• State
  • Locked Locked
  • Replies 2 replies
  • Subscribers 82 subscribers
  • Views 616 views
  • Users 0 members are here
Support feedback
Options
Options
Related

This thread has been locked.

If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.

CCS/LAUNCHXL-F28069M: Dual-motor alignment

David Daley
Prodigy 50 points
Part Number: LAUNCHXL-F28069M
Other Parts Discussed in Thread: MOTORWARE

Tool/software: Code Composer Studio

Just started getting into the 2-motor labs using lab 13f as a base, and am running into a few problems. I believe they are related to alignment between the mechanical and electrical rotations. Both motors use encoders.

As far as I know, in the previous labs alignment is done by zeroing the encoder offset while re-estimating RS, but enabling RS recalc with EST_setFlag_enableRsRecalc() for both motors does not initiate the recalculation, and so there is no alignment. 

Is there some other code I need to change to enable the alignment in lab 13f, or is there some other better way to perform alignment?

  • 0
    TI__Guru** 116090 points
    In motorWare, using EST_setFlag_enableRsRecalc() to implement alignment by setting a current on d-axis. You don't need to change anything to ensure that both the encoder and the motor are aligned on a zero degree electrical angle like 13a.
  • 0 in reply to Yanming Luo
    Prodigy 50 points
    Hi Yanming,
    As I mentioned, whether I call EST_setFlag_enableRsRecalc() or set the flag manually in code composer, the motor does not perform the RS recalc when I set enable_sys and run_identify. So, I am wondering if I need to add any other code to enable the recalc?