumed I was running closed loop. Is this the case, or am I running open loop as mentioned by chris?
Hope you have a good time in Stuttgart if you are going!
Replied by Wireline on topic STMBL - Finding AC brushless servo parameters RLJ?
I now see command with a sawtooth pattern that is twice that of my resolver.
...
res0.poles makes change - it makes the feedback signal flatter.
That's odd. I would rather expect it to change the sawtooth frequency of the res0.pos.
Is your conf0.polecount correct for the motor?
I am afraid I am stumbling about in the dark even more than you here, I am not anywhere near an STMBL.
Hi Andy
I must admit the conversation has left me a little confused too! So far I have been testing the motor with servoterm, running the sine wave input. As I am seeing feedback that matches input, and servoterm seems to error if there is anything wrong with feedback, I had assumed I was running closed loop. Is this the case, or am I running open loop as mentioned by chris?
Hope you have a good time in Stuttgart if you are going!
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20 Jul 2018 18:33 #114601
by BigJohnT
If you can get the information to me I might be able to help.
JT
Replied by BigJohnT on topic STMBL - Finding AC brushless servo parameters RLJ?
I asked Rene about more docs - he said he would - but like all of us I'm sure he hates docs
When I get something working I will document it somewhere...
Chris M
If you can get the information to me I might be able to help.
JT
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22 Jul 2018 09:55 - 22 Jul 2018 09:56 #114660
by Wireline
Replied by Wireline on topic STMBL - Finding AC brushless servo parameters RLJ?
Hi Guys
Any chance of a steer on whether the driving with a sinewave section on the STMBL tutorial is open loop or closed loop? I had assumed it was closed:
Connect it rev0.in = sim0.msin
Set amplitude sim0.amp = 1
Set frequency sim0.freq = 0.5
Enable fault0.en = 1
Cheers
Ross
Any chance of a steer on whether the driving with a sinewave section on the STMBL tutorial is open loop or closed loop? I had assumed it was closed:
Connect it rev0.in = sim0.msin
Set amplitude sim0.amp = 1
Set frequency sim0.freq = 0.5
Enable fault0.en = 1
Cheers
Ross
Last edit: 22 Jul 2018 09:56 by Wireline.
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23 Jul 2018 07:49 #114686
by cmorley
Replied by cmorley on topic STMBL - Finding AC brushless servo parameters RLJ?
I would guess not - does it fight you if you add load to it?
Chris M
Chris M
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23 Jul 2018 09:08 #114689
by andypugh
Replied by andypugh on topic STMBL - Finding AC brushless servo parameters RLJ?
if you connect the sim to hv0.(something) then you would be running open-loop.
I think that connecting to rev0 is simulating a command input, so is closed-loop.
Pity I didn't see this a few hours ago when I was in the same room as Rene.
I think that connecting to rev0 is simulating a command input, so is closed-loop.
Pity I didn't see this a few hours ago when I was in the same room as Rene.
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23 Jul 2018 09:39 #114691
by tommylight
Rene from "alo alo" ???
Replied by tommylight on topic STMBL - Finding AC brushless servo parameters RLJ?
Pity I didn't see this a few hours ago when I was in the same room as Rene.
Rene from "alo alo" ???
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