PeakCAN Control ODrive with A2212-1400KV and X2212-980KV

我的Odrive Board
版號: Odrive v3.6-56
ODrive control utility v0.6.5.post2
Odrive 硬件內部 FW V0.5.6

接續這一篇文章odrive perform Sunnysky X2212 980KV motor with Encoder TLE5012B

M1位置是接無編碼器

設定如下:

dev0.axis1.controller.config.vel_gain = 0.01

dev0.axis1.controller.config.vel_integrator_gain = 0.05

dev0.axis1.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL

dev0.axis1.controller.config.vel_limit = 50

dev0.axis1.motor.config.current_lim =15

dev0.axis1.sensorless_estimator.config.pm_flux_linkage = 5.51328895422 / (7 * 1400)

dev0.axis1.requested_state = AXIS_STATE_MOTOR_CALIBRATION

dev0.axis1.motor.config.pre_calibrated = True

dev0.axis1.requested_state = AXIS_STATE_SENSORLESS_CONTROL

dev0.axis1.config.startup_sensorless_control = True

dev0.save_configuration()

dev0.reboot()

測試指令:

dev0.axis1.requested_state = AXIS_STATE_MOTOR_CALIBRATION

dev0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

dev0.axis1.controller.input_vel = 10

Demo:

坦聯 旋轉轉台控制小工具

執行用C#寫的MDI_ATS程式, 選擇ATS中的Console, 再依據轉台所接的轉接板com port 開啟所用的port number

硬體包括坦聯控制盒, 單軸轉台

依據Unit 的轉動角度有1, 10 , 20 , 100度再按button +(正轉動)或是 button –(負轉動), 單次轉動轉台