Encoder Counting Up/Down at Different Rate When Driven by Roboclaw
Posted: Fri Jan 18, 2019 4:48 pm
Hi guys,
I have a really strange issue. My setup consists of 4x Roboclaw Solo30A driving 4 Pololu motors with encoders. All the Roboclaws are in multi-unit mode, controlled by serial packet, and have different ID. I had already had everything working and even controlled all motors simultaneously by an Arduino Mega.
Now, I made more permanent cables and connectors (try to have something more robust, my mistake...) and once I finished, I also had to update the firmware to the latest version with Motion Studio (don't know if it's related to my issue). Problem is now, only the first motor is ok while I have the strangest issue with the encoder count of the three others.
These problematic motors connect fine and when I rotate their axes by hand, I see the encoder position moving up and down with the right count in Motion Studio. However, as soon as I move the motors by changing the PWM the encoder count is moving at a much faster rate in one direction (the other direction rate stays fine, ie consistent with hand turning). So anytime I make one turn in one direction followed by the same motion backwards, instead of ending to something close to zero, the encoder displays a huge value! Velocity and position control do not return any error but the QPPS are completely wrong
What baffles me is that by turning the axes by hand, the count is perfect in both directions. Only when I actually have the controller moves the motor it becomes wrong in one direction. I also cannot comprehend why the first axis still works, the wiring is identical to the others.
Any ideas?
I have a really strange issue. My setup consists of 4x Roboclaw Solo30A driving 4 Pololu motors with encoders. All the Roboclaws are in multi-unit mode, controlled by serial packet, and have different ID. I had already had everything working and even controlled all motors simultaneously by an Arduino Mega.
Now, I made more permanent cables and connectors (try to have something more robust, my mistake...) and once I finished, I also had to update the firmware to the latest version with Motion Studio (don't know if it's related to my issue). Problem is now, only the first motor is ok while I have the strangest issue with the encoder count of the three others.
These problematic motors connect fine and when I rotate their axes by hand, I see the encoder position moving up and down with the right count in Motion Studio. However, as soon as I move the motors by changing the PWM the encoder count is moving at a much faster rate in one direction (the other direction rate stays fine, ie consistent with hand turning). So anytime I make one turn in one direction followed by the same motion backwards, instead of ending to something close to zero, the encoder displays a huge value! Velocity and position control do not return any error but the QPPS are completely wrong
What baffles me is that by turning the axes by hand, the count is perfect in both directions. Only when I actually have the controller moves the motor it becomes wrong in one direction. I also cannot comprehend why the first axis still works, the wiring is identical to the others.
Any ideas?