VESC Not Functioning with Magnetic or Quadrature Encoders
Kyle Lozano
For reference, our setup uses:
VESC Tool Beta (and stable)
1x TRAXXAS 3 cell 5000 mAh LIPO Battery
1x VESC 6 75
1x TRAXXAS 4TEC 2.0 VXL Chassis
1x Velinion 3500 Brushless Motor
1x AS5047P Magnetic Encoder
(or)
1x 200 P/R Quadrature Encoder
We're currently having a problem integrating encoders to determine the rotation angle of the motor shaft. Initially our F1/10 car was configured in sensorless mode at higher RPMs but the brushless motor experienced substantial motor cogging from standstill so we obtained a magnetic encoder and a quadrature encoder to improve low speed performance and enable smooth acceleration. First we wired the magnetic encoder to work with the VESC and got a successful response through the VESC Tool but the motor fails to run when a specific RPM is defined and more often than not the VESC will disconnect from the host computer. Then we wired the quadrature encoder to work with the VESC and got a successful reading through the VESC Tool's realtime monitor but the motor still fails to run at a specified RPM or move at all. The current max's out (at 60 amps or even 100 amps) but no movement from the motor. Has anyone had any experience with encoders running with the VESC or might have some insight on this problem? Any input is welcomed.
Below is a video regarding the issue experienced with the quadrature encoder.
https://drive.google.com/file/d/1MLF7oag4zfgGcsrUjugWegVRSQx9CRmF/view?usp=sharing
Rahul Mangharam
Dept. of Electrical and Systems Engineering
School of Engineering and Applied Science
University of Pennsylvania
Tel: 215 573-3636
http://www.seas.upenn.edu/~rahulm
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