BLDC with Sinusoidal Switching

I have an 8 pole BLDC motor that I want to control with sinusoidal switching. I would like to understand what if any relationship there is between the Angle Timing Advance and the Angle Zero Adjust in the sinusoidal settings on the Roborun+ software.

I can get the system working with sinusoidal switching but there is a more pronounced buzz, when compared to trapezoidal switching. So I think I can improve on the current state with a better level of knowledge. I have chosen sinusoidal switching in order get the smoothest slow speed start possible, as that is very important feature for this project.

Thanks for your help.
Mark

Hi Blake,
I'm using the MBL1660 with a Hall sensor and Encoder, so I can use both sensors separately or together.
Mark

Hi Blake.
I have put ~UID command into the console tab and sent it to the controller (I assume I have done that correctly as there is reply). And I get a dash (please see below), nothing like a version or serial number. Please see note at end of page.

******log**********************
# C
?trn
TRN=SBL1XXX:SBL1360
?ID
FID=Roboteq v1.7beta SBL1XXX 01/20/2017
?lk
LK=0
%UK 0
+
~BRUN
BRUN=0
%UK 0
+
~ACS
ACS=1
%UK 0
+
~TELS
TELS=
%UK 0
+
~CPRI
CPRI=0:1:3
%UK 0
+
~DFC
DFC=0
%UK 0
+
~CLIN
CLIN=0
%UK 0
+
~RWD
RWD=1000
%UK 0
+
~PMS
-
%UK 0
+
~AMS
AMS=1
%UK 0
+
~CEN
CEN=0
%UK 0
+
~CBR
CBR=3
%UK 0
+
~CNOD
CNOD=1
%UK 0
+
~CLSN
CLSN=4
%UK 0
+
~CHB
CHB=0
%UK 0
+
~CSRT
CSRT=100
%UK 0
+
~CTPS
CTPS=0:0:0:0
%UK 0
+
~CAS
CAS=0
%UK 0
+
~EMOD
EMOD=18
%UK 0
+
~EPPR
EPPR=1024
%UK 0
+
~ELL
ELL=-2000000
%UK 0
+
~EHL
EHL=2000000
%UK 0
+
~EHOME
EHOME=0
%UK 0
+
~ELLA
ELLA=16
%UK 0
+
~EHLA
EHLA=16
%UK 0
+
~DINL
DINL=0:0:0:0:0:0
%UK 0
+
~DINA
DINA=16:16:16:16:16:16
%UK 0
+
~AMOD
AMOD=0:0:0:0:0:0
%UK 0
+
~AINA
AINA=16:16:16:16:16:16
%UK 0
+
~AMIN
AMIN=250:250:250:250:250:250
%UK 0
+
~ACTR
ACTR=2500:2500:2500:2500:2500:2500
%UK 0
+
~AMAX
AMAX=4750:4750:4750:4750:4750:4750
%UK 0
+
~APOL
APOL=0:0:0:0:0:0
%UK 0
+
~ADB
ADB=5:5:5:5:5:5
%UK 0
+
~AMINA
AMINA=16:16:16:16:16:16
%UK 0
+
~AMAXA
AMAXA=16:16:16:16:16:16
%UK 0
+
~PMOD
PMOD=0:0:0:1
%UK 0
+
~PINA
PINA=16:16:16:17
# C
?trn
TRN=SBL1XXX:SBL1360
?FID
FID=Roboteq v1.7beta SBL1XXX 01/20/2017
?lk
LK=0
%UK 0
+
~BRUN
BRUN=0
%UK 0
+
~ACS
ACS=1
%UK 0
+
~TELS
TELS=
%UK 0
+
~CPRI
CPRI=0:1:3
%UK 0
+
~DFC
DFC=0
%UK 0
+
~CLIN
CLIN=0
%UK 0
+
~RWD
RWD=1000
%UK 0
+
~PMS
-
%UK 0
+
~AMS
AMS=1
%UK 0
+
~CEN
CEN=0
%UK 0
+
~CBR
CBR=3
%UK 0
+
~CNOD
CNOD=1
%UK 0
+
~CLSN
CLSN=4
%UK 0
+
~CHB
CHB=0
%UK 0
+
~CSRT
CSRT=100
%UK 0
+
~CTPS
CTPS=0:0:0:0
%UK 0
+
~CAS
CAS=0
%UK 0
+
~EMOD
EMOD=18
%UK 0
+
~EPPR
EPPR=1024
%UK 0
+
~ELL
ELL=-2000000
%UK 0
+
~EHL
EHL=2000000
%UK 0
+
~EHOME
EHOME=0
%UK 0
+
~ELLA
ELLA=16
%UK 0
+
~EHLA
EHLA=16
%UK 0
+
~DINL
DINL=0:0:0:0:0:0
%UK 0
+
~DINA
DINA=16:16:16:16:16:16
%UK 0
+
~AMOD
AMOD=0:0:0:0:0:0
%UK 0
+
~AINA
AINA=16:16:16:16:16:16
%UK 0
+
~AMIN
AMIN=250:250:250:250:250:250
%UK 0
+
~ACTR
ACTR=2500:2500:2500:2500:2500:2500
%UK 0
+
~AMAX
AMAX=4750:4750:4750:4750:4750:4750
%UK 0
+
~APOL
APOL=0:0:0:0:0:0
%UK 0
+
~ADB
ADB=5:5:5:5:5:5
%UK 0
+
~AMINA
AMINA=16:16:16:16:16:16
%UK 0
+
~AMAXA
AMAXA=16:16:16:16:16:16
%UK 0
+
~PMOD
PMOD=0:0:0:1
%UK 0
+
~PINA
PINA=16:16:16:17
%UK 0
+
~PMIN
PMIN=1000:1000:1000:500
%UK 0
+
~PCTR
PCTR=1500:1500:1500:1000
%UK 0
+
~PMAX
PMAX=2000:2000:2000:1500
%UK 0
+
~PPOL
PPOL=0:0:0:0:160:0
%UK 0
+
~PDB
PDB=5:5:5:1
%UK 0
+
~PMINA
PMINA=16:16:16:16
%UK 0
+
~PMAXA
PMAXA=16:16:16:16
%UK 0
+
~DOL
DOL=0:0
%UK 0
+
~DOA
DOA=16:16
%UK 0
+
~PWMF
PWMF=160
%UK 0
+
~OVL
OVL=600
%UK 0
+
~OVH
OVH=50
%UK 0
+
~UVL
UVL=120
%UK 0
+
~BKD
BKD=250
%UK 0
+
~THLD
THLD=1
%UK 0
+
~MDIR
MDIR=0
%UK 0
+
~BPOL
BPOL=-8
%UK 0
+
~BLFB
BLFB=0
%UK 0
+
~BLSTD
BLSTD=1
%UK 0
+
~BMOD
BMOD=1
%UK 0
+
~BLL
BLL=-20000
%UK 0
+
~BHL
BHL=20000
%UK 0
+
~BHOME
BHOME=0
%UK 0
+
~BLLA
BLLA=16
%UK 0
+
~BHLA
BHLA=16
%UK 0
+
~BFBK
BFBK=2
%UK 0
+
~BZPW
BZPW=20
%UK 0
+
~BADV
BADV=8
%UK 0
+
~BADJ
BADJ=4
%UK 0
+
~ALIM
ALIM=200
%UK 0
+
~ATRIG
ATRIG=750
%UK 0
+
~ATGA
ATGA=16
%UK 0
+
~ATGD
ATGD=500
%UK 0
+
~MXPF
MXPF=100
%UK 0
+
~MXPR
MXPR=100
%UK 0
+
~MXRPM
MXRPM=3000
%UK 0
+
~MAC
MAC=15000
%UK 0
+
~MDEC
MDEC=15000
%UK 0
+
~MMOD
MMOD=6
%UK 0
+
~MVEL
MVEL=1000
%UK 0
+
~MXTRN
MXTRN=97656
%UK 0
+
~KP
KP=4
%UK 0
+
~KI
KI=0
%UK 0
+
~KD
KD=1
%UK 0
+
~ICAP
ICAP=100
%UK 0
+
~CLERD
CLERD=0
# C
#
~UID
-
~UID
-
~UID
-
***********end*******************
I would like some advice on the sinusoidal settings so I can tune them as needed. This will be an ongoing project and I may need to control various types of BLDC form a variety of manufactures. So an all round knowledge is vital.
Regards,
Mark

Hi Blake,
I have since been informed (can't actually see the casing due to other components) that this chassis is using the SBL1360 motor controller. We are also interested in using dual motor SBL23XX version as well as the MBL1660. We would like to use sinusoidal switching for all of these controllers, so if you could let me know whether they are available with the firmware for sinusoidal switching that would be helpful.

Back to the controller I'm working on.
When I put in the enquiry code I get:
?UID
UID=100:1042:108199766:1213563985:-2029500351

I hope this helps
Regards,
Mark

Hi Blake,
Thanks for the information.

However I have been able to run a motor via the SBL1360 on sinusoidal mode. It could achieve a much higher wheel speeds (chassis is secured on a bench) and it had smoother transitions between speeds than the trapezoidal switching. Though it did tend to trip the system a lot.

Please could you explain the setting for the sinusoidal commutation as I will need to be able to use them for this project.
In particular the Reference Seek Power (A) is that rated in amps? Also how should the Angle Timing Advance and Angle Zero Adjust be set for an 8 pole BLDC motor?

Regards,
Mark