Motorware Lab 13A does not hold position

Steven Hung

I'm trying to run the lab to tune the bandwidth of the motor. Labs 12 worked fine with feedback from the encoders, however when I attempt to run Lab 13 after RsRecalc the motor spins up, stops and doesn't hold position. Changes to the bw scale has no effect and the motor is not aligned to 0. I notice PosCtlErrorId has a value of 5. What might I be doing wrong?

Let me know what info I should provide to help solve this problem.

Thanks,

Steven

over 10 years ago

0 Adam D. Reynolds over 10 years ago

Guru 12800 points

Steven,

You are still using the encoder in Lab 13, correct? Lab 13 and Lab 12 both use the same encoder code, so if it is working in one it should be working in the other.

The other thing to look at would be to check and make sure that you are using the correct user_j*.h file. The J1 connection uses QEP A while J5 uses QEP B.

0 Steven Hung over 10 years ago in reply to Adam D. Reynolds

Prodigy 80 points

Lab12 works just fine, but it seems when I try to run Lab 13 there is no feedback going into SpinTac. I can see that I am receiving the proper encoder feedback by watching the expressions. I can manually move the motor and see that my position is changing appropriately however I do not see PositionError_MRev changing. The user file is selected correctly as well.

0 Adam D. Reynolds over 10 years ago in reply to Steven Hung

Guru 12800 points

Steven,

Is there something that you changed as part of a previous lab? You are still letting Lab 13 complete Rs Recalibration at startup right? Again the encoder code in both of those labs is identical, so if lab 12a/12b are working lab 13a should be working too.

0 Steven Hung over 10 years ago in reply to Adam D. Reynolds

Prodigy 80 points

OK, It looks like somewhere along the line I changed something somewhere that broke things for lab 13. Now I started out with a clean lab and workspace and that seems to have fixed things.

Thank you for the help.
Steven

0 Adam D. Reynolds over 10 years ago in reply to Steven Hung

Guru 12800 points

Steven,

I'm glad you were able to get it working.

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Motorware Lab 13A does not hold position