torque mode

3 weeks 4 days ago #29535066 by kondo
torque mode was created by kondo

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File Name: motorcurrent.doc
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Hi.
I have bought your motor controller andtrying to use it in the torque mode. However, the motor torque greatlyfluctuates and could not be controlled. Please let me know proper way of using thetorque mode. Product: SBL2360 (Ver.1.8)  Roborun+ (Ver2.0). Trouble: Produced torque greatly fluctuate. Method of measurement: I fixed the motor shaft as it would notrotate.   Next,I applied a current to the motor. Please find the attached sheets that arethe setting profile of SBL2360 & the motor current waveform.
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2 weeks 6 hours ago #29535087 by george_f
Replied by george_f on topic torque mode
Hello Kondo
 Please update the controller with the 2.01 firmware from website  www.roboteq.com/support/files-downloadin order to get the 'Diagnostics Tab" feature that will help you with the
setup.
Then please read the page 114 in Roboteq Controller User Manual in order twoperform a Motor/Sensor setup, once for 1 channel and once for the 2 channel.
To help you for motor sensor setup you will need only to set from default, Sinusoidal
mode ,Pole pairs, Referecne seek power, and Open loop as control mode not
Torque or any other mode.
If you are using only hall sensors will get as a result when the setup is
finished some HSAT values that should not be "64"
If you are using other sensor you will get a BADJ and an SWD number.
After that you will have to calculate the FOC parameters meaning Torque
Proportional Gain and Torque Integral Gain, because i saw that you just put
"1" there and i know that it is not correct.  You will set the
same values in Flux Proportional Gain and Flux Integral Gain too.
How to calculate FOC values. In the Roboteq Controller User Manual page 118,
119, 120 you will find all the information you need for that.
Please note that the values from the motor usually are in mOhm(Resistance) and in
μHenry(Inductance) so you will need to tranform them in Ohm and in Henry like
below
Example calculation for 50Hz bandwith, 11mOhm Phase resistance and 90uH Phase
Inductance
Ki = 0.011 * 314 = 3.45
Kp = 0,00009 * 314 = 0.028
Please perform all of the above after reading carefully the Manual

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