Quadrature Encoder & STO_PLL Electrical Angle Misalignment Issue in MCSDK Sensor-Based Operation

[Pixrig_zz]

[VERSION]: MCSDK6.4
[TOOL]: MC Workbench6.4.0，   KEIL5， ST Motor Pilot

I am currently conducting an experiment where a quadrature encoder is used as the primary sensor and STO_PLL serves as the auxiliary sensor. During testing, after using Motor Pilot to acquire the waveforms of ENCODER_EL_ANGLE and STOPLL_EL_ANGLE, I observed that the two do not align. The motor can still run normally without any error reports. Have any of you encountered situations where the electrical angles of two sensors (ENCODER_EL_ANGLE and STOPLL_EL_ANGLE) fail to align? If so, could you share potential causes?

The image below shows my test results；

 

 

 

 

 

 

 

 

 

I think the correct waveform should be perfectly aligned;

As shown in the figure below：

 

[GMA]

Hello @Pixrig_zz,

What are the use case differences between both attempts?