Hello I am trying to work with the Instaspin XL and Boost-XL, I am using MotorWare v1.01.00.12 and CCS v5.5.0.00077, I have tried 2 motors, one hobby like motor (5krpm) and one slightly bigger motor (1krpm) both with 6 pole pairs, I've managed to get them to run the high speed hobby motor from 50rpm to 5krpm with enough torque and the bigger motor from 10rpm to 1krpm with very good torque, but I seem to have a problem with both of them, I cannot do reverse rotation, I tried several Labs, including Lab_04 with Iq_Ref_A and Speed_Ref_RPM in Lab05b/09/10a, positive values will move the motor and negative values will just stop it, the only way i can reverse the motor is physically swapping 2 phases, I also searched the forum and found that most of the people had this issue in Motorware v1.01.00.11 but I am using v1.01.00.12, any ideas?, please advise.
These are the settings for the bigger motor, I used Lab02b and the spreadsheet from this forum to set it up.
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (6)
#define USER_MOTOR_Rr (NULL)
#define USER_MOTOR_Rs (0.32)
#define USER_MOTOR_Ls_d (0.000325)//(0.000651)
#define USER_MOTOR_Ls_q (0.000325)//(0.000651)
#define USER_MOTOR_RATED_FLUX (0.06)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL)
#define USER_MOTOR_RES_EST_CURRENT (0.5)//(1.0)
#define USER_MOTOR_IND_EST_CURRENT (-1.0)
#define USER_MOTOR_MAX_CURRENT (5.0)
#define USER_IQ_FULL_SCALE_FREQ_Hz (300.0)//Hz =(RPM * Poles) / 120
#define USER_MOTOR_FLUX_EST_FREQ_Hz (27.0)
#define USER_MAX_ACCEL_EST_Hzps (7.0)
#define USER_IQ_FULL_SCALE_CURRENT_A (18.0)
#define USER_IQ_FULL_SCALE_VOLTAGE_V (24.0)
#define USER_ZEROSPEEDLIMIT (0.002)//(2.0 / USER_IQ_FULL_SCALE_FREQ_Hz)
#define USER_PWM_FREQ_kHz (30.0)
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK (10)
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK (10)
Cheers.
Rob.
