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Topic-icon SD2130 - CLOSED LOOP POSITION COUNT (not working URGENT HELP needed!!)

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4 months 3 weeks ago #29534621 by Ephson
Hello, we are working with this controller (SDC2130) in mixed mode to control two motors :
Motor 1 runs in Closed Loop Seep mode and everything seems to work alright.

However, Motor 2 (GEAR HEAD 6GU50K) attached with a H9731 Avago encoder with 1000 CPR (250 PPR) and configured to run in Closed Loop Position Count Mode does not seem to be working at all. Aside the fact that the ENCODER counts are way too huge (> 47000 pulses for an almost 90 degrees turn in Open Loop mode), the controller performs same the action any, and everytime I send a command via the Roborun+ Utility Console.

What I mean to say is, sending a command like @04!P 2 1 behaves the same as @04!P 2 0.1 and @04!P 2 10 or @04!P 2 100. Each time, I have noticed that the Controller keeps wanting to turn the Motor(2) without stopping. Moreover, I always record very huge Loop Errors as well and as a result, even disabled this feature but still do end up with the same results.

I have tried almost all or most of the solutions in the forum pages but nothing seems to change the outcome.

Please find attached my current controller profile.

File Attachment:

File Name: Profile_ep..._RTQ.zip
File Size:2 KB
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4 months 3 weeks ago #29534622 by Gabriel_Isko
Keep in mind that encoder counts are 4 counts per per pulse for quadrature enocders. This is explained on page 54 of our User Manual .

The next step is to check that, in open loop, your encoder counts increase when you give a positive motor command. I suspect that you have your encoder wired backwards and that you are running into a runaway error. Making the encoder resolution negative will fix this.

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4 months 3 weeks ago #29534623 by Ephson
Thanks a million, @Gabriel_Isko. It worked just as you suggested.

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