I connected EVALKIT-ROBOT-1 to 24V supply voltage, but the motor does not initialise to the zero-index of the encoder. The motor does not move at all and the red LED is flashing. When I read the discrete inputs, the returned answer is zero. Please help.

[Cristiana SCARAMEL]

Hello @JJoos.1​ and welcome to the ST Community.

Could you check all the hardware connections?

• Connect the motor phases and Hall-effect sensors to J10
• Connect the encoder to J4
• Connect the DC power supply to J7 taking care of the polarity (negative connected to GND and positive connected to VM).
• Connect the RS-485 communication line to J8 according to the indication on the bottom silkscreen (if termination is needed, short A+ and TERM inputs with a wire)

Refer to Figure 2 in the user manual UM2653.

Let me know if these info are useful to proceed with your project.

[JJoos.1]

I checked all the hardware connections.

They are just like figure 2 in the user manual UM2653.

I also checked the motor and the encoder at another controller (Maxon EPOS2), and they work fine.

The RS-485 connection is also OK, and the discrete inputs are returned.

The problem is that the motor does not move to the zero index of the encoder, so the initialisation did not work.

What does it mean that the red led is flashing ?

Waiting for your comments,

[Cristiana SCARAMEL]

Hello @JJoos.1​ ,

when the red led is flashing it means that the initialization of motor position failed.

Excluding the motor, the encoder and the communication line, I suggest to check the power supply.

Could you monitor the bus voltage (VM) and the motor phase voltages?

[JJoos.1]

Hello Cristiana,

I checked the power 24V power supply and it is OK.

All the motor phase voltages are 11,4 V

[Cristiana SCARAMEL]

Hello @JJoos.1​ ,

to understand the issue root cause, we have no choice but to run a debugger on the firmware.

You should debug the code and report for which errors it goes to stop.