On Sun, 30 Dec 2012, Viesturs L?cis wrote:
Date: Sun, 30 Dec 2012 12:57:11 +0200
From: "[UTF-8] Viesturs L?cis" <viesturs.la...@gmail.com>
Reply-To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Subject: Re: [Emc-users] Pid saturated, was: Servo error
2012/12/30 Viesturs L??cis <viesturs.la...@gmail.com>:
I just tested the motor in q mode:
1) init pin connected to halui.machine-is-on;
2) encoder velocity monitored in vcp panel; bldc value set with a
slider in vcp panel - min and max values are -0.95 and 0.95
respectively, increment is 0.01;
3) I enable the motion and watch velocity pin - I wait for the motor
to be homed and when it is done (encoder velocity is 0.00 again), I
start changing bldc value;
4) for value = 0.95 I get approximately 900 RPM, with value = -0.95 I
get approximately 1100 RPM.
One thing I forgot to mention:
Motor reaches its max RPM approximately at bldc value = 0.4...0.5 and
then remains the same, motor just gets louder as value is increased to
0.95 (or -0.95 respectively).
You may be in current limit above ~.4 so more voltage does not make a
difference
I tried to play with 3pwmgen.frequency parameter - tried 20 kHz and 45
kHz, 45 kHz provided higher RPM for bldc value = -0.95, it remained
approximately the same for +0.95.
Can you try changing the lead angle? default is 90 degrees which should always
be right but it does sound like theres a a lot of current going into the motor
thats not generating torque which might indicate a problem here
(change in ~10 degree steps around 90)
--
Viesturs
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto
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Mesa Electronics
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