Position Control VBL2360

I am trying to control BLDC motors in position as well as in speed mode. Feedback sensor for speed control is inbuilt Hall sensors and for position feedback, I have installed potentiometer.

Problem with position control is that when the actuator reaches its desired position, the motor is still humming. In Roborun application software I can clearly see the Hall speed parameter varying. I tried changing the dead band , and P, I, D parameters. The transition is smooth however, the when it reaches its destination, motor keeps on vibrating.


In speed control mode, when I give command from Roborun software, the motors starts to rotate at full speed and then stops after 1 second and then it again starts rotating with full speed. This cycle continues till I power off the controller. The motor is running fine in open loop mode.

Thanks,
Rajeshwar

If it is vibrating, then most likely the issue is with the tuning. If you go into the "run" tab, can you do the following?

Set some channels in the bottom right area of the browser.

Motor command
motor power
hall speed

and then give the motor a command that allows the condition to appear. Then stop the command. At the bottom is a save to disk button. Please save the file and upload here via a compressed folder as the upload file without being zipped first seems to be a problem.

pls find the log file attached.

What could be possible reason for closed loop speed control mode not operating in desired way?

I tried different values of P, I and D values. You have suggested to change values of P, I and integrator limit. How about changing value of D?.
What should be initial values of P, I, D and integrator limit parameters?

I am still struggling to control the motor in closed loop speed control mode. Can you help me in that too please.

Thanks

What should be initial values of P, I, D and integrator limit parameters in position control mode?

I have updated the drives with latest firmware.