How to change direction smoothly?

Posted on June 22, 2016 at 05:49

Hello, 

What I have done so far is ....

1. parameter setting using Motor Profiler

2. Can control motor speed (Main sensor is Hall sensor. Aux sensor is observer +cordic)

But my problems and questions are ... 

1) Even using Hall sensor,  Ramp up procedure is needed ?

2) When change direction, I do like this..  

    - ramp-up to 300rpm (ccw) 

    - speed up (ccw)  and rolling....

    - speed down (ccw) to 300rpm 

    - motor stop command when speed is under 300rpm

    - ramp-up to -300rpm (cw)

    - speed up (cw) and rolling...

  but the problem is every time motor should stop. So motion is not good.

  not smooth.  How can I control smoothly?

Thank you very much in advance.