IDDK_PM_Servo_F2837x level 5

Hi,

Are you using the TMDXIDDK379D hardware, or some other hardware? Have you verified build level 4 (speed loop) already?

TAKAYA HIGA said:

I suspect an external encoder.

You have to use and connect an external encoder for this project.

Best,

Kevin

I appreciate for your response.

>Are you using the TMDXIDDK379D hardware, or some other hardware?
I'm using other hardware.  

>Have you verified build level 4 (speed loop) already?

Yes, I have. No problem. Only position control can not  be work well.

>You have to use and connect an external encoder for this project.
I must use external encoder for my business.
the motor has work well in buildlevel4, so I think  that the problem would be identified PI_POS_MACRO(POS).  
Because PI_POS_MACRO(POS) is an only deference software module between level4 and level5.
I think motor and external encoder has angle gap. Do you know how to calibrate external encoder? 

Hi,

What kind of encoder are you using? incremental, digital absolute (T-format, etc.), or some other?

Best,

Kevin

Hi,

I'm using absolute type encoder. Interface is SPI format.

Hi,

The IDDK software supports T-format absolute encoder types. Is that what you're using as well? The position sensor functionality gets validated in build level 2 (open-loop control).

Then in build 3 the encoder calibration then looks like below:

Best,

Kevin

Hi 
I haven't calibrated angle by initTheta yet !! I confirm it soon!!Thank you.
The encoder type I'm using is not T-format. but I additionally editted for my encoder type by myself.

Kevin Allen18
I have a question. Encoder type has multi-turn and single-turn. Which turn-type is supported by IDDK software??

multi-turn and single-turn Tformat encoders are supported. 

thank you!!

Kevin Allen18
I had attempted to calibrated the encoder postision by Init Theta at level3, so that motor was moded following the command value at level5. However, the encoder moves with oscillation. I will attempt to control by Kp and Ki parameters. Thank you!!

Hi,

TAKAYA HIGA said:

I will attempt to control by Kp and Ki parameters.

Yes please try tuning the Kp & Ki gains per the User's Guide suggestion. You already verified the current and speed loops are running and tuned properly in the prior build levels, correct? If not, those steps should be done first.

Best,

Kevin