# Uneven rotation **URL:** \ **Category:** developement\ **Created:** [November 13, 2022, 10:36am UTC](https://community.simplefoc.com/t/uneven-rotation/2654 "2022-11-13T10:36:05Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![nikolaewich1988](https://community.simplefoc.com/user_avatar/community.simplefoc.com/nikolaewich1988/32/2736_2.png) [@nikolaewich1988](https://community.simplefoc.com/u/nikolaewich1988)\ **Post date:** [November 13, 2022, 10:36am UTC](https://community.simplefoc.com/t/uneven-rotation/2654/1 "2022-11-13T10:36:05Z")
Hello. I already had a problem of this kind, then I found electric angles for a separate side of rotation. Now I’ve changed the motor, the encoder. But the problem still remained. With the help of turning equipment, a landing for the magnet was made, I installed it with a deviation of 0.02 mm. The encoder passport says that this deviation can reach 0.3 mm. In an open cycle, the motor rotates smoothly. Encoder mt6701 Thanks. [![](https://img.youtube.com/vi/IK7p2iaNGuU/maxresdefault.jpg "Simplefoc. Magnet Einstellung") ](https://www.youtube.com/watch?v=IK7p2iaNGuU) any help ![5555](https://community.simplefoc.com/uploads/default/original/2X/2/2fe865fb3a053ae827a6ff5869e28aa9681157c9.png) > [@Current consumption](https://community.simplefoc.com/t/current-consumption/1953): > > Hello. By trial, I found out that at an electric angle of 0.63, the motor consumes a minimum amount of current and at the same time rotates very gently clockwise. But for such parameters, when rotating counterclockwise, I need to set an electric angle of 1.82. Since I want to use the motor function in both directions, I would like to know where I can specify in the firmware code both values of the electric angle depending on the direction of rotation? motor.initFOC(1.82, Direction::CCW);- count… a little later I will try to rotate the motor at a certain angle and take the encoder readings. Maybe they are different ---
**Author:** ![nikolaewich1988](https://community.simplefoc.com/user_avatar/community.simplefoc.com/nikolaewich1988/32/2736_2.png) [@nikolaewich1988](https://community.simplefoc.com/u/nikolaewich1988)\ **Post date:** [November 13, 2022, 11:01am UTC](https://community.simplefoc.com/t/uneven-rotation/2654/2 "2022-11-13T11:01:29Z")
![IMG_20221113_115934](https://community.simplefoc.com/uploads/default/original/2X/9/9c994860a9af489784949fa12f3f0ec3eb845ea5.jpeg) ![IMG_20221113_120028](https://community.simplefoc.com/uploads/default/original/2X/e/e1ff1cd7d9f57ee4a941fcde7e77699767ad4e79.jpeg) ![IMG_20221113_120109](https://community.simplefoc.com/uploads/default/original/2X/5/54e026278f0b31dd795eb5ae7f6ae4841a1a6215.jpeg) ---
**Author:** ![nikolaewich1988](https://community.simplefoc.com/user_avatar/community.simplefoc.com/nikolaewich1988/32/2736_2.png) [@nikolaewich1988](https://community.simplefoc.com/u/nikolaewich1988)\ **Post date:** [November 13, 2022, 7:14pm UTC](https://community.simplefoc.com/t/uneven-rotation/2654/3 "2022-11-13T19:14:26Z")
I did a little experiment. I rotated the motor rotor in an open cycle with a step of 0.5 radians. The encoder readings do not coincide with the movements of the rotor. Because of this, there is no smooth rotation in a closed cycle. I noticed that the more poles the motor has, the more accurately the encoder should be installed. For example, a stepper motor with its 50 poles is blocked in a closed cycle at once. angle\_openloop ==============Encoder 0.5 ========================0.55 1 =========================1.03 1.5========================1.47 2=========================1.92 2.5========================2.43 3=========================2.98 3.5========================3.53 4 =========================4.04 4.5========================4.49 5========================= 4.93 5.5========================5.43 6========================= 5.96 6.28=======================6.28 ---
**Author:** ![Juan-Antonio\_Soren\_E](https://community.simplefoc.com/user_avatar/community.simplefoc.com/juan-antonio_soren_e/32/9969_2.png) [@Juan-Antonio\_Soren\_E](https://community.simplefoc.com/u/Juan-Antonio_Soren_E)\ **Post date:** [November 13, 2022, 8:12pm UTC](https://community.simplefoc.com/t/uneven-rotation/2654/4 "2022-11-13T20:12:13Z")
> [@nikolaewich1988](#): > > mt6701 Reading the Datasheet for the MT6701, there is nothing in there about calibration. I know this doesn’t help you much in your current predicament, but look at the MT6835 Datasheet, where it explains the calibration procedure. As I understand it, we have to spin the stepper in open loop for a certain time, while calibration is being performed by the IC. ---
**Author:** ![nikolaewich1988](https://community.simplefoc.com/user_avatar/community.simplefoc.com/nikolaewich1988/32/2736_2.png) [@nikolaewich1988](https://community.simplefoc.com/u/nikolaewich1988)\ **Post date:** [November 14, 2022, 3:43pm UTC](https://community.simplefoc.com/t/uneven-rotation/2654/5 "2022-11-14T15:43:26Z")
Hello. Thanks for the idea. I ordered mt6835. I hope this will help me. Ha-ha)))))