As far as I know, to achieve field-oriented control of the motors, the Sapog/Télega has a good estimation of the shaft position. In the project I am working on, I need to know the real-time absolute shaft position. I am wondering whether Sapog/Télega provide an option to read the angle value. I came up with some possible ways, but am not sure which one might work based on currently available documentations. Could you tell me which one would work?
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Use Babel or DroneCode Probe to connect with Orel 20 ESC. From Sapog manual, shaft angle is not included in the normal UAVCAN communication. Is there a way to read inner parameters(like shaft angle) of the ESC? If that is the case, what should I do? What is the difference between Babel or DroneCode Probe in terms of reading inner parameters?
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Connect Myxa to PC with a USB cable. From the Kucher GUI video, I saw a parameter named electrical_angle. Is it the parameter indicating the absolute shaft position. In the video, the GUI was not updating electical_angle. Is there a way I can read this realtime value?
Another question is if there exists a way to know the shaft position, how is the accuracy of the estimation?
Thanks in advance.