Quadrature - missing counts
Posted: Mon Aug 05, 2019 9:23 am
I am using the Roboclaw 2x7a with a pair of small geared motors and a pair of TMCS-28 encoders in a PID position control mode.
I can slowly move the shaft by hand and see counts missing. The problem seems to be worse with the latest firmware 4.1.33, but I can't see how to switch to an earlier firmware to verify this.
Attached is a scope trace of a situation where the Roboclaw registered no change, but the scope clearly shows multiple counts. It appears the filtering is aggressive enough to remove real counts.
I see the same behavior in the Basicmicro Motion Studio and the python interface from Linux. I see this on multiple encoders and Roboclaws, so it is not isolated to a particular encoder or Roboclaw.
Is there a way to disable the filtering or a different firmware version I should use?
Of note, I am in the SoCal area and can bring it by if that would be helpful.
Thanks.
I can slowly move the shaft by hand and see counts missing. The problem seems to be worse with the latest firmware 4.1.33, but I can't see how to switch to an earlier firmware to verify this.
Attached is a scope trace of a situation where the Roboclaw registered no change, but the scope clearly shows multiple counts. It appears the filtering is aggressive enough to remove real counts.
I see the same behavior in the Basicmicro Motion Studio and the python interface from Linux. I see this on multiple encoders and Roboclaws, so it is not isolated to a particular encoder or Roboclaw.
Is there a way to disable the filtering or a different firmware version I should use?
Of note, I am in the SoCal area and can bring it by if that would be helpful.
Thanks.