Motor won't start after Emergency Off which occurred while motor command was zero

5 years 4 days ago #29531259 by Ryan
Hi there,

we're using sbl1360 controllers and have a problem. The Controller is configured to use only serial command. If you start the motor, hit the emergency off button at the top right border of the roboteq control software, the motor stops as expected. If you press resume, the motor starts as expected.

But if you press the stop button, (Motor command = 0) then hit emergency off, resume and try to start the motor. It won't unless you acellerate it a bit per hand. The control software tells motor current -4A. It seems like there is a braking active.

It also seems that this only occurs, if the motor is standing still when emergency off gets triggered.

Could you explain that problem?

Thank you.

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5 years 4 days ago #29531260 by TechSupport
A bit of confusion in the second statement.

If you press the "stop button", what exactly are you referring to? Is it the emergency stop button on the top right of Roborun, or is it something different?

The other issue, is, does the controller issue any type of fault when this occurs? Go to the run tab and see if something like "Stall" is triggered.

Also is this in open loop mode or a closed loop mode? If a closed loop mode is used,is the loop error detection set to disabled?

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5 years 4 days ago #29531261 by Ryan
The controller is in open loop mode and doesn't issue any kind of fault.
I'm not using a script. I've attached my configuration.
I'm referring to the "Stop" button next to the "+" and "++" buttons in the "Command" Section.
Please take a look at the attached screenshots.

The controller doesn't issue any type of fault. Stall isn't triggered.

Should I create a video showing the issue?

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5 years 4 days ago #29531262 by TechSupport
Can you show a channel with motor power? Unfortunately that doesn't show me enough details about the problem.

Also another question, and request. The motor itself needs to be in the correct UVW configuration. To verify, the motor amps and the battery amps must both be in agreement with each other when the command is +1000 and -1000. If they are not or the motor requires some assistance of any kind, means the UVW combination is not correct.

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5 years 4 days ago #29531263 by Ryan
I've created more screenshots.

The motor is quite sure in the correct UVW configuration. We connected the hall sensors 1:1 and then tried all 6 possible combinations for the motor phases. There were two working combinations. One for forward and one for backward. Exactly as the manual claimed there would be.

Additional I've discovered that the error only seems to occur, if emergency off was active for at least 4 seconds.
Attachments:

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5 years 4 days ago #29531264 by TechSupport
I'll see if I can replicate. The UVW pairing looks correct based on your screenshots.

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5 years 4 days ago - 5 years 4 days ago #29531265 by TechSupport
Please download and run/install teamviewer. Please send ID and password it assigns you to This email address is being protected from spambots. You need JavaScript enabled to view it.

This will allow me to see the issue/ troubleshoot on your end since I am unable to replicate on my end.

www.teamviewer.com/en/index.aspx

Edit: I just now got it to replicate. We will look into this.

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5 years 4 days ago #29531266 by TechSupport
Please try this beta firmware. The problem looked like it went away on my end. Note that since this is beta and not fully validated, you'll need to do thorough testing on your unit for any issues.
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The following user(s) said Thank You: Ryan

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5 years 4 days ago - 5 years 4 days ago #29531267 by Ryan
Hi,

I've tried this beta firmware successful. It works! When will the final version be released?

Initially, I've discovered the problem with this script, which allows free-wheeling if no motor command is supplied.
In our use-case the user presses a button, which sets motor command to 400. This seemed to work fine, unless the user pushed the button repeatedly.

This now also works perfectly.

Thank you!
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5 years 4 days ago #29531268 by TechSupport
We are still in the process of validation, however like many things, you fix a problem and create new problems.............

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