I have mt6835. But I don’t know how many times I can program it. I’ll leave it for the final attempt to start the stepper motor.
The magnet is correct. But I don’t know exactly how magnetized it is. In any case, it is very difficult to find a perfectly magnetized magnet in the center. My opinion is that every time, after replacing the magnet, or after the first assembly, there should be a stage of calibration of linearity. Otherwise, it makes no sense.
Oh, ok… Is it a One Time Programmable MEM @runger ? You seem to have some kind of strong attachment to the MT6701, Just let that go completely and move on to the calibration.
Yes. From a good vendor you can get different quality grades, reflecting how perfectly diametrically magnetised the magnet is.
If you have a “magnet viewing screen” you can take a look at it, and can detect bad asymmetries even visually. And you can see immediately if the magnet is axial or diametric.
But normally the diametrical magnets you get with the sensors all work fine. It’s only when dubious sellers supply you an axial magnet that there are problems.
Once the magnet is the right type, the problems are usually more to do with field strength (due to size of magnet or air-gap distance to the sensor), or the electrical connection to the sensor.
So its mysterious what is going on here…
Things to try include:
- use the SSI mode of the sensor rather than the ABZ mode, and see if this helps anything
- use a hardware ABZ driver (we have one for STM32 MCUs, and you can find code for ESP32 and RPi to sue with our GenericSensor class quite easily). This would prevent missed interrupts as a source of problems
I haven’t read the thread I detail, but it sounds like you are having issues due to the electrical angle offset doing the rotation, since the encoder isn’t linear.
I made a test program that estimates the offset for 50 points doing the rotation and uses a look up table when running.
The offset might change as much as 180 degree in our case - transforming the foc stepper concept from useless to awesome.
There should be a few other posts about it on the forum
Hello. I’ve seen those records. Under one of them, I asked about the possibility of calibrating the encoder in abz mode, but did not receive an answer.
I don’t see why not… the code is intended to compensate non-linearity caused by misaligned magnets of magnetic sensors. I think it should not matter what type of interface is used to get the sensor data.
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Hi guys. Today I ran a test using the A4988 driver. I took 200 steps in parallel to output the encoder values. My theory about the nonlinearity of the sensor was not confirmed. It has a +/-1 error. But this is most likely due to the 1024 steps of the encoder per revolution. Since the stepper motor has 200 steps, it turns out 1024/200 = 5.12. From here in some steps the difference is 5 in the other 6.
In the table, the last point is 202, this is because I did not write the code correctly, and the microcontroller took the steps before enabling the driver
@runger I did another test today. Now I’m confused, because it turns out that the encoder has 1019 steps per revolution??
| 1 | 0 |
|---|---|
| 2 | 5 |
| 3 | 11 |
| 4 | 16 |
| 5 | 21 |
| 6 | 27 |
| 7 | 32 |
| 8 | 37 |
| 9 | 43 |
| 10 | 48 |
| 11 | 53 |
| 12 | 58 |
| 13 | 63 |
| 14 | 68 |
| 15 | 73 |
| 16 | 78 |
| 17 | 83 |
| 18 | 88 |
| 19 | 93 |
| 20 | 98 |
| 21 | 103 |
| 22 | 108 |
| 23 | 113 |
| 24 | 118 |
| 25 | 122 |
| 26 | 127 |
| 27 | 132 |
| 28 | 137 |
| 29 | 142 |
| 30 | 147 |
| 31 | 152 |
| 32 | 157 |
| 33 | 162 |
| 34 | 167 |
| 35 | 172 |
| 36 | 177 |
| 37 | 182 |
| 38 | 187 |
| 39 | 192 |
| 40 | 198 |
| 41 | 203 |
| 42 | 208 |
| 43 | 213 |
| 44 | 219 |
| 45 | 224 |
| 46 | 229 |
| 47 | 235 |
| 48 | 240 |
| 49 | 246 |
| 50 | 251 |
| 51 | 256 |
| 52 | 262 |
| 53 | 267 |
| 54 | 272 |
| 55 | 278 |
| 56 | 283 |
| 57 | 289 |
| 58 | 294 |
| 59 | 299 |
| 60 | 304 |
| 61 | 310 |
| 62 | 315 |
| 63 | 320 |
| 64 | 325 |
| 65 | 330 |
| 66 | 335 |
| 67 | 340 |
| 68 | 345 |
| 69 | 350 |
| 70 | 355 |
| 71 | 360 |
| 72 | 365 |
| 73 | 370 |
| 74 | 374 |
| 75 | 379 |
| 76 | 384 |
| 77 | 389 |
| 78 | 394 |
| 79 | 399 |
| 80 | 404 |
| 81 | 409 |
| 82 | 414 |
| 83 | 419 |
| 84 | 424 |
| 85 | 429 |
| 86 | 434 |
| 87 | 439 |
| 88 | 444 |
| 89 | 449 |
| 90 | 454 |
| 91 | 460 |
| 92 | 465 |
| 93 | 470 |
| 94 | 476 |
| 95 | 481 |
| 96 | 486 |
| 97 | 492 |
| 98 | 497 |
| 99 | 503 |
| 100 | 508 |
| 101 | 513 |
| 102 | 519 |
| 103 | 524 |
| 104 | 530 |
| 105 | 535 |
| 106 | 540 |
| 107 | 545 |
| 108 | 551 |
| 109 | 556 |
| 110 | 561 |
| 111 | 566 |
| 112 | 571 |
| 113 | 577 |
| 114 | 581 |
| 115 | 587 |
| 116 | 592 |
| 117 | 597 |
| 118 | 601 |
| 119 | 606 |
| 120 | 611 |
| 121 | 616 |
| 122 | 621 |
| 123 | 626 |
| 124 | 631 |
| 125 | 636 |
| 126 | 640 |
| 127 | 645 |
| 128 | 650 |
| 129 | 655 |
| 130 | 660 |
| 131 | 665 |
| 132 | 670 |
| 133 | 675 |
| 134 | 679 |
| 135 | 685 |
| 136 | 690 |
| 137 | 695 |
| 138 | 700 |
| 139 | 705 |
| 140 | 710 |
| 141 | 715 |
| 142 | 720 |
| 143 | 726 |
| 144 | 731 |
| 145 | 736 |
| 146 | 742 |
| 147 | 747 |
| 148 | 752 |
| 149 | 758 |
| 150 | 763 |
| 151 | 768 |
| 152 | 774 |
| 153 | 779 |
| 154 | 784 |
| 155 | 790 |
| 156 | 795 |
| 157 | 800 |
| 158 | 806 |
| 159 | 811 |
| 160 | 816 |
| 161 | 821 |
| 162 | 826 |
| 163 | 831 |
| 164 | 836 |
| 165 | 842 |
| 166 | 846 |
| 167 | 851 |
| 168 | 856 |
| 169 | 861 |
| 170 | 866 |
| 171 | 871 |
| 172 | 876 |
| 173 | 881 |
| 174 | 886 |
| 175 | 891 |
| 176 | 895 |
| 177 | 900 |
| 178 | 905 |
| 179 | 910 |
| 180 | 915 |
| 181 | 920 |
| 182 | 925 |
| 183 | 930 |
| 184 | 935 |
| 185 | 940 |
| 186 | 945 |
| 187 | 950 |
| 188 | 955 |
| 189 | 960 |
| 190 | 965 |
| 191 | 971 |
| 192 | 976 |
| 193 | 981 |
| 194 | 986 |
| 195 | 992 |
| 196 | 997 |
| 197 | 1002 |
| 198 | 1008 |
| 199 | 1013 |
| 200 | 1019 |
| 201 | 1024 |
I will try to use mt6835, it is set to 3000 steps per turn. I do not want to calibrate it, since initially I planned to use in my project a nema 34 with a force of 12 N. m. But if nothing happens with nema 17, then there is nothing to spend money to buy a nema 34))))
Ha! This works without calibrations. The first time. Apparently the library does not work very well with encoders, which have not multiples of the ratios of steps to the magnetic poles. Or the MT6701 sensors are not very accurate.
I like mt6835. It is a pity that because of the new rules ali express no longer delivers goods to Austria. And I can’t order anything else there. Including encoders:(
2 Likes
It should be calibrated from MagnTek. The auto calibration can fix misalignment issues I think. Good to see some real progress!
Yes. But mt6701 must also be calibrated MagnTek
I’m really glad to hear it is finally working
Are you using the driver code from the drivers library, or your own driver?
I have to think about this, but it really should not be the case. The encoder still has a fixed number of counts per revolution, it doesn’t depend on the number of motor turns. So the “zero point” should always be in the same location on the motor shaft. The electrical zero may be “between” two encoder counts, but the error (ignoring latency) should not be more than resolution/2 .
I think it more likely that is is an issue of control - resolution/latency vs the high pole count/accuracy required that leads to unstable control. Or that encoder ticks get missed - that would lead to position drift without the Z signal to correct it.
Yeah man, I hope they fix this soon…
But cool to meet a SimpleFOC user in Austria! I’m in Vienna, where are you based?
It’s unbelievable. I am also in Vienna 
I use everything from the SimpleFoc library
I had a similar problem with the engine from the gyro scooter. I also used mt6701 in it and it didn’t work either. I will try to use mt6835 now. I hope it will be successful
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Very cool! Perhaps we can get a chance to meet up at some point.
It’s been working ok for me, in its SSI mode. I have still to test the ABZ and I2C modes… I just don’t get enough time
I tested our driver for it out today, and fixed some more bugs. It is working well for me now in SPI mode for reading the angles. I’ve committed the changes to the dev branch of our drivers library.
I have not yet tested setting options or doing the calibration… I assume you’re using the ABZ mode?
Wir müssen uns unbedingt mal treffen :).
Yes, I use abz mode. Other modes do not suit me, because initially my goal is to build a steering wheel for the simulator of games))))). I receive the control signal from the stm32 board with emc firmware, and it, in turn, works only with encoders in abz mode. So I connected one encoder to two handkerchiefs in parallel. It works, but the hoverboard motor heats up, and has a deformation of the body)))))) because of which I had to shift the electric angle for each direction of rotation. Having weakened the Magnetic Field, the motor does not heat up so much. It is better of course to organize all this on one mk, but my knowledge is too small for this
Hi. I tried to connect mt6701 via the SSI line and get strange readings. When the rotor turns, the values go from 3.14 to 6.28. Then it resets again to 3.14 and so on in a circle.
Hey, thanks for reporting it!
Not sure what is happening, because there was some similar reports before, I think it is maybe MCU dependent.
Was this the dev branch code or the official library?
Actually the dev branch and master are the same for this code.
On August 19th I committed a fix for a similar problem which affected RP2040 MCUs… which MCU are you using?