Hi,
I am making a moving coil linear motor and i am using L6234 ic as a driver to drive the motor. Below is the code and circuit i am using to drive the motor linearly.
My problem is that the motor doesn't move full stroke it just moves forward and backward about .5 inch of stroke.
Kindly help me out with this problem.
sketch_feb13a.ino (4.64 KB)
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Code also
//
// Slow and precise BLDC motor driver using SPWM and SVPWM modulation
// Part of code used from http://elabz.com/
// (c) 2015 Ignas Gramba www.berryjam.eu
//
const int EN1 = 5;
const int EN2 = 6;
const int EN3 = 7;
const int IN1 = 9;
const int IN2 = 10;
const int IN3 = 11;
// SPWM (Sine Wave)
//const int pwmSin[] = {127, 138, 149, 160, 170, 181, 191, 200, 209, 217, 224, 231, 237, 242, 246, 250, 252, 254, 254, 254, 252, 250, 246, 242, 237, 231, 224, 217, 209, 200, 191, 181, 170, 160, 149, 138, 127, 116, 105, 94, 84, 73, 64, 54, 45, 37, 30, 23, 17, 12, 8, 4, 2, 0, 0, 0, 2, 4, 8, 12, 17, 23, 30, 37, 45, 54, 64, 73, 84, 94, 105, 116 };
/// SVPWM (Space Vector Wave)
//const int pwmSin[] = {128, 147, 166, 185, 203, 221, 238, 243, 248, 251, 253, 255, 255, 255, 253, 251, 248, 243, 238, 243, 248, 251, 253, 255, 255, 255, 253, 251, 248, 243, 238, 221, 203, 185, 166, 147, 128, 109, 90, 71, 53, 35, 18, 13, 8, 5, 3, 1, 1, 1, 3, 5, 8, 13, 18, 13, 8, 5, 3, 1, 1, 1, 3, 5, 8, 13, 18, 35, 53, 71, 90, 109};
const int pwmSin[] = {128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124};
int currentStepA;
int currentStepB;
int currentStepC;
int sineArraySize;
int increment = 0;
boolean direct = 1; // direction true=forward, false=backward
//////////////////////////////////////////////////////////////////////////////
void setup() {
setPwmFrequency(IN1); // Increase PWM frequency to 32 kHz (make unaudible)
setPwmFrequency(IN2);
setPwmFrequency(IN3);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(EN1, OUTPUT);
pinMode(EN2, OUTPUT);
pinMode(EN3, OUTPUT);
digitalWrite(EN1, HIGH);
digitalWrite(EN2, HIGH);
digitalWrite(EN3, HIGH);
sineArraySize = sizeof(pwmSin)/sizeof(int); // Find lookup table size
int phaseShift = sineArraySize / 3; // Find phase shift and initial A, B C phase values
currentStepA = 0;
currentStepB = currentStepA + phaseShift;
currentStepC = currentStepB + phaseShift;
sineArraySize--; // Convert from array Size to last PWM array number
}
//////////////////////////////////////////////////////////////////////////////
void loop() {
analogWrite(IN1, pwmSin[currentStepA]);
analogWrite(IN2, pwmSin[currentStepB]);
analogWrite(IN3, pwmSin[currentStepC]);
if (direct==true) increment = 1;
else increment = -1;
currentStepA = currentStepA + increment;
currentStepB = currentStepB + increment;
currentStepC = currentStepC + increment;
//Check for lookup table overflow and return to opposite end if necessary
if(currentStepA > sineArraySize) currentStepA = 0;
if(currentStepA < 0) currentStepA = sineArraySize;
if(currentStepB > sineArraySize) currentStepB = 0;
if(currentStepB < 0) currentStepB = sineArraySize;
if(currentStepC > sineArraySize) currentStepC = 0;
if(currentStepC < 0) currentStepC = sineArraySize;
/// Control speed by this delay
delay(10);
}
void setPwmFrequency(int pin) {
if(pin == 5 || pin == 6 || pin == 9 || pin == 10) {
if(pin == 5 || pin == 6) {
TCCR0B = TCCR0B & 0b11111000 | 0x01;
} else {
TCCR1B = TCCR1B & 0b11111000 | 0x01;
}
}
else if(pin == 3 || pin == 11) {
TCCR2B = TCCR2B & 0b11111000 | 0x01;
}
}
...R
Motor datasheet?