andyf Posted October 13, 2014 Share Posted October 13, 2014 If a motor is on a soft or hard limit, the motor will not phase. One way around this is to temporarily disable soft/hard limits when phasing. Are there any other ways around this? Link to comment Share on other sites More sharing options...
andyf Posted October 13, 2014 Author Share Posted October 13, 2014 If a motor is on a soft or hard limit, the motor will not phase. One way around this is to temporarily disable soft/hard limits when phasing. Are there any other ways around this? Link to comment Share on other sites More sharing options...
curtwilson Posted October 13, 2014 Share Posted October 13, 2014 Is this a phasing read of an absolute sensor, or a phasing search move? If you are doing a phasing search move, you will probably want to make sure you are physically moved off the limit before you attempt the actual phasing search. Otherwise you cannot be sure the search would be successful. You would move off by commanding an open-loop zero output (cout:0) then using IaBias and IbBias to "step" the motor out of the limit. Link to comment Share on other sites More sharing options...
curtwilson Posted October 13, 2014 Share Posted October 13, 2014 Is this a phasing read of an absolute sensor, or a phasing search move? If you are doing a phasing search move, you will probably want to make sure you are physically moved off the limit before you attempt the actual phasing search. Otherwise you cannot be sure the search would be successful. You would move off by commanding an open-loop zero output (cout:0) then using IaBias and IbBias to "step" the motor out of the limit. Link to comment Share on other sites More sharing options...
andyf Posted October 14, 2014 Author Share Posted October 14, 2014 It is a phasing search move. With the approach you describe, do I need to step it off the limit by enough that the phasing will not encounter the limit again, or just enough so that the limit is not active? Link to comment Share on other sites More sharing options...
andyf Posted October 14, 2014 Author Share Posted October 14, 2014 It is a phasing search move. With the approach you describe, do I need to step it off the limit by enough that the phasing will not encounter the limit again, or just enough so that the limit is not active? Link to comment Share on other sites More sharing options...
curtwilson Posted October 14, 2014 Share Posted October 14, 2014 If it hits a limit during the phasing search move, the search will fail automatically, because it cannot be sure that the motion of the search is a valid result of the excitation. Link to comment Share on other sites More sharing options...
curtwilson Posted October 14, 2014 Share Posted October 14, 2014 If it hits a limit during the phasing search move, the search will fail automatically, because it cannot be sure that the motion of the search is a valid result of the excitation. Link to comment Share on other sites More sharing options...
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