MCSDK : 5.y.2
Cube Ide 1.7
CubeMX 6.30
Board: B-G431-ESC1
Motor Maxon EC60 24V 200W
Encoder A,B,Z (48,100...2048 ppr choosable resulution) atm 48 ppr
Motordates learned with Motor Profiler.
MotorPilot : Position Control App.qml
:
Three issues all have following in common :
Building works
Motor seems to hold the position.
If i turn the encoder manually the motor tires to compensate that.
1st Issue MotorPilot send "Execute Set Position command" crashes MCU to Fault Handler:
I found out that register_interface.c at Line 381 case MC_REG_POITION_RAMP
FloatToU32 Position;
....
MCI_ExecPositionCommand(pMCI, Position.Float_Val, Duration.Float_Val);
the union crashes the mcu to faulthandler (unaligned access ?)
I made all values to simple float and ithe mcu programm did not crash anymore,
the command was correctly transferred to mcu (found out by debugging)
2nd Issue : (the main problem)
I cannot use the positioniong at all:
Independantly of the PID Parameters the commands are not driving the door properly.
i tried an example from the app notes but it worked only sometimes.
i found sometimes the motor tried to drive a bit to left and 2 seconds later a bit to the right,
but at the end not complete rotations and not always.
Is positioning working at all ?
while (1){
MC_ProgramPositionCommandMotor1(pos1*1.57,0.1*time1);
HAL_Delay(2000);
MC_ProgramPositionCommandMotor1(pos2*-1.57,0.1*time2);
HAL_Delay(2000);
}
3rd issue :
If i configure the Encoder without Z ,
the app crashes if Z-signal is triggered eletrically (even thoug config says _ no )Z Index
