TIDM-02014: Software Testing

Hi Ahmet, 

Could you please remind me how you turn on the CLOSED_SPEED_LOOP parameter? I don't see this parameter in the code.

Normally, in the speed control mode, you need a position sensor, e.g. resolver or encoder, what position sensor you are using？

Hello,

Is there a different software for this hardware?

The project I use is TIDM-02014_traction_inv_F28003x

There is a resolver on the TGT2-0032-30-24 motor.
I can see sin and cos values.
I can also see resolver_theta and resolver_omega values.

I define the parameters CLOSED_SPEED_LOOP and CLOSED_CURRENT_LOOP.

I set the SpeedRef value to 0.02.
The motor locks up and then starts to draw a lot of current.
What could be the problem and how should I proceed?

Hi Ahmet,

Xiaoqiang Sun said:

For resolver, you may need to change the value of RESOLVER_BIAS to adapt the angle offset

Please try to adapt the resolver offset, it should be set correctly according to your setup.

How do I know if the RESOLVER_BIAS value is correct?

The motor is running as CLOSED_CURRENT_LOOP.

speedRef -> 0.02
IqRef -> 0.1
IdRef -> 5

Conclusion:
motor1.omega_e -> 31.41
resolver_omega -> -13.2
These two values should be similar, right?

I keep changing the RESOLVER_BIAS value but I get no result.
Can you please help me?

I changed it to CLOSED_SPEED_LOOP.
But the motor does not rotate.
How can I return the motor as CLOSED_SPEED_LOOP?

I followed all the steps but did not understand step 3.

As a result of what I did, the resolver_omega value is as follows.
How should I continue?

Even if I set RESOLVER_BIAS very high, the result does not change at all.
Isn't this setting done automatically?