+/- 2.5A spikes. I am using a Faulhaber motor with absolute encoder Biss-C feedback. Eventually I worked out how to start the current and rotor alignment correctly with each other and can reduce the startup and running current to very low values < 20mA for motor. I removed the alignment phase from the motor startup state machine between boot cap charge and run. When the motor turns in positive direction it is stable. When the motor is rotating negatively the current and rototation seems to be unstable after a few seconds and I get the spikes again and the motor just vibrates. Once it gets into the unstable state. I cannot restart the motor from motor pilot without it oscillating, unless I power cycle the board. Where is the parameter set of the unstable motor stored such that the current continues to oscillate unless I power cycle?
Hello @GSB,
The discrepancy between measured currents and expected values indicates a misalignment between the parameters provided to the workbench and the hardware configuration.
You can verify this by using an unmodified board and checking the accuracy of the measured currents against the expected currents.
In MCSDK5.4.8 Workbench tool, a Network Gain Calculator tool is available (current sensing box, Calculate feature). If only the Rshunt value has been modified on your biard, the Vout dynamic is approximately 0.3 V. It should ideally be closer to a 3.3 V dynamic.
