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Topic-icon SBL1360 random Motor stall

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4 years 8 months ago - 4 years 8 months ago #29530551 by TechSupport
A person pushing the switch, unless you have a better means of doing so.

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4 years 8 months ago #29530552 by TechSupport
If a person isn't by any means working with this motor while in it's application, then I suggest you work with the script to make what you need to work out. You would need to set up different loops that tell the motor it needs to do certain things and then at some point return back to the main loop "Top:".

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4 years 8 months ago #29530553 by kitepowersolutions
Its on a UAV, so a person pushing a switch is out of the question, its also a highly dynamic application so any control loss is very critical.
The only command that gets it unstuck is a controller reset but that takes 2 sec+ which is to long.

What loop sequence would you suggest?

Why would it be so random if its a fundamental logic error?
Why would a small amount of external force overcome a loop logic error?
Could this be a electromechanical issue?

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4 years 8 months ago #29530554 by TechSupport
You would first have to determine what exactly is causing the stall to occur. Generally speaking giving a motor command of 0 in open loop should reset the stall condition.

Setcommand(G, 1, 0)

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4 years 8 months ago #29530555 by TechSupport
In your script you can perhaps look at the motor fault condition.

You query this via ?FS

stall = getvalue(_FS)

you can then do a 1 line if then statement to take it to a different loop that fixes the stall condition and then returns to the main loop.

top:
stall = getvalue(_FS)
if stall = 17 then goto fix

*Rest of code here*

fix:
setconfig(_mmod 1 0)
Setcommand(_g, 1, 0)
wait(10)
goto top

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4 years 8 months ago #29530560 by kitepowersolutions
I have tried your loop, however it makes no improvement. I believe that stall is a symptom of not the cause of the motor stopping and so canceling the stall condition has little effect.
I will be speaking to maxon motor to see if they have any ideas.

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4 years 8 months ago #29530568 by kitepowersolutions
Some questions about SBL13xx
is it a 2 level or 3 level controller?
Is the any added inductance on output?
What is the limit of starting current?

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4 years 8 months ago #29530569 by TechSupport
Please elaborate on the level controller as I did not find any specific references ion Google search to answer this question.

There isn't any added inductance on the output, unless you have long wires leading out from the controller.

The limit of the current is based on the motor AMPS which is configurable in your configuration setting under amps limit. See page 28 of the user manual for more information regarding the battery current versus the motor current.

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4 years 8 months ago #29530570 by kitepowersolutions
2 level would be 0 to +Vcc
3 level would be -VCC to 0 to +VCC

also the starting instantaneous starting current can be very high, much greater than the operating current but the controller can handle it because it for such a short time interval. I just wondered if there was a limit other than the ROBORUN+ configured paramater, or even a ball park figure.

On advice of maxon drive engineers I am going to install a external choke to add output inductance, something all there controllers seem to have.

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4 years 8 months ago #29530571 by TechSupport
It would be level 2 then; thanks for clarifying.

Outside of the Roborun utility, the only other thing that would limit current at the output is if the controller were to enter thermal limiting in which case the pcb heatsink temp reaches above 70°C.

Granted you can always change the amps limit value on the fly via serial commands, or you can write a microbasic script that would do that based on the conditions you set for it.

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