Hi!
I've been working with the InstaSpin lab 13b using a BLDC motor with a quadrature encoder and it works wonderfully!
Now I'm trying to replace the quadrature encoder with a hall sensor based absolute encoder with BiSS-C interface.
I'm using McBSP communication and I successfully get readings from the encoder. I successfully calculate a new electrical angle giving me the same behaviour (saw tooth like shape) as the QEP and the readings seem to be fine as I manually turn the motor shaft.
I've been monitoring the following variables:
enc->enc_elec_angle (calculated by me)
enc->enc_zero_offset ( set to zero as the a-enc is calibrated to the rotor )
enc->mech_angle_gain (set to (_iq)((((uint32_t)1)<<24)/(4096)) as the a-enc has a resolution of 4096)
But as i try to spin the motor it doesn't move. Instead it more like vibrates with big movements (about 30 degrees movement around the shaft) while the current keep rising and I finally feel the need to shut the motor down.
I've disabled the QEP library and I'm using the encoder module as is apart from the calculation of the electrical angle. I've also disabled the RsRecalculation and removed the "Forcing alignment" from the ISR_interrupt function.
Is there any other input I need to replace, apart from the electrical angle, that the PosConv, PosCtl or the PosMove components need to execute? Like the direction in which the motor is turning? And where would I save the input?
Grateful for any help!
Andreas
