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Update Getting Started.adoc

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c-morley 2018-08-09 16:51:47 -07:00 committed by GitHub
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@ -189,6 +189,37 @@ The rotation speed can be altered by changing the sim0 frequency:
STMBL v4 HAL contains a number of components that have built-in linking
behaviour.
== Resolvers
resolver phase - Setting the phase is very importatnt to get resolver output.
'res0.phase = X' sets the phase.
The number is between 0 and 1. Set for the highest output.
Resolver speed - In motor drives resolver speed is typically 1.
one rotation of the resolver = one rotation of the motor.
You will want to add these settings to the config,
so that the drive powers up with the settings as default.
== Motor pole count / setting motor feedback offset
Motor pole count in data sheets is often a total pole count rather
then stmbl required 'pole pair' count.
This is easy to see when running the com_test: type 'link com_test'
This should start the motor turning slowly in open loop, while displaying on the graph.
Ideally the green and black lines will match closely.
If they are not the same speed (same number of peaks) then the motor poles setting is wrong.
'conf0.polecount' can be set without stopping the test.
Set it till the number of green and black peaks are the same.
Now the peaks may be offset on the graph.
'conf0.motor_fb_offset' will set this. Adjust this number till the black and grean lines match.
You'll want to add these settings to the config so the drive starts with these defaults.
== Jogging test
If you set the jogging checkbox at the top of servo term and then enable the drive with:
'fault0.en = 1'
Then using the left and right cursor keys should jog the motor.
the escape key will disable the drive quickly if something is not quite right.
If there is a fault then you will need to toggle the enable pin to 0 and back to 1 again.
If the drive oscallates try adjusting the 'conf0.j' setting for inertia.
== Drive the motor with a sine wave ###
1. Connect it `rev0.in = sim0.msin`
2. Set amplitude `sim0.amp = 1` (in rad)