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TMS320F28069M: InstaSPIN lab05a motor current loop tuning problem

YoungJong Lee
Prodigy 40 points
Part Number: TMS320F28069M

Hello

I am evaluating InstaSPIN with C2000 lauchpadXL(TMS320F28069M) , BoostXL-DRV8305 and Maxon motor.

I followed 'Projects and Lab user's guide' but blocked lab05a current loop tuning.

Motor current wave is like below picture. This state motor runs at about 7000~8000rpm.

The motor current waveform does not change When i enter new Kp value.

Even if i entered 0 as value of Kp, it changes nothing.

The Waveform is not clear sinusoidal form.

What is the problem? Please give me advice.

ps>  below picture is from lab02c. 

  • 0
    TI__Guru** 109730 points
    1. Use lab02c to identify the motor parameters, and update the parameters in user.h
    2. What's the rated current and rated speed of motor? What's pole pairs of motor? It seems you run the motor without load, and lab05a is torque control mode, the running speed is over rated speed.