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Trouble Detecting ABI Encoder on VESC6/75

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jonathansel
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Joined: 2022-07-09 23:48
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Trouble Detecting ABI Encoder on VESC6/75

Hello All,

I am working on using a VESC 6/75V to control the rear wheels of a mobile robot. The singular BLDC motor goes through a 22:1 differential gearbox to move both wheels: https://ibb.co/p4sZp7J

I am able to use the motor in sensorless mode after FOC detection; however, the motor is quite jittery at low speeds despite tuning the PID. I then decided to integrate a 4096 CPR ABI encoder on the rear output shaft of the motor to improve performance. 

When manually rotating the wheels, I can see a clean encoder output in the VESC tool: https://ibb.co/tw6SMjv. However, when running encoder detection at various current settings (10A - 30A) the output of the encoder in the VESC tool is noisy and does not make much sense to me: https://ibb.co/1dvZs7M. In addition, the encoder detection never completes and the motor remains constantly rotating. Does anyone have any advice on how to tackle this problem?

Any suggestion is appreciated, thank you!

Jonathan

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48V 1000W BLDC Motor: https://www.alibaba.com/product-detail/48v60v800w1000w1500w-brushless-motor-refitted-for-domestic_1600181813713.html?spm=a2700.galleryofferlist.normal_offer.d_title.35712a59fwOHAp

Motor Configuration XML: https://drive.google.com/file/d/1N6nFQo01-l6J3SJBXK1A4j817xQuItXT/view?usp=sharing