Phasing motor that is on a limit

If a motor is on a soft or hard limit, the motor will not phase. One way around this is to temporarily disable soft/hard limits when phasing. Are there any other ways around this?

If a motor is on a soft or hard limit, the motor will not phase. One way around this is to temporarily disable soft/hard limits when phasing. Are there any other ways around this?

Is this a phasing read of an absolute sensor, or a phasing search move? If you are doing a phasing search move, you will probably want to make sure you are physically moved off the limit before you attempt the actual phasing search. Otherwise you cannot be sure the search would be successful.

 

You would move off by commanding an open-loop zero output (cout:0) then using IaBias and IbBias to "step" the motor out of the limit.

Is this a phasing read of an absolute sensor, or a phasing search move? If you are doing a phasing search move, you will probably want to make sure you are physically moved off the limit before you attempt the actual phasing search. Otherwise you cannot be sure the search would be successful.

 

You would move off by commanding an open-loop zero output (cout:0) then using IaBias and IbBias to "step" the motor out of the limit.

It is a phasing search move. With the approach you describe, do I need to step it off the limit by enough that the phasing will not encounter the limit again, or just enough so that the limit is not active?

It is a phasing search move. With the approach you describe, do I need to step it off the limit by enough that the phasing will not encounter the limit again, or just enough so that the limit is not active?

If it hits a limit during the phasing search move, the search will fail automatically, because it cannot be sure that the motion of the search is a valid result of the excitation.

If it hits a limit during the phasing search move, the search will fail automatically, because it cannot be sure that the motion of the search is a valid result of the excitation.