mgs 1600gy issue

2 years 3 days ago #29534180 by Davidetwinp98
I already connected and configured my two mgs1600gy, performing "sensor calibration", and setting all the specifications I needed.
My problem is that I'm trying to automate an agv (magnetic band) but it seems that when driving on one side, the band that I use on that side, does not respond correctly to commands, continuing to oscillate slightly, but that does not happen on the other side...

could you tell me if there are any mechanical factors (eg weight or centering of the bars) that can affect the guide, or if it is only a configuration problem?

I make this question because in the past i had already create an agv with this mgs1600gy but there weren't a problems.

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2 years 2 days ago #29534182 by Gabriel_Isko
Replied by Gabriel_Isko on topic mgs 1600gy issue
Weight distribution can cause these issues if you are not controlling the AGV wheels speed and correcting for error.

Are you using our controller to drive your AGV wheels, and if so are you operating in Closed Loop Speed Mode?

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2 years 2 days ago #29534183 by Davidetwinp98
Replied by Davidetwinp98 on topic mgs 1600gy issue
My configuration is the following: Motor controller FBL2360, 2 brushless motors and 2 mgs1600gy.
My agv moves both forward and backward, using the sensor from the side where I'm moving, respectively, while disabling the one on the opposite side.
But in one of the two parts, I have all the weight of the batteries, and it is from that side that the sensor does not seem to follow the commands perfectly and continues to oscillate, as if it was difficult to reach the center of the magnetic strip.
So the problem can only be solved by weight balancing, or can some changes in weight configuration be made?
I'm using open loop mode

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2 years 1 day ago #29534190 by Gabriel_Isko
Replied by Gabriel_Isko on topic mgs 1600gy issue
You need to run your AGV drives in closed loop speed mode. That is what should get rid of the oscillation. It is being caused by the fact that Open Loop mode only commands voltage, so the speed of your motors will vary when there is a dynamic torque load on it. The shifting nature of an AGV's center of gravity while it is driving provides this dynamic load. The steering control tries to correct for this, however it can only do this when the steering has already affected the AGV's orientation.The solution is to used closed loop speed mode, which adjusts the voltage send to the drive in order to maintain a set speed. This will remove your oscillations, as well as make your performance independent of any payload you have on the AGV.

There will be an application note about this soon. You should refer to Section 10: Closed Loop Speed and Speed Position Modes of our User Manual for a guide on how to implement it.

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2 years 1 day ago #29534197 by Davidetwinp98
Replied by Davidetwinp98 on topic mgs 1600gy issue
OK, Thank you very much

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