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[Solved] Unable to perform encoder calibration

Forum 1
(@opals)
New Member

Hello SOLO,

I purchased a few SOLO Mini boards to control the Cubemars GL100 BLDC motor equipped with CUI-AMT31 incremental encoders.

After I enter the correct motor-encoder specs (BLDC-Normal, 40 poles, 2048 lines), and complete the motor identification procedure, I am unable to perform encoder calibration; the motor blocks and does not rotate. This is true in all 6 phase wire combinations (I followed your tutorial faithfully). I also checked the encoder signal, which seems to be stable, clean and accurate. The board is set to Closed-Loop with Encoders, and in Digital mode.

If I reduce the number of poles (2-14 poles), I am somewhat able to complete encoder calibration, but the ensuing CW and CCW behaviours are asymmetric and overall performance is very poor (cogging, poor accuracy, etc).

Am I missing something? What would you suggest I try next? Is your product compatible with this type of motor?

Thank you for your help.

Felix

Quote
Topic starter Posted : 01/11/2021 8:59 pm
SOLO Team
(@milad)
Chief Member Moderator

Hi @opals,

Ok, can you tell me what firmware version your units are having?

If you are not having the latest firmware version 0x003B009 or later I should say, you need to update your firmware to the mentioned version as for older firmware there was an issue for high pole motors calibration which was fixed in 0x003B009 or later.

BTW, even if you are using the 0x000B009 or 0x0001B009, you can still calibrate your motors with the following work around:

1-Right before pressing the Encoder calibration put the Number of Poles of the Motor at 8 ( even if your motor has 40 poles)

2- Press the calibration of the Encoder and the Motor should move as shown in the video in this article in two directions and then stopping ( make sure index pulse is connected)

3- Put back the Number of Poles at 40

4- Check the wirings by checking the Torque and speed loop, if it didn't work change the wiring of the motor and go back to step 1.

This was just a workaround for the old firmware just for you to be able to find the wirings and check torque, speed and position loops, for sure it will be better for you to contact us through this form to get the latest firmware, but I believe with this trick you should be able to calibrate your motors and encoders and get things going on.

Let me know about your progress.

Milad

 

If you found the answers helpful and you could solve your problems, please kindly verify here to help others in the future.

ReplyQuote
Posted : 01/11/2021 9:18 pm
Forum 1
(@opals)
New Member

@milad 

Thank you for the quick reply. I do indeed have the 0x002B009 version.

I tried your workaround on every combination, and although I managed to complete encoder calibration, none worked properly. In some cases the motor was unable to start rotating, in others it would only rotate CCW. In one case it spun slower when set to CW, but always CCW nonetheless.

I have filled out the firmware update form. I am looking forward to a reply.

Best,

Felix

This post was modified 4 weeks ago by opals
ReplyQuote
Topic starter Posted : 02/11/2021 12:06 am
SOLO Team
(@milad)
Chief Member Moderator

Hi, @opals,

The latest firmware has been sent to you, pls check the calibration and let me know if this time for at least 1 combination of motor's wiring the Torque and speed are well controlled in both directions.

With this new firmware, you should put the correct number of poles ( 40 ) before doing the calibration like a normal process

Milad

 

If you found the answers helpful and you could solve your problems, please kindly verify here to help others in the future.

ReplyQuote
Posted : 02/11/2021 4:01 pm
SOLO Team
(@milad)
Chief Member Moderator

For the record for future readers, after updating the firmware to 0x0003B009, according to @opals , the issue with calibration is gone, and now all Torque, Speed, and Position modes are functional.

Milad

If you found the answers helpful and you could solve your problems, please kindly verify here to help others in the future.

ReplyQuote
Posted : 06/11/2021 5:17 pm
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