OK 2nd time writing this… We have been testing the use of VESC in an industrial robotics plateform. Think two independent wheels, skid steer. We got the basics working, but low speed resolution (control) has been bad, so we upgrading to using 1000P/R abi encoders, instead of the internal hall sensors in the ‘hover’ board direct drive hub motors. We are also switching to FOCBOX at the same time, because we got a pair in the black friday sales.
We have removed the Hall sensor ‘filter’ components (R11,12,13, C6,7,8 and shorted out R8,9,10) When we look at the encoder pulses with an oscilloscope we see nice square wave forms with no slew. Low 0.3V, high 4.95V,
But using the VESC tool wizard, it fails encoder detection everytime. Motor turns with roughtly 20 degree steps one way for about one rev, then repeats in the other direction, it either, just keeps pulsing indefinitely then or stops and drops the comms. either failure mode requires a power cycle of the FocBox to recover.
So my questions are: Was removing the filter components necessary? Is the 0.3V low, hard enough low, for the logic level low? (assuming so but just asking) Is there anyway to see the encoder signals on a graph? I believe BLDC tool, did this but when I run BLDC tool now, it says my firmware version needs updating, what FocBox firmware version does BLDC tool require? From a firmware version point of view can I treat the FOCBOX as a 4.12 hardware, I know the Power fet package is much improved but anything that really effects FW?
Any other suggestions?
Thanks in advance.