We are running an F2806xM ISO controlCARD on an HV base board.
When we run Lab12B (plus our user.h), it starts in the reverse direction and immediately faults.
(We always “Enable silicon real-time mode before running the debugger” before running the debugger.)
Our encoder seems to be properly configured. st_obj.vel.conv.Pos_mrev increments when the motor is turning in the CW position (like Lab 5C), and it increments 1.0 per revolution.
Here’s our user.h
#define USER_IQ_FULL_SCALE_FREQ_Hz (293.3) // From motorware_selecting_user_variables.xlsx
#define USER_IQ_FULL_SCALE_VOLTAGE_V (450.0) // 450.0 Example for hvkit_rev1p1 typical usage
#define USER_ADC_FULL_SCALE_VOLTAGE_V (409.6) // 409.6 hvkit_rev1p1 voltage scaling
#define USER_IQ_FULL_SCALE_CURRENT_A (10.0) // 10.0 Example for hvkit_rev1p1 typical usage
#define USER_ADC_FULL_SCALE_CURRENT_A (19.89) // 19.89 hvkit_rev1p1 current scaling
#define I_A_offset (0.300113976)
#define I_B_offset (0.300426245)
#define I_C_offset (0.302930832)
#define V_A_offset (0.502626240)
#define V_B_offset (0.499157906)
#define V_C_offset (0.501179576)
#define USER_SYSTEM_FREQ_MHz (90.0)
#define USER_PWM_FREQ_kHz (15.0)
#define USER_MAX_VS_MAG_PU (1.0)
#define USER_MAX_ACCEL_Hzps (100.0) // 20.0 Default
#define USER_MAX_ACCEL_EST_Hzps (2.0) // 2.0 Default, don't change
#define USER_R_OVER_L_EST_FREQ_Hz (100) // 100 Default
#define USER_VOLTAGE_FILTER_POLE_Hz (372.5) // 372.5, value for hvkit_rev1p1 hardware
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_MAX_SPEED_KRPM (4.0)
#define USER_MOTOR_NUM_POLE_PAIRS (4) // OK
#define USER_MOTOR_Rr (NULL) // Don't know what Rr is
#define USER_MOTOR_Rs (0.28580117) // OK
#define USER_MOTOR_Ls_d (0.003661516) // OK as long as Ls_d and Ls_q are the same
#define USER_MOTOR_Ls_q (0.003661516) // OK as long as Ls_d and Ls_q are the same
#define USER_MOTOR_RATED_FLUX (0.3598494) // Not sure how you got this
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL) // I guess null is a good guess to start from
#define USER_MOTOR_RES_EST_CURRENT (1.0) // Not sure
#define USER_MOTOR_IND_EST_CURRENT (-1.0) // Not sure
#define USER_MOTOR_MAX_CURRENT (10.0) // or 36.7 unless you're trying to be safe
#define USER_MOTOR_FLUX_EST_FREQ_Hz (27.0) // From motorware_selecting_user_variables.xlsx
// Results from running Lab05C and Lab12A on TI HV Kit and Test Bench
#define USER_MOTOR_ENCODER_LINES (2000.0)
#define USER_SYSTEM_INERTIA (1.419) // Test stand
#define USER_SYSTEM_FRICTION (0.772) // Test stand
#define USER_SYSTEM_BANDWIDTH_SCALE (1.0)
Labs 5C and 12A run perfectly. They both start in the positive direction and run without faults.
Maybe something is overflowing?
