BOOSTXL-DRV8301: BOOSTXL-DRV8301

Kustaa Nyholm

Expert 2005 points

Part Number: BOOSTXL-DRV8301
Other Parts Discussed in Thread: MOTORWARE, DRV8305

Hi,

I'm running a BLDC motor using Motorware FOC lab05b, my motor is 57HBL74, see link below for details.

We are moving a load up and down via a lead screw and some gearing.

The load is up to 200 kg moving at about 25 mm/sec on the up stroke.

At about 120 kg things works just fine, up and down. The speed is controlled by the PID controller nicely.

With 200 kg load on the downs stroke when the gravity is helping the motor the software fails (and never recovers) and the load basically freefalls.

I just noticed this so I've not yet hooked the BOOSTXL board to Code Composer Studio debugger to see what actually happens,

that will have to wait until Monday but I figured I'll put the question up here what could be the problem so I can use the weekend to mull over the possibilities.

Have a nice weekend everyone,

wbr Kusti

http://www.fullingmotor.com/product/br/129.html

over 6 years ago

0 Rick Duncan over 6 years ago

TI__Guru** 114905 points

Hi Kusti,

Have you examined the nFAULT pin and the status registers in the device? When the device stops, information at the nFAULT pin and status registers are good clues.

What do you need to do to restart the system?

0 Kustaa Nyholm over 6 years ago in reply to Rick Duncan

Expert 2005 points

Hi Rick,

thanks for answering.

No I've not had chance to connect the system to a PC , but will do that on Monday.

To make it work I have to power cycle the BOOSTXL board, but this does not
tell much as IIRC the FOC lab code always how to be power cycled if it enters
an error state.

I was just fishing for probable or know issues that happen when the load is
turning the motor as opposed to the motor moving the load.

Unless there are any known issues or good guesses that is ok I will examine
more and come back with more details on Monday.

wbr Kusti

0 Kustaa Nyholm over 6 years ago in reply to Kustaa Nyholm

Expert 2005 points

Hi,

I connected CCS debugger and I cannot see any error or anything that catch my eye.

I grabbed the variable expression view contents and dumped to text file attached.

First dump when it is running ok and then when it fails.

What I should be looking for, what info should I provide time zone difference makes iteration slow...

wbr Kusti

dump (2).txt

OK, RUNNING UP




gMotorVars	struct _MOTOR_Vars_t_	{...}	0x000000C0@Data	
	Flag_enableSys	unsigned char	.	0x000000C0@Data	
	Flag_Run_Identify	unsigned char	.	0x000000C1@Data	
	Flag_MotorIdentified	unsigned char	.	0x000000C2@Data	
	Flag_enableForceAngle	unsigned char	.	0x000000C3@Data	
	Flag_enableFieldWeakening	unsigned char	.	0x000000C4@Data	
	Flag_enableRsRecalc	unsigned char	.	0x000000C5@Data	
	Flag_enableUserParams	unsigned char	.	0x000000C6@Data	
	Flag_enableOffsetcalc	unsigned char	.	0x000000C7@Data	
	Flag_enablePowerWarp	unsigned char	.	0x000000C8@Data	
	Flag_enableSpeedCtrl	unsigned char	.	0x000000C9@Data	
	Flag_enableRun	unsigned char	.	0x000000CA@Data	
	Flag_RunState	unsigned char	.	0x000000CB@Data	
	Flag_enableFlyingStart	unsigned char	.	0x000000CC@Data	
	CtrlState	enum unknown	CTRL_State_OnLine	0x000000CD@Data	
	EstState	enum unknown	EST_State_OnLine	0x000000CE@Data	
	UserErrorCode	enum unknown	USER_ErrorCode_NoError	0x000000CF@Data	
	CtrlVersion	struct _CTRL_Version_	{...}	0x000000D0@Data	
	IdRef_A	long	0	0x000000D4@Data	
	IqRef_A	long	0	0x000000D6@Data	
	SpeedRef_pu	long	0	0x000000D8@Data	
	SpeedRef_krpm	long	11841536	0x000000DA@Data	
	SpeedTraj_krpm	long	11532672	0x000000DC@Data	
	MaxAccel_krpmps	long	83886080	0x000000DE@Data	
	Speed_krpm	long	11435762	0x000000E0@Data	
	OverModulation	long	8388608	0x000000E2@Data	
	RsOnLineCurrent_A	long	25165824	0x000000E4@Data	
	SvgenMaxModulation_ticks	long	400	0x000000E6@Data	
	Flux_Wb	long	158541	0x000000E8@Data	
	Torque_Nm	long	1857436	0x000000EA@Data	
	MagnCurr_A	float	0.0	0x000000EC@Data	
	Rr_Ohm	float	0.0	0x000000EE@Data	
	Rs_Ohm	float	0.138	0x000000F0@Data	
	RsOnLine_Ohm	float	0.0	0x000000F2@Data	
	Lsd_H	float	0.00015	0x000000F4@Data	
	Lsq_H	float	0.00015	0x000000F6@Data	
	Flux_VpHz	float	0.0593624	0x000000F8@Data	
	ipd_excFreq_Hz	float	0.0	0x000000FA@Data	
	ipd_Kspd	long	0	0x000000FC@Data	
	ipd_excMag_coarse_pu	long	0	0x000000FE@Data	
	ipd_excMag_fine_pu	long	0	0x00000100@Data	
	ipd_waitTime_coarse_sec	float	0.0	0x00000102@Data	
	ipd_waitTime_fine_sec	float	0.0	0x00000104@Data	
	Kp_spd	long	10.0 (Q-Value(24))	0x00000106@Data	
	Ki_spd	long	0.06666666269 (Q-Value(24))	0x00000108@Data	
	Kp_Idq	long	0.5625 (Q-Value(24))	0x0000010A@Data	
	Ki_Idq	long	0.06133329868 (Q-Value(24))	0x0000010C@Data	
	Vd	long	0.0 (Q-Value(24))	0x0000010E@Data	
	Vq	long	0.0 (Q-Value(24))	0x00000110@Data	
	Vs	long	0.0 (Q-Value(24))	0x00000112@Data	
	VsRef	long	0.3999999762 (Q-Value(24))	0x00000114@Data	
	VdcBus_kV	long	0.02831476927 (Q-Value(24))	0x00000116@Data	
	Id_A	long	0.0 (Q-Value(24))	0x00000118@Data	
	Iq_A	long	0.0 (Q-Value(24))	0x0000011A@Data	
	Is_A	long	0.0 (Q-Value(24))	0x0000011C@Data	
	I_bias	struct _MATH_vec3_	{...}	0x0000011E@Data	
		value	long[3]	0x0000011E@Data	0x0000011E@Data	
	V_bias	struct _MATH_vec3_	{...}	0x00000124@Data	
	SpeedSet_krpm	long	10066330	0x0000012A@Data	
	angle_sen_pu	long	0	0x0000012C@Data	
	angle_est_pu	long	0	0x0000012E@Data	
	speed_sen_pu	long	0	0x00000130@Data	
	speed_est_pu	long	0	0x00000132@Data	
	speedHigh_hall2fast_pu	long	0	0x00000134@Data	
	speedLow_hall2fast_pu	long	0	0x00000136@Data	
gMotorVars.UserErrorCode	enum unknown	USER_ErrorCode_NoError	0x000000CF@Data	
gMotorVars.CtrlVersion	struct _CTRL_Version_	{...}	0x000000D0@Data	
gMotorVars.Flag_enableSys	unsigned char	.	0x000000C0@Data	
gMotorVars.Flag_Run_Identify	unsigned char	.	0x000000C1@Data	
gMotorVars.Flag_enableForceAngle	unsigned char	.	0x000000C3@Data	
gMotorVars.Flag_enablePowerWarp	unsigned char	.	0x000000C8@Data	
gMotorVars.CtrlState	enum unknown	CTRL_State_OnLine	0x000000CD@Data	
gMotorVars.EstState	enum unknown	EST_State_OnLine	0x000000CE@Data	
gMotorVars.SpeedRef_krpm	long	0.0 (Q-Value(24))	0x000000DA@Data	
gMotorVars.MaxAccel_krpmps	long	5.0 (Q-Value(24))	0x000000DE@Data	
gMotorVars.Speed_krpm	long	0.7029044032 (Q-Value(24))	0x000000E0@Data	
gMotorVars.Torque_lbin	unknown	Error: member 'Torque_lbin' not found 	at (gMotorVars).Torque_lbin 	
gMotorVars.MagnCurr_A	float	0.0	0x000000EC@Data	
gMotorVars.Rr_Ohm	float	0.0	0x000000EE@Data	
gMotorVars.Rs_Ohm	float	0.138	0x000000F0@Data	
gMotorVars.Lsd_H	float	0.00015	0x000000F4@Data	
gMotorVars.Lsq_H	float	0.00015	0x000000F6@Data	
gMotorVars.Flux_VpHz	float	0.05933823	0x000000F8@Data	
gMotorVars.I_bias	struct _MATH_vec3_	{...}	0x0000011E@Data	
gMotorVars.V_bias	struct _MATH_vec3_	{...}	0x00000124@Data	
gMotorVars.VdcBus_kV	long	0.02826064825 (Q-Value(24))	0x00000116@Data	
gDrvSpi8301Vars	unknown	Error: identifier not found: gDrvSpi8301Vars	
Add new expression	


FAIL, RUNNING DOWN WITH 200 kg LOAD



gMotorVars	struct _MOTOR_Vars_t_	{...}	0x000000C0@Data	
	Flag_enableSys	unsigned char	.	0x000000C0@Data	
	Flag_Run_Identify	unsigned char	.	0x000000C1@Data	
	Flag_MotorIdentified	unsigned char	.	0x000000C2@Data	
	Flag_enableForceAngle	unsigned char	.	0x000000C3@Data	
	Flag_enableFieldWeakening	unsigned char	.	0x000000C4@Data	
	Flag_enableRsRecalc	unsigned char	.	0x000000C5@Data	
	Flag_enableUserParams	unsigned char	.	0x000000C6@Data	
	Flag_enableOffsetcalc	unsigned char	.	0x000000C7@Data	
	Flag_enablePowerWarp	unsigned char	.	0x000000C8@Data	
	Flag_enableSpeedCtrl	unsigned char	.	0x000000C9@Data	
	Flag_enableRun	unsigned char	.	0x000000CA@Data	
	Flag_RunState	unsigned char	.	0x000000CB@Data	
	Flag_enableFlyingStart	unsigned char	.	0x000000CC@Data	
	CtrlState	enum unknown	CTRL_State_OnLine	0x000000CD@Data	
	EstState	enum unknown	EST_State_OnLine	0x000000CE@Data	
	UserErrorCode	enum unknown	USER_ErrorCode_NoError	0x000000CF@Data	
	CtrlVersion	struct _CTRL_Version_	{...}	0x000000D0@Data	
	IdRef_A	long	0	0x000000D4@Data	
	IqRef_A	long	0	0x000000D6@Data	
	SpeedRef_pu	long	0	0x000000D8@Data	
	SpeedRef_krpm	long	-15368192	0x000000DA@Data	
	SpeedTraj_krpm	long	-15368192	0x000000DC@Data	
	MaxAccel_krpmps	long	83886080	0x000000DE@Data	
	Speed_krpm	long	-15586596	0x000000E0@Data	
	OverModulation	long	8388608	0x000000E2@Data	
	RsOnLineCurrent_A	long	25165824	0x000000E4@Data	
	SvgenMaxModulation_ticks	long	400	0x000000E6@Data	
	Flux_Wb	long	158833	0x000000E8@Data	
	Torque_Nm	long	-169692	0x000000EA@Data	
	MagnCurr_A	float	0.0	0x000000EC@Data	
	Rr_Ohm	float	0.0	0x000000EE@Data	
	Rs_Ohm	float	0.138	0x000000F0@Data	
	RsOnLine_Ohm	float	0.0	0x000000F2@Data	
	Lsd_H	float	0.00015	0x000000F4@Data	
	Lsq_H	float	0.00015	0x000000F6@Data	
	Flux_VpHz	float	0.05942518	0x000000F8@Data	
	ipd_excFreq_Hz	float	0.0	0x000000FA@Data	
	ipd_Kspd	long	0	0x000000FC@Data	
	ipd_excMag_coarse_pu	long	0	0x000000FE@Data	
	ipd_excMag_fine_pu	long	0	0x00000100@Data	
	ipd_waitTime_coarse_sec	float	0.0	0x00000102@Data	
	ipd_waitTime_fine_sec	float	0.0	0x00000104@Data	
	Kp_spd	long	10.0 (Q-Value(24))	0x00000106@Data	
	Ki_spd	long	0.06666666269 (Q-Value(24))	0x00000108@Data	
	Kp_Idq	long	0.5625 (Q-Value(24))	0x0000010A@Data	
	Ki_Idq	long	0.06133329868 (Q-Value(24))	0x0000010C@Data	
	Vd	long	0.0 (Q-Value(24))	0x0000010E@Data	
	Vq	long	0.0 (Q-Value(24))	0x00000110@Data	
	Vs	long	0.0 (Q-Value(24))	0x00000112@Data	
	VsRef	long	0.3999999762 (Q-Value(24))	0x00000114@Data	
	VdcBus_kV	long	0.02832555771 (Q-Value(24))	0x00000116@Data	
	Id_A	long	0.0 (Q-Value(24))	0x00000118@Data	
	Iq_A	long	0.0 (Q-Value(24))	0x0000011A@Data	
	Is_A	long	0.0 (Q-Value(24))	0x0000011C@Data	
	I_bias	struct _MATH_vec3_	{...}	0x0000011E@Data	
		value	long[3]	0x0000011E@Data	0x0000011E@Data	
	V_bias	struct _MATH_vec3_	{...}	0x00000124@Data	
	SpeedSet_krpm	long	10066330	0x0000012A@Data	
	angle_sen_pu	long	0	0x0000012C@Data	
	angle_est_pu	long	0	0x0000012E@Data	
	speed_sen_pu	long	0	0x00000130@Data	
	speed_est_pu	long	0	0x00000132@Data	
	speedHigh_hall2fast_pu	long	0	0x00000134@Data	
	speedLow_hall2fast_pu	long	0	0x00000136@Data	
gMotorVars.UserErrorCode	enum unknown	USER_ErrorCode_NoError	0x000000CF@Data	
gMotorVars.CtrlVersion	struct _CTRL_Version_	{...}	0x000000D0@Data	
gMotorVars.Flag_enableSys	unsigned char	.	0x000000C0@Data	
gMotorVars.Flag_Run_Identify	unsigned char	.	0x000000C1@Data	
gMotorVars.Flag_enableForceAngle	unsigned char	.	0x000000C3@Data	
gMotorVars.Flag_enablePowerWarp	unsigned char	.	0x000000C8@Data	
gMotorVars.CtrlState	enum unknown	CTRL_State_OnLine	0x000000CD@Data	
gMotorVars.EstState	enum unknown	EST_State_OnLine	0x000000CE@Data	
gMotorVars.SpeedRef_krpm	long	-0.9143066406 (Q-Value(24))	0x000000DA@Data	
gMotorVars.MaxAccel_krpmps	long	5.0 (Q-Value(24))	0x000000DE@Data	
gMotorVars.Speed_krpm	long	-0.8941062093 (Q-Value(24))	0x000000E0@Data	
gMotorVars.Torque_lbin	unknown	Error: member 'Torque_lbin' not found 	at (gMotorVars).Torque_lbin 	
gMotorVars.MagnCurr_A	float	0.0	0x000000EC@Data	
gMotorVars.Rr_Ohm	float	0.0	0x000000EE@Data	
gMotorVars.Rs_Ohm	float	0.138	0x000000F0@Data	
gMotorVars.Lsd_H	float	0.00015	0x000000F4@Data	
gMotorVars.Lsq_H	float	0.00015	0x000000F6@Data	
gMotorVars.Flux_VpHz	float	0.05949756	0x000000F8@Data	
gMotorVars.I_bias	struct _MATH_vec3_	{...}	0x0000011E@Data	
gMotorVars.V_bias	struct _MATH_vec3_	{...}	0x00000124@Data	
gMotorVars.VdcBus_kV	long	0.02835804224 (Q-Value(24))	0x00000116@Data	
gDrvSpi8301Vars	unknown	Error: identifier not found: gDrvSpi8301Vars	
Add new expression

0 Rick Duncan over 6 years ago in reply to Kustaa Nyholm

TI__Guru** 114905 points

Hi Kusti,

You do not need the CCS debugger for the information requested.

Did you monitor the nFAULT pin? Did it change from a logic one to a low zero? If it did, please read the status registers to determine the cause of the fault.

0 Kustaa Nyholm over 6 years ago in reply to Rick Duncan

Expert 2005 points

Oops, did not grasp that. Ok, I will check the nFAULT tomorrow ... I will need the debugger to read the status reg though ;) so good that I have that up and running now.

cheers Kusti

0 Kustaa Nyholm over 6 years ago in reply to Kustaa Nyholm

Expert 2005 points

Hi,

first of all, I'm using DRV8305 not 8301 as I wrongly stated, sorry about that.

I checked the nFAULT LED and indeed it turns ON when the system fails.

I tried to look at the status registers but did not get that to function (I think).

In CCS Expressions tab I show the gDrvSpi8305Vars variable, but all the

Stat_Reg_01 - Stat_Reg_04 show all the status bits as 1 regardless of

what I do, see below:

I verified that the main loop (in proj_lab05b.c) goes through the read/write SPI stuff around line 479:

#ifdef DRV8305_SPI
    	debug[0]++;
        HAL_writeDrvData(halHandle,&gDrvSpi8305Vars);
    	gDrvSpi8305Vars.ReadCmd = 1;
        HAL_readDrvData(halHandle,&gDrvSpi8305Vars);
#endif

I can see in the Expressions tab my debug[0] keeps counting up.

Also tried (as it was originally) without ReadCmd=1.

I must be missing something very basic but what?

wbr Kusti

0 Kustaa Nyholm over 6 years ago in reply to Kustaa Nyholm

Expert 2005 points

Hi,

first of all, I'm using DRV8305 not 8301 as I wrongly stated, sorry about that.

I checked the nFAULT LED and indeed it turns ON when the system fails.

I tried to look at the status registers but did not get that to function (I think).

In CCS Expressions tab I show the gDrvSpi8305Vars variable, but all the

Stat_Reg_01 - Stat_Reg_04 show all the status bits as 1 regardless of

what I do, see below

I verified that the main loop (in proj_lab05b.c) goes through the read/write SPI stuff around line 479:

#ifdef DRV8305_SPI
debug[0]++;
HAL_writeDrvData(halHandle,&gDrvSpi8305Vars);
gDrvSpi8305Vars.ReadCmd = 1;
HAL_readDrvData(halHandle,&gDrvSpi8305Vars);
#endif
I can see in the Expressions tab my debug[0] keeps counting up.

Also tried (as it was originally) without ReadCmd=1.

I must be missing something very basic but what?

wbr Kusti

0 Kustaa Nyholm over 6 years ago in reply to Rick Duncan

Expert 2005 points

Hi,

first of all, I'm using DRV8305 not 8301 as I wrongly stated, sorry about that.

I checked the nFAULT LED and indeed it turns ON when the system fails.

I tried to look at the status registers but did not get that to function (I think).

In CCS Expressions tab I show the gDrvSpi8305Vars variable, but all the

Stat_Reg_01 - Stat_Reg_04 show all the status bits as 1 regardless of

what I do, see below

I verified that the main loop (in proj_lab05b.c) goes through the read/write SPI stuff around line 479:

#ifdef DRV8305_SPI

debug[0]++;

HAL_writeDrvData(halHandle,&gDrvSpi8305Vars);

gDrvSpi8305Vars.ReadCmd = 1;

HAL_readDrvData(halHandle,&gDrvSpi8305Vars);

#endif

I can see in the Expressions tab my debug[0] keeps counting up.

Also tried (as it was originally) without ReadCmd=1.

I must be missing something very basic but what?

wbr Kusti

0 Rick Duncan over 6 years ago in reply to Kustaa Nyholm

TI__Guru** 114905 points

Hi Kusti,

Thanks for the clarification.

It is difficult to determine, but the reading of the registers may be all 1's. It is recommended to try to read a register prior to motor operation to confirm the SPI transactions are correct.

Once the SPI reads are confirmed to be correct, the registers can be read after the fault to determine the reason for the fault.

Motor drivers

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BOOSTXL-DRV8301: BOOSTXL-DRV8301