How To Evaluate and Develop with InstaSPIN-FOC and InstaSPIN-MOTION

Wow, it really did a number to my bullets and numbering. It looked fine when I hit submit...sorry about that.

Hi Chris,

I'm planning to buy DRV8301-LS31_KIT, which you didn't mention above. Could the InstaSPIN - FOC and/or -MOTION be applied on this kit then? Also follow the same information you provided above?

DRV8301-LS31 uses Hercules TMS570 MCU while the DRV8301-69N uses Piccolo F28035. Is this the only difference between two kits?

Thank you for patience.

Yu, InstaSPIN-FOC and InstaSPIN-MOTION are only avaialble to run on specific C2000 Piccolo devices.  Both solutions require special algorithms to be embedded in ROM.

The TMS570 solutions do use a version of MotorWare, so the general APIs and code structure is somewhat similar, but that's where the similarities end.

Please get support for the Hercules kits from the Hercules e2e forum.

This is what I think as well... Thanks, Chris.

If I buy DRV3801-LS31, could I later replace the TMS570 controlCARD by Piccolo F28069M controlCARD (http://www.ti.com/tool/tmdscncd28069miso)?? Because I'd like to play with both two controlCARDs with InstaSPIN.

Yes, the DRV8301 EVM is the same used for both solutions, the Rev D.

If you purchase the TMDSCNCD28069MISO you will also want to download

www.ti.com/too/motorkitscncd69miso for the GUIs

and www.ti.com/tool/motorware for all of the embedded software, User's Guides, etc.

Have fun!

Thank you very much and really helpful!

Btw, your link for gui (www.ti.com/too/motorkitscncd69miso) does not work...

http://www.ti.com/tool/motorkitscncd69miso

typo, this works

Also, I recommend signing up for the newsletters by creating an account at

http://my.ti.com

Once created / logged-in you can change your areas of interest

I recommend signing up for at least Motor Drive & Control and C2000

And then update your email newsletter subscriptions. I would sign up for the MCU and Motor Control & Drive at a minimum.

Chris,

I'm working on DRV8301-LS31 fine now and also bought TMDSCNCD28069MISO, as you told me last time. Now, I would like to replace the TMS570 ControlCARD by 28069 ControlCARD.

My question this time is about software installation: Do I need to completely remove the Hercules tools (MotorWare, etc.) first?

Could I just install GUIs and Motorware for 28069 in a different folder, w/o uninstalling those used for tmd570??

Yu,

You are ok to install the F28069 MotorWare on your PC from www.ti.com/tool/motorware

it will install to

C:\ti\motorware\MotorWare_1_01_00_09

which is different from Hercules.

For the GUI, if you install the InstaSPIN-FOC and -MOTION gui from http://www.ti.com/tool/motorkitscncd69miso

it will install a newer version of the GUI Composer Runtime then what you used for the Hercules, so the Hercules GUIs will no longer function correctly.  It's a pain that there is not forward compatability with the GUI runtime....sorry about that.  You can always re-install the Hercules GUIs again if you need them.  In fact, you may be able to change the default location to install into ti\guicomposer_old\ and see if you can run concurrently.

Chris,

Does the controlCARD that comes with the DRV8312-69M-KIT (TMDSCNCD28069MISO) support using the isolated CAN interface on the DRV8312 board?  Based on the datasheet http://www.ti.com/lit/ds/sprs698d/sprs698d.pdf it looks like yes, but I wanted to double check.

Thanks,

Sean

Yes, you can connect a CAN network to the DRV8312 board and get the signals to the TMDSCNCD28069MISO controlCARD.

I'm attempting to work through lab 2c but I continuously get defferent values for the Lq and Ld Inductance.  Is this highly temperature dependent?  I also notice that with the low inductance motor I am testing, the motor races to a very high speed when estimating Lq and Ld.  My parameter are listed below.

#define USER_MOTOR_RES_EST_CURRENT    (1.0)

#define USER_MOTOR_IND_EST_CURRENT     (-1.0)

#define USER_MOTOR_MAX_CURRENT               (5.0)

#define USER_MOTOR_FLUX_EST_FREQ_Hz   (100.0) // I have also tried 80 and 60       

The motor spins slow and smooth when measuring stator resistance and flux when it just takes off when measuring the inductance.  Have you heard of this before when measuring a motor with low inductance?

A few questions:

1. Could you please share your entire user.h file?

2. Could you share the parameters of the motor you are getting?

3. What voltage on dcbus are you using?

4. Could you confirm that an 8301 board is being used? Lab 2c only works on 8301 board, not on 8312.

Thanks

-Jorge

You can seee the motor I am trying to tune is called the small_ind_motor

1.6232.user.h

2. you can see which Rs and flux values I am recieving as well as a couple of the inductance values. The first inductance values recieved were x.xxx E-5, then E-7 and the last I revieved was E-13.

3.  The power supply is set to 36v.

4. I am using the 8301 because I am also doing MOTION thought 28069.

The other part of this lab that is throwing me for a loop is that whether I have my USER_MOTOR_IND_EST_CURRENT at (-1.0) or (-0.3), my motor will always go to max speed at about 3.6amps @36v.  My understanding was that this variable controls the amount of current applied to the motor during the open loop inductance estimation process but this doesn't seem to be the case for me.  Because of this, I am also unable to tune the interia parameters because the motor just takes off on its own.

I also just realized there are some syntax errors in the header file I sent you concerning the motor name I am using.  Just ignore the errors, I was calling the right motor.

Could you please try changing this value to 24.0 and give it a try with lab 2c?

#define USER_IQ_FULL_SCALE_VOLTAGE_V      (24.0)

-Jorge

I changed the parameter above and got the same response.  I did recieve a resonable inductance value (8uH) but once again the motor sped up to max speed( 5000 rpm,seems like the duty cycle went to 100% automatically.)  My DC current from the current supply was also 5 amps, which seems way to high for the Motor Identification stage.  It's weird because it spins nice and slow when measuring the stator resistance, comes to a stop, and then races to 5+krpm when measuring inductance.

Thanks Chris.

I have two questions.

1. I understand , need to buy  XDS100v2 USB JTAG Emulator to programm F28069M device, can you please confirm , the device below is ok ?

http://media.digikey.com/pdf/Data%20Sheets/Spectrum%20Digital/702302_Web.pdf

2. I am having hard time to find following application software. Listed at below path.

Can you help me where can I find the following  soft ware or code for the

Library based software for latest software observer and high frequency injection initial position detection techniques

This is listed in the feature of the following kit.

1. No, your TMDSCNCD28069MISO controlCARD has an xds100v2 emulator (isolated) built-in.  Once you move to your own PCB most people bring out the JTAG signals and then you would require an emulator to debug and program. You can choose from many. Cheapest is an XDS100v2 from our eStore. You can add an isolation adapter if you wish. You can also purchase any of the XDS100, XDS200, or XDS510 products from eStore, Spectrum Digital, Signum, Blackhawk, etc.  If you don't need to debug and just want to program you can also just use a serial port.

2. Two responses for this one

a) TMDSHVMTRPFCKIT includes the F28335 and F28035 controlCARDs, and all SW support is through controlSUITE.  In the latest version there is an Enhanced Sensorless project.

C:\ti\controlSUITE\development_kits\HVMotorCtrl+PfcKit_v2.1\HVPM_Enhanced_Sensorless_2803x

In the documenation for this project you will see that we offer a high frequency injection technique (HFI library) that can work with SOME motors (requires saliency).  You have to request this library from your local TI sales channel.

b) The same high voltage board (HVKIT rev 1.1) in this kit is also used in TMDSHVMTRINSPIN , which ships with the TMDSCNCD28069MISO and TMDSCNCD28027F controlCARDs.  Both of these controlCARDs are InstaSPIN ready (they have special libraries in on-chip ROM) and the InstaSPIN projects are supported through MotorWare

We are also working on even better / more flexible versions of initial position detection (IPD) algorithms for use in MotorWare with the InstaSPIN solutions.  We are testing these with alpha customers now and will release different versions in MotorWare in the future. These IPD algorithms are not "instant".  They require manual tuning and testing to see if they will work with the specific motor, and then to get them to work to the best of their ability.  I would say this is "EXPERT MODE", not for those new to motor control.

Hi Chris,

Thanks for the details. Kindly further clarify me following questions.

1. When you say serial port  does it work with popular  9 pin Serial port ??

2.  IPD  algorithms based on  HFI library provided with MCU F28335 and F28035 can also work with F28069 MCU??

3. I powered up the "drv8312-69m-kit"  through "motorware "and below are quick obseravtions.

(a) Initially motor may spin (< 1/2 rotation) in opposite direction and recovers back to the desired direction.

(b) What all the changes I would need , if this control card to be used  drive inveter ~ 1kW power.

(c)Where can I find the schematics and BOM of Control card and Driver card of this kit.

(d) I also noticed there is no manufacturer part number on Motor , can I have the Datasheet of the Motor.

Thanks

RK

Hi Chris,

My self clarified on the question 3 (b), 3 (c)  and 3 (d) Can you please help me to answer rest of the questions  posted on Dec 21st.

Thanks in advance for your help.

RK

sorry for the delay RK

1. When you say serial port  does it work with popular  9 pin Serial port ??

The serial port I mentioned is from the PC through the USB cable, to the Piccolo device through a UART peripheral. Normally this would be done with a standard 9-pin serial connection, this is just being offered as a 2nd channel through the USB cable. Same functionality, so you can use a hyperterminal or whatever else you normally use with a UART.

2.  IPD  algorithms based on  HFI library provided with MCU F28335 and F28035 can also work with F28069 MCU??

Yes, the HFI-IPD library for controlSUITE is device variant agnostic. It could be used as a fixed point library with any F28x based device.  The HFI-IPD library for MotorWare will specifically only work with MotorWare projects, which only work with InstaSPIN-FOC or InstaSPIN-MOTION enabled silicon (today F2806xF/M or F2802xF).

3. I powered up the "drv8312-69m-kit"  through "motorware "and below are quick obseravtions.

(a) Initially motor may spin (< 1/2 rotation) in opposite direction and recovers back to the desired direction.

At initial start-up the rotor angle is unknown using a sensorless algorithm with FAST, even with our "ForceAngle" technique..  Initially this angle is set to "0" and the stator flux vector will be created at +/-90 electrical degrees (Depending on direction of your initial speed command), so if the rotor is actually "in front of" the stator it will initially be attracted and move in the opposite direction.  If you are seeing a full 1/2 rotation that means you must have only a 2 pole machine and you are getting "unlucky" in the initial rotor position.  With higher pole motors the mechanical movement in the opposite direction will lessen obviously.  To guarantee rotor movement in the correct direction, and to guarantee alignement of fields for 100% torque under full load, you would have to use another technique to get the initial angle.  There are several posts on this topic.

"- Is that everything that is necessary to drive these motors?"

Yes. You will use

• CCStudio for embedded code development (FREE download when you use our TI XDS100 emulators, which are on the HVMTR EVM and the F28069M controlCARD). 
• MotorWare as the code repository for all InstaSPIN embedded code development.  Also includes MotorWare.exe as a way to navigate resources and all documenation. FREE.
• InstaSPIN GUIs: there isan -FOC and -MOTION (superset, includes FOC) for the F28069M card (this is a fixed project), and then InstaSPIN Universal that can be used to instrument any MotorWare project. FREE.

"Can we modified some part of the application code through that software for future experimentation (for instance, implementation of Direct Torque Control algorithms on this platform and etc.)?"

• There is quite a bit of modification required to build up a real system/product using InstaSPIN-FOC / -MOTION.
• You can make substantial changes to controllers, modulation, etc. while still using our FAST algorithm
• If you don't want to use FAST or the SpinTAC Motion Control Suite you can still use MotorWare and you can still use the Control framework (but it might be a little inflexible for something completely custom). At that point I would either create a new control flow in MotorWare or controlSUITE style C code, whichever you prefer

Thank you for this clarification Chris.

Hi,

Thank you for this very useful software stack.

I would like to port it on 28062F, since it is a version with FPU, I think I should start with the code provided for 28069M (the ...MISO control board). 

What are the steps I should follow to successfully adapt/compile/run the code on the specific device?

Thank you,

Best regards.

Nicholas,

Actually the 28069M device also has an FPU.  So you could use that device as well.  There are many MotorWare labs that make use of the FPU on the 28069M device.

In the 28062F part number, the F indicates the ROM code that is available.  F stands for InstaSPIN-FOC & M stands for IsntaSPIN-FOC + InstaSPIN-MOTION.

If you use the 62F just use any InstaSPIN-FOC project and update the .cmd file in the project with the 62F version from:

C:\ti\motorware\motorware_1_01_00_12\sw\ide\ccs\cmd\f2806x

Thanks man, all works good, 

I believe I stated it was a comment in my post.  The point was the comment was referring to all the global variables it couldn't find.

I.e.

//globals

variable1 blah1

variable2 blah2

variable3 blah3

variable4 blah4

variable5 blah5

...

variablen blahn

where each line started with an error mark in the margin implying the compiler couldn't find any of the variables.

Anyway, that problem went away when I went to CCS6.1.2.

CCS6.1.2 builds the project just fine but now I have another problem.  I can't connect to the control card.

I have the card connected to the laptop via USB.

I do not have any power to the DRV8301 board yet (not sure if I need it yet).

I tried to build the target configuration but someone thought it was a good idea to completely change that so I'm lost as to how to a) build a target configuration, and b) how to attach that configuration to the project.

Below is the error I'm getting now.

C28xx: Error connecting to the target: (Error -151 @ 0x0) One of the FTDI driver functions used during the connect returned bad status or an error. The cause may be one or more of: invalid XDS100 serial number, blank XDS100 EEPROM, missing FTDI drivers, faulty USB cable. Use the xds100serial command-line utility in the 'common/uscif' folder to verify the XDS100 can be located. (Emulation package 6.0.14.5)

The nightmare continues.

You guys must be thrilled with this new forum software.  Anyway, here is an attempt to show you what I have selected for the target configuration.  Still I have no idea how to connect the target configuration to the project.

Error.docx