Shake motor when power on control by PD3-170-57-SE

[Gavy]

Dear Sir,
Now I used PD3-170-57-SE,But when powe on the motor will shake strongly during initialize motor phase,but this is not required in some field,
So I want to know which parameter can set to avoid the motor shake but the motor can hold on (has hold torque)
when power on?

[M.Jankowiak (TRINAMIC)]

Try to set global parameter 249 (Init Sine Mode) to 0. This is the easiest way to initialize the modul.

[Gavy]

Yes,I set 249 to 0,but at this time the motor has no holding torque,the motor can run by load,that is not requireed. and even if when I let the motor run use TMCL-IDE direct mode the motor also shake before run.
this field need the motor has holding torque without shake when power on,Is it possible?

[M.Jankowiak (TRINAMIC)]

Are the motor and the modul connected correctly and it works proper after initialization? If parameters and connections are right the motor will need max. one rotation to find the inti-position.

[Gavy]

Yes,it is PD-170-57 so the connected is currently,the shake is alittle when the motor enable,it is very good during it run,The reason of the mtor shake I think the motor check the phase position,In other 4-Q BLDC driver I think it can not shake obviously

[TRINAMIC_BD]

If your motor has hall sensors, you could use sine initialization mode 0. The motor will drive the first revolution based on the hall sensors, just when it is started.
Adidtionally, perhaps you could do the first motor revolution with a high acceleration and high velocity? This way, the coarse behavior of position regulator in combination with the hall sensor commutation will not really show up and will be ended quickly.

An other idea using initialization mode 3 with encoder N channel: When you switch off the device, you could park the motor at a position just very near to the encoder N channel. Now, run the initialization in the correct direction after power on. It will find the N position very quickly then.