FBL2360 open loop sinusoidal mode

I have a FBL2360 dual channel controller using a 12 pole Kollmorgen motor. I am trying to get open loop sinusoidal switching mode working. Currently my setup is for one motor (1). My sensor input is a model 260 EPC 10000 PPR encoder. No hall sensor input is connected. I have the encoder connected properly as I see the count on the Run page cycle through 40000 counts for one revolution of turn. When I execute the !BND 1 command I get the BND + response but do not get the BADJ response. I see the motor do the +90 ,-90... sequence between two of the 12 poles. The manual says the BADJ will not come out if signal lines are noisy etc. I don't believe this is my problem.

So then I use the command slider to send motor output to +100, the motor moves around +200 encoder counts and then stops.When I operate the motor in trapezoidal switching mode with sensor less input the motor spins continuously.

I have the number of poles set to 12 in the configuration - although the label on the GUI says pole pairs, does that mean 6 for my motor? Either way I used the BPOL command to set it to 12. The GUI would not allow me to set the encoder PPR above 5000. So I use the EPPR command to set it to 10000.

Is there something I am missing in the configuration? I've attached my profile.

Kevin

After a conversation with Blake, I have cleared up the confusion with the BPOL command, The BPOL command wants pole pairs, which is 6 for my motor. I've also gone through all combinations of the three motor wires connecting them to the UVW tabs on the controller and determining which combination successfully completes the !BND sequence. So now I consistently see the following pattern after I initiate a !BND sequence and then apply a motor output of 60. The motor makes ~1 revolution and reverses direction for ~1 revolution. It does this about 3x slowing down each time and then coming to a stop. I don't know what is causing it to think that it has to reverse direction. Something to do with the encoder output? I have an encoder with an index output, but currently am not using it. Again if I just run this in sensor less switching mode the motor appears to spin correctly, although at a constant speed even though I apply more motor output through the GUI. It seems this pattern is indicative of something in the setup that is still not right.

Kevin

After another conversation with Blake, we programmed a beta version of the 1.7 firmware that fixed our problem when using high resolution encoders only in sinusoidal mode. It appears the new update calculates a more accurate reference angle during the reference search (BND command).

It's good to ask questions here on the forum before wasting too much time on trying out. It's also good to post it here so others can learn from that.

I also got new 2360firmware to solve my controller-issues.