Calibration of 3-phase motor current sensing for surgical robotic actuators
AssigneeVerb Surgical Inc.
InventorJan BOSTEELS
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Abstract
A 3-phase motor driver circuit has a first input to be coupled to an output of a first phase current sensor, and a second input that represents a zero reference. A controller adjusts one or more of a first phase voltage, a second phase voltage, and a third phase voltage, until a comparison between the first input and the input indicates that the first input has reached the zero reference, and in response the controller captures an output of a second phase current sensor and an output of a third phase current sensor. The controller then stores, in memory, calibration data that is based on the captured outputs of the second and third phase current sensors. Other aspects are also described.
Claims20
(canceled)
A method for calibration of 3-phase motor current sensing, comprising:
- monitoring an output of a first phase current sensor while adjusting one or more of a first phase voltage, a second phase voltage, and a third phase voltage, until the monitored output reaches a zero reference;
- capturing an output of a second phase current sensor while the monitored output of the first phase current sensor is at the zero reference;
- and
- storing in memory calibration data that is based on the captured output of the second phase current sensor.
A 3-phase motor driver circuit comprising:
- a controller configured to compare a first input from an output of a first phase current sensor with a second input that represents a zero reference, and adjust one or more of a first phase voltage, a second phase voltage, and a third phase voltage, until the comparison indicates that the first input has reached the zero reference, and in response to the comparison indicating that the first input is at the zero reference the controller captures an output of a second phase current sensor, wherein the controller is to then store, in memory, calibration data that is based on the captured output of the second phase current sensor.
Dependencies are inferred from the claim text.