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added sample configurations
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== Sample Configurations ==
=== Measure Resistance/Inductance ===
Configuration:
<pre>link rl</pre>
Manually run:
<pre>rl0.en = 1</pre>
After it finishes (the graph will settle down and the noises will stop), the measured resistance and inductance can be printed by printing the state of the following pins using the console:
<pre>rl0.r
rl0.ld</pre>
=== Commutation Test ===
Configuration:
<pre>link pid
link pmsm
# whichever type of feedback is being used
link enc_fb0
link misc
# motor winding characteristics
conf0.r = 3.256717
conf0.l = 0.025102
# motor current/torque rating
conf0.max_force = 14.8
conf0.max_ac_cur = 5
# inertia, which is dependent on the mass (technically moment of inertia) being spun
conf0.j = 0.00005
# how many electrical "revolutions" per mechanical revolution
conf0.polecount = 1
# for basic quadrature encoders
conf0.mot_fb_res = 5000
# if index isn't available, disable looking for it
#enc_fb0.en_index = 0
# correct the feedback polarity/offset
conf0.mot_fb_rev = 0
conf0.mot_fb_offset = 0.0
# correct the (open loop) output direction (clockwise/counter-clockwise)
conf0.out_rev = 0</pre>
Run manually:
<pre>link com_test</pre>
If the motor is turning in a very choppy manner, then the test current might be too low. Change <code>hv0.d_cmd</code> from the default value of 1.0 to something higher:
<pre>hv0.d_cmd = 2.0</pre>
If absolute angle is available (index pulse enabled and seen, or if using an absolute encoder), then you can keep correcting the feedback offset (the units are radians):
<pre>conf0.mot_fb_offset = 0.2</pre>
You may need to zoom in to do fine adjustments. This is done by decreasing the period (increasing the frequency) of <code>term0.send_step</code>:
<pre>term0.send_step = 20</pre>
=== Jog Test ===
<pre>link pid
link pmsm
# whichever type of feedback is being used
link enc_fb0
link misc
# this is the important part
link jog_cmd
# ...
# (same configuration used after tuning with com_test)
# ...
# configure the max speed and acceleration
stp0.max_vel = 20
stp0.max_acc = 1000
# allow turning further in the same direction
stp0.min_pos = -1000
stp0.max_pos = 1000</pre>
You may have to play with the <code>conf0.j</code> parameter, be careful as having it too high can easily cause oscillations. Be ready to disable the motor!
<pre>conf0.j = 0.0001</pre>
You can also increase the motor's top speed:
<pre>stp0.max_vel = 200</pre>
And later see how much the acceleration can be pushed:
<pre>stp0.max_acc = 40000</pre>
== Replacement Parts ==
== Replacement Parts ==