Near Field Notes

Families2 notes

Sensing

A current or voltage reads wrong.

Find your problem

What is the board doing wrong?

  1. aCurrent reads highShunt taps
  2. bLow-side sensing goes blind near full dutySense position

Notes

2 notes
What the taps read
Fig. 5cWhat 10 A reads as, A1012141601234567ShuntPadCopper10.1 A10.9 A14.1 AEach tap’s distance from the shunt’s center, mmFig. 5cWhat 10 A reads as, A1012141601234567ShuntPadCopper10.1 A10.9 A14.1 AEach tap’s distance from the shunt’s center, mmFig. 5cWhat 10 A reads as, A1012141601234567ShuntPadCopper10.1 A10.9 A14.1 AEach tap’s distance from the shunt’s center, mm

Note 5Shunt taps

Where do you tap a 0.5 mΩ shunt?

14.1 Awhat 10 A reads as with the taps 2 mm out

WSLF2512 · WSK2512 · moteus-x1

Most the motor gets, by shunt place
Fig. 19gMost the motor gets, VIn line48.0 VHigh side, at best43.7 VLow side, at best43.7 VLow side, moteus-c1’s firmware39.4 VFig. 19gMost the motor gets, VIn line48.0 VHigh side, at best43.7 VLow side, at best43.7 VLow side, moteus-c1’s firmware39.4 VFig. 19gMost the motor gets, VIn line48.0 VHigh side, at best43.7 VLow side, at best43.7 VLow side, moteus-c1’s firmware39.4 V

Note 19Sense position

Low side, high side or in line: where should a motor drive sense current?

43.7 of 48 Vthe most the motor gets with all three low-side shunts read in a 3 µs window at 30 kHz

DRV8323 · INA240 · moteus-c1