HSO position observation problem

[z h]

I used the G431 to configure the HSO correctly, passed the Profiling test step, and the closed loop also started and stopped the motor correctly.

However, there are cases where the startup is unsuccessful: when starting with Pol.Pulse, sometimes the motor will reverse, and sometimes it will stop after a few swings. PulseDuty has been adjusted to 0.97.

It is found that when running Observing, for example, the angle displayed at the beginning is 300 degrees, and after manually rotating the motor axis, the position will change, but it will eventually stop at about 300 degrees, regardless of the actual position of the motor. What do I need to adjust to make the position observation correct?

[Gael A]

Hello z h,

In order to find a solution to your problem, I would like to know more about your motor's characteristics and application. Can you provide :
- Your Motor's parameters (Rs, Ls, Flux (Wb), PolePairs, Nominal Speed and Current)
- Your start-up conditions : Speed (or torque) target, speed ramp, Pulse Current goal

Concerning the behaviour of the system in Observing mode, be aware that this is absolutely normal. In Observing, nothing is done to the motor, only sampling are performed. This means that at low / zero speed, the B-EMF is very low and that speed and position estimations are totally incorrect. Observing is mainly relevant for verifying your offset measurements.