Fanuc motor locked when I start the controller

[VFerr.2]

Hello everyone!

I'm developing an application with a little Fanuc Beta Series motor with a custom encoder. I was using a NUCLEO-F446RE, but it burns some tests ago :( Now I'm using a Chinese board with an F103C8T6, but not working properly.

I attached a video and upload the same video on YouTube if you prefer. 

The first part of the video shows the problem. I start the motor on the software and the motor locks at the initial position. I already tried a lot of things, including invert the encoder direction.

Despite that we can see the current control working properly.

The second part of the video shows a test with the encoder detached of the motor and rotating the encoder with my hand. In my mind, this test shows that there is no problem with drive circuit, no problem with encoder and no problem with the motor, because the movement is smooth, with no jump of phases or something like that.

The third part of the video shows the same test with the encoder inverted.

Can someone help me?

Link of the video: https://youtu.be/9hxMoIHZh6o

[MK.1]

It appears that the encoder alignment routine has not been completed. Check the status encoder alignment.

[VFerr.2]

Thanks for the answer!

I was analyzing the video and saw that one revolution of the encoder cause two revolutions of the motor... that's because the number of poles of the motor was wrong in the Workbench.

I'm very confused now, because the plate of the motor shows 8 poles, but in reality it has 4 poles. Probably this motor already reworked in the past.

Anyway, I'm uploading a video showing the motor working pretty well for a first test.

Thanks everyone and I disposed to share details of my project if anyone get interested.

Link of the video with the motor working: https://youtu.be/MsPVvTcLkAE

[MK.1]

Friend, this video will help you...

https://www.youtube.com/watch?v=XnGHpT96Ri4&list=PLnMKNibPkDnEgc7QwaabA5SKz5_4Mwz4e&index=2