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Post by jerome on Jul 31, 2015 18:44:31 GMT
Hello everybody,
I'm experienceing a problem with my controller.
In rest mode and without any load on the motors (upper platform removed), out of the 6 motors, 3 are perfectly still, 3 are constantly oscillationg around the center position (2,4,6). I Inverted the hall effect sensor of motor 6 and 5, the behavior remains on motor 6 and 5 stays stable. I tried changing the timing belt, the pulley, I checked the wiring, exchange some cables, replace some cables, nothing helps.
I didn't have that behavior before and I'm wondering if any of you already experienced this issue.
Maybe tronicgr can help. I still have all the spare electronic chips from the extension board, maybe replacing one would help ?
Let me know if you any ideas, thanks a lot guys.
Jerome
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Post by vicpopo on Aug 1, 2015 7:09:58 GMT
Hi Jerome ,
I already met this problem at the beginning when adjusting the arm level and the sensors middle position and sens .As Tronicgr said there is a more suitable sensor position to setup the sim.I didn't remember which one ( can check mine) pos246 neg 135 , can you confirm Thanos? Then invert the sensor postion wiring of the neg 135 and finally adjust the sensor position ( turn it ) to get the correct arm level position !
I don't know if I'm clear and if al what i wrote is correct but the solution is nearly trying to do as described !
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Post by jerome on Aug 1, 2015 9:57:28 GMT
Thanks for your answer vicpopo,
the thing is that it does it so much and quickly that the motors are quickly warming up and starting to make a very unpleasant noise. The other motor are rock stable, that's why I supsect something wrong on the controller and not a setup issue.
Cheers Jerome
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Post by vicpopo on Aug 1, 2015 10:48:05 GMT
Ok ok , but if the three motors of the sensors position form amc setup have the problem , why only the three motors? If you change the setup sensors position on amc did the problem stay on the same motors or change to motors 135 ?
Cheers nice having some news from you ;-)
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Post by jerome on Aug 1, 2015 18:16:27 GMT
You are right vicpopo, it's an easy test. I'm not next to the simulator this weekend, I don't know if my friend will have time to do it in the meantime.
Sorry I was away from the forum for a long time. I hope you are doing fine and Thanos too.
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Post by jerome on Aug 1, 2015 19:12:42 GMT
My friend did another test, he inverted the feedback and the command cables between motor 5 and motor 6. Then motor 5 starts to shake around it's position and 6 stays stable. This means, it's not a wiring issue between the AMC and the motor, nor a motor/inverter issue nor a feedback issue. It's really an issue with coming from the board.
Maybe tronicgr has a magic solution ?
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Post by hexpod on Aug 1, 2015 20:38:59 GMT
My friend did another test, he inverted the feedback and the command cables between motor 5 and motor 6. Then motor 5 starts to shake around it's position and 6 stays stable. - what is the frequency and amplitude of those vibrations? - is this occurring when kill switch is engaged as well?
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Post by jerome on Aug 2, 2015 12:29:08 GMT
Hello hexpod, Thanks for your message. Here is a video of the motor my friend did to show me the result of his test. goo.gl/photos/tH7qrfc8Vnq4fCRH6(Sorry it's in french, it wasn't meant to be shared) The kill switch is configured to stop all motors so, no it doesn't happend when the kill switch is on. But the board is only powered, no instruction is sent to the board, it's in its start position.
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Post by hexpod on Aug 2, 2015 14:28:44 GMT
Hello hexpod, Thanks for your message. Here is a video of the motor my friend did to show me the result of his test. goo.gl/photos/tH7qrfc8Vnq4fCRH6(Sorry it's in french, it wasn't meant to be shared) The kill switch is configured to stop all motors so, no it doesn't happend when the kill switch is on. But the board is only powered, no instruction is sent to the board, it's in its start position.
Did you tried to play with oversampling setting in the sensor section of Fabi's configurator?
I would also try to limit the "Motor Min Speed". It might be that it comes from inaccurate PID setting.
cheers!
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Post by jerome on Aug 11, 2015 22:13:45 GMT
Hello Guys,
after some unsucesful tests we re-did an autotune on the inverters that seems to have reduced the issue. We remounted the upper platform, will see how it goes in the long run.
Thanks a lot for your suggestions and help !
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Post by riton39 on Aug 12, 2015 9:57:06 GMT
une vitesse de base différente peut faire ce genre de problème. il suffit que la fréquence de base d'un des moteur soit à 2Hz, et ton moteur va bouger au centre proche de la consigne car sa vitesse de base sera plus importante.
en mode U/F c'est le cas en Vectoriel peut être aussi.
a different base speed can do this kind of problem. it is sufficient that the basic frequency of a motor either at 2 Hz, and your engine will move to the nearby center of the set as its base speed will be higher.
U / F mode is the case can be as Vector.
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Post by riton39 on Aug 23, 2015 19:55:26 GMT
si tu veux échanger sur des soucis éventuel, réglages de variateurs .... hésite pas j'ai pas mal fait d'essais en tout genre
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