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