Hello!
My set parameters
//User Motor Parameter
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (2)
#define USER_MOTOR_Rr (NULL) // always NULL
#define USER_MOTOR_Rs (1.0278007)
#define USER_MOTOR_Ls_d (0.0011153606)
#define USER_MOTOR_Ls_q (0.0011153606)
#define USER_MOTOR_RATED_FLUX (0.0780241)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL) // always NULL
#define USER_MOTOR_RES_EST_CURRENT (1.0)
#define USER_MOTOR_IND_EST_CURRENT (-1.0)
#define USER_MOTOR_MAX_CURRENT (4.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (100.0)
#define USER_MOTOR_ENCODER_LINES (5000.0)
#define USER_MOTOR_MAX_SPEED_KRPM (3.0)
#define USER_SYSTEM_INERTIA (0.02)//588516)
#define USER_SYSTEM_FRICTION (0.01)//195453)
//Spintac Position.h Define
#define ST_MREV_ROLLOVER (10.0)
#define ST_EREV_MAXIMUM (1.0)
#define ST_POS_ERROR_MAXIMUM_MREV (2.0)
Velocity control is normal operation.
Position control command should command as follows:
gMotorVars.PosStepInt_MRev = 1;
gMotorVars.PosStepFrac_MRev = 1;
gMotorVars.RunPositionProfile = true;
The motor is rotating and one must stop. I want to control the position in Encoder-based (optical encoder, which is used 5000CPR)
Example) If the 3000 Position based on Optical Encoder Pulse, encHandle-> qepHandle-> Check the value QPOSCNT I want to control the position in 3000.
Q1. One should change any settings?
Q2. The request for a detailed explanation Mechanical Revolution [MRev] will roll over?
Q3. detailed description of the Electrical Revolution [ERev]?
Thank.
