LVSERVOMTR: DRV8301-69M-KIT kit and LVSERVOMTR running issue

this is the eQEP setup codes from InstaSPIN:

void HAL_setupQEP(HAL_Handle handle,HAL_QepSelect_e qep)
{
HAL_Obj *obj = (HAL_Obj *)handle;

// hold the counter in reset
QEP_reset_counter(obj->qepHandle[qep]);

// set the QPOSINIT register
QEP_set_posn_init_count(obj->qepHandle[qep], 0);

// disable all interrupts
QEP_disable_all_interrupts(obj->qepHandle[qep]);

// clear the interrupt flags
QEP_clear_all_interrupt_flags(obj->qepHandle[qep]);

// clear the position counter
QEP_clear_posn_counter(obj->qepHandle[qep]);

// setup the max position
QEP_set_max_posn_count(obj->qepHandle[qep], (4*USER_MOTOR_ENCODER_LINES)-1);

// setup the QDECCTL register
QEP_set_QEP_source(obj->qepHandle[qep], QEP_Qsrc_Quad_Count_Mode);
QEP_disable_sync_out(obj->qepHandle[qep]);
QEP_set_swap_quad_inputs(obj->qepHandle[qep], QEP_Swap_Not_Swapped);
QEP_disable_gate_index(obj->qepHandle[qep]);

QEP_set_ext_clock_rate(obj->qepHandle[qep], QEP_Xcr_2x_Res);

QEP_set_A_polarity(obj->qepHandle[qep], QEP_Qap_No_Effect);
QEP_set_B_polarity(obj->qepHandle[qep], QEP_Qbp_No_Effect);
QEP_set_index_polarity(obj->qepHandle[qep], QEP_Qip_No_Effect);

// setup the QEPCTL register
QEP_set_emu_control(obj->qepHandle[qep], QEPCTL_Freesoft_Unaffected_Halt);

QEP_set_posn_count_reset_mode(obj->qepHandle[qep], QEPCTL_Pcrm_Max_Reset);

QEP_set_strobe_event_init(obj->qepHandle[qep], QEPCTL_Sei_Nothing);
QEP_set_index_event_init(obj->qepHandle[qep], QEPCTL_Iei_Nothing);
QEP_set_index_event_latch(obj->qepHandle[qep], QEPCTL_Iel_Rising_Edge);
QEP_set_soft_init(obj->qepHandle[qep], QEPCTL_Swi_Nothing);
QEP_disable_unit_timer(obj->qepHandle[qep]);
QEP_disable_watchdog(obj->qepHandle[qep]);

// setup the QPOSCTL register
QEP_disable_posn_compare(obj->qepHandle[qep]);

// setup the QCAPCTL register
QEP_disable_capture(obj->qepHandle[qep]);

// renable the position counter
QEP_enable_counter(obj->qepHandle[qep]);

return;
}

this is the motor and the corresponding spec.  the predefined user.h file for Teknic motor has encoder line as 1000.

that means it can count up to 4000 counts / rev.

but the motor spec said it support different counts / rev.

can you please confirm if the encoder count of 1000 line is correct for this motor?

can someone please from TI shining some lights on my questions?  

Thanks

Henry

so i checked the motor spec and it said M2310P-LN-04K so that last 2 digit is 04 which means 4000 count / rev.

so the user.h has motor encoder lines set to 1000 which seems to be all right.

i am still not able to get it rotate on lab 12a.

ok i troubled shoot further and found out that the A/B/I encoder from the motor is dead.

the Hall sensor seems to be still wok.

I put the scope probe underneath J4 pins. 

with 5VD input the A/B/I is constant 5V output.

it does not change when i rotate the motor shaft.

if i do not provide 5VD input, A/B/I are 0v output.

see the video below that does not display any output when i rotate the motor shaft.

i did the same measurement on J10 connector with 5v and GND input.

there, i can clearly see the COMM S-T, COMM R-S, COMM-T-R toggling when i rotate the motor shaft.

can someone please let me know if i miss something for encoder to output or it was dead?

Thanks,

Henry