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I am running a BLDC motor with Hall sensors with Pico. In position mode, when I put in a small position all works normally. However, when I put in a large position change (>50000) the motor fails to stop at the position. Also, when I set up the sensor and motor wiring per the video’s, a positive position is CCW and a negative position is CW. Can that be reversed? My gear train requires a CW rotation, and I would prefer to use positive numbers. Thank you
Hi @jlobin,
Can I have a screenshot of all your parameters in Motion Terminal?
Please note that, if you control the position of a motor using Hall sensors, as the resolution is very low, you might want to put the Position controller gains much higher compared to Encoder-based solutions, for instance, we usually put Position controller Kp and Ki at numbers like 20 and 0.008 respectively.
Milad
If you found the answers helpful and you could solve your problems, please kindly verify here to help others in the future.
Milad, thank you for your response. I will take the screen shot and send it to you. The second part of the question was about changing the rotation of the motor so that positive position values result in CW rotation, not CCW. Can that be done?
Jack
Milad, here is the screen capture of my tuning page.
Jack
The second part of the question was about changing the rotation of the motor so that positive position values result in CW rotation, not CCW. Can that be done?
For this you probably need to first swap the wires of your Hall sensors ( for instance you can swap EB and EC connection to SOLO), then you will need to go through the calibration process again, for that you will need to initially make sure the Angle is fine and then finding a new set of wirings.
The main thing is SOLO can't understand which direction is CW or CCW for you, thus the only way is to change the order of the wirings ( Hall sensor + Motor) to make this happen.
Milad, here is the screen capture of my tuning page.
I can see here the Position Controller Kp gain is very low, have you tried to increase it as mentioned before?
Milad
If you found the answers helpful and you could solve your problems, please kindly verify here to help others in the future.
Milan, per your recommendation I changed the position Kp gain to 2.0. Things now work fine. Thank you for your help.
Jack
