Fix for issue where using sensorless mode with input mode VEL_RAMP would cause the motor to try and reach a very high speed at the end of the sensorless ramp

2026-09-22 16:14:37 +08:00 · 2020-09-16 22:42:37 -04:00
parent 6122219f87
commit a741177cae
2 changed files with 4 additions and 1 deletions
@@ -555,7 +555,7 @@ void Axis::run_state_machine_loop() {
                if (status) {
                    // call to controller.reset() that happend when arming means that vel_setpoint
                    // is zeroed. So we make the setpoint the spinup target for smooth transition.
-                    controller_.vel_setpoint_ = config_.sensorless_ramp.vel;
+                    controller_.vel_setpoint_ = config_.sensorless_ramp.vel / (2.0f * M_PI * motor_.config_.pole_pairs);
                    status = run_sensorless_control_loop();
                }
            } break;