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SpinTAC ST_runPosCtl issues

Shiran Qu
Prodigy 110 points

Hi there,

I am building my own motion planning algorithm and I feed the position, velocity, and acceleration references into the system. Some of the times, the motors would exert a large amount of jerk, get stuck and not move. Other times, it would even spin uncontrollably afterwards. What is the cause of this issue? I also encountered this when using ST_runPosMove features. 

Thanks

  • 0
    TI__Guru** 119680 points
    it's hard to help you on this one since you are building your own motion control system and not using ours. who knows where the problem is?
    I don't know how you are handling the encoder interface, electrical to mechanical alignment, conversion from mechanical angle to electrical, etc.

    if you choose to build your own controller you are on your own.