电机运行期间GoTo（ABS_POS）错误

你好！


在我的应用程序中，当步进电机以恒定速度运行时，当BUSY标志为高电平时，我发送GoTo（ABS_POS）命令，因此我确信达到了目标速度。大部分时间一切都很顺利，但有时候（可能是发送命令总数的5-10％）GoTo（ABS_POS）命令就像GoTo_DIR（DIR，ABS_POS）命令一样，但是“错误”方向和电机使所有相反方向2 ^ 22步。因此，GoTo（ABS_POS）并不像最短的定位那样。我已经多次检查实际信号以确保命令的地址是0x60，而不是0x68，可以在附加图片上看到。

有什么建议可以解决这个问题吗？



以下为原文




Hello!


In my application I send GoTo(ABS_POS) commands when stepper motor is running at constant speed, when BUSY flag is high, so I'm sure that the target speed is reached. And everything is going well most of time, but sometimes (maybe 5-10% of total number of commands send) GoTo(ABS_POS) coommand acts like GoTo_DIR(DIR, ABS_POS)  command but with ''wrong'' direction and motor makes all 2^22 steps in opposite direction. So, GoTo(ABS_POS) doesn't act like a positioning in a shortest way. I have checked real signals many times to be sure that adrress of command is 0x60, not 0x68, one can see on attached picture.

Are there any suggestions why this can happen and how one can avoid such problem?