SDC2130 closed loop count position mode not responding.

5 years 8 months ago #29529817 by Scott
I just received 2 SDC2130 controllers and I'm attempting to configure them for closed loop count position mode.

I have tested the encoders in open loop mode and they respond as they should.
The motors work in closed loop speed.
I have disabled the loop error detection as I read to when searching through the forum.
I have us digital 360 count encoders so my pulse per rev is set at 1440.
These are new drives so the firmware is v1.4.

I'm stuck, any guidance would be appreciated.

Scott

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5 years 8 months ago #29529819 by TechSupport
The count mode is different. Since it is based on your feedback (hall counter[brushless] or encoder), it doesn't work like the other modes.

To get your motor 1 to get to encoder count 1000, then you must send serial command !P 1 1000. If yo want relative to 1000, then the syntax is !PR 1 1000.

Please refer to the user manual for more information. Page 103

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5 years 8 months ago #29529821 by Scott
Thank you for the reply.
I'm attempting to get motion through Roborun as I want to tune the PID.
I've reviewed the manual and followed the steps outlined.
I see the command value change but get no motion from the motor?

Thank you in advance.

Scott

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5 years 8 months ago #29529822 by TechSupport
If the change in command is too small, you may not see the motor move at all; that is to be expected. 1 pulse = 4 counts.

If you were to rotate the motor shaft by hand 1 full turn, you can measure how many counts it has gone up or down, to make that turn happen.

So if you want to see the motor move, you have to send a bigger value count.

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5 years 8 months ago #29529823 by Scott
I send it a +1000 to -1000 count through the PC utility and get no response at all from the motor.

Is it possible to to use Roborun to test this mode?

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5 years 8 months ago #29529824 by TechSupport
If you use Roborun+, yes. First make sure your encoders are wired to the correct pins. See if your encoder is actually working, go to the run tab of the utility.

If you are using encoder channels 1A and 1B, pins 4, 8, then you will need to disable pulse inputs 1 and 2. Set to disabled, and no action, and uncheck the check boxes. The reason for doing so is that the pulse inputs 1 and 2 share the same lines and signals, therefore they will conflict with each other. See note in datasheet.

Set a channel in the bottom right corner for counter 1. If you rotate the shaft of the motor by hand, this number will go up or down depending on the direction you spin the motor.

If this is good, then your mode should work correctly.

My impression is that perhaps you didn't disable the pulse inputs.

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5 years 8 months ago #29529825 by Scott
You are correct, I haven't disabled the pulse inputs.
I will give it a try.

Thank you.

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4 months 4 weeks ago #29534946 by danielj1
Hi,

I am having the same issue with my SDC2160 controller. I am wanting to use the closed loop count position mode and am trying to test it in Roborun+. Here are the items I have checked so far:

-Encoders are connected and working
-Pulse inputs are disabled
-Current count value is different than commanded count value (0 in this case)

When I click the run tab, I'm expecting the motor to immediately begin turning so that the counter reads zero, but instead nothing is happening.

Regards,
Dan

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4 months 3 weeks ago #29534951 by danielj1
I figured it out, thank you

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