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Topic-icon Rotor Angle Not Equal to Encoder Angle - BADJ [EDITED]

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3 weeks 3 days ago - 3 weeks 1 day ago #29534952 by jonathon.smith@indigotech
Device: RGBL1996, FW: v2.01 November 16, 2019
User Manual: V1.8, August 28, 2017

Per the user manual BADJ represents the angle offset between the encoder and the rotor. Considering this, I would assume that angle (ANG) would be equal to BADJ when the encoder counter reads zero. However, this is generally not the case.

In my application, I zero the counter using a digital input load counter with home value (DINA 8). After the counter is set, this is set back to no action. We have confirmed many times that the encoder zeroes properly. However, the encoder count does not seem to be the reference for the encoder angle.

Can someone explain the relationship between the encoder counter, BADJ and ANG?

After investigating further, I found that if I zero the encoder counter then rotate the wheel exactly one full turn, I see the angle return to zero such that it looks like there is one pole minus the expected.

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3 weeks 1 day ago #29534957 by jonathon.smith@indigotech
Additionally, I am having a problem where the counter is initialized and the angle adjust is set, but the angle continuously reads zero. The only thing that stops this is to clear the remote shutdown signal.

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