Myxa controlled braking before spinup

[pavel-kirienko]

@FWKS

is there a way to control this braking braking behavior (either manually controlling it or making it more gentle)?

Yes. This post describes how to configure the initial behaviors; specifically, how to configure the spinup current (which defines the initial braking):

Quick start guide for Myxa

Spinup tuning Starting the motor from standstill is challenging for any sensorless drive, Myxa is no exception. When commanded to start the motor, Myxa activates the current control mode first, regardless of the commanded control mode - Myxa will switch to the desired mode once the motor is started. The initial current setpoint is set to the value of m.spup_curr_begn, in amperes, where begn stands for “beginning”. Once the spinup process is initiated, Myxa will linearly ramp the current toward…

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@FWKS

Splitting the process into 2 stages can also be considered - controlled braking until the motor is standing still, and then commencing spinup in the forward direction.

This is currently not possible and is, in general, technically difficult because the spinup procedure is used to initialize the state estimator (extended Kalman filter). During initialization, the estimator makes certain assumptions about the system, one of them is the direction of its rotation.