Position control (based on AN5464) using quadrature incremental encoder(ABZ)

[Rajeswari]

Hello,

I'm trying to do position control using EVSPIN32G4 board and pmsm motor with incremental encoder. I followed the steps given in AN5464. The motor did not move and the rotor is locked. I'm attaching the code here. 

**********************************************************************************************************

/* USER CODE BEGIN 2 */
MC_StartMotor1();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while(MC_GetAlignmentStatusMotor1()!=TC_ALIGNMENT_COMPLETED){}
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
MC_ProgramPositionCommandMotor1(3.14/2,0.1);
HAL_Delay(2000);
MC_ProgramPositionCommandMotor1(-3.14/2,0.1);
HAL_Delay(2000);
}
/* USER CODE END 3 */

***********************************************************************************************************

While debugging the code stops at "while(MC_GetAlignmentStatusMotor1()!=TC_ALIGNMENT_COMPLETED){}". It never comes out of this while loop. 

The A,B & Z pulses are working fine. Motor runs perfectly in sensorless FOC(speed control). I think the alignment does not happen at all. kindly help with this. I'm very short on time to complete the project 

@msingh @smaiti and many others faced same issue. But there wasn't any explanation on how they overcome this issue.

MC Workbench 6.2.1

CubeMX 6.6.1

CubeIDE 1.15.0

any help guys?

[GMA]

Hello @Rajeswari,

Yes, test has been done with EVSPIN32G4, 1000ppr Encoder, 4500 RPM max motor, and signal Z pulse generated at each rotation.

RC low pass is used on encoder MCU input, smaller is your resistor higher is your cutoff frequency.

[Rajeswari]

I have changed the filter resistors from 10kohm to 510 ohm. Will it affect the stspin32g4 IC (any overcurrent drawn)? Why was position control working one day but not the next? 

I need some solution

[Rajeswari]

Other than cutoff frequency, will it increase the current to MCU pin? 

[Rajeswari · Accepted solution]

So, I tried the same with a new EVSPIN32G4 board and it works fine now. I am able to do position control using pilot as well as using command from code