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LAUNCHXL-F28069M: Lab 12a troubleshooting rotor locking and high current draw

Aiden Brendemihl
Prodigy 60 points

Part Number: LAUNCHXL-F28069M

Tool/software:

I am running lab12a interfacing the quadrature encoder for the first time. When I set flag_enableSys and Flag_Run_Identify to one the motor jumps to a position and draws a ton of current and buzzes. I have tried swapping A and B on the encoder. I have read the st_obj.vel.conv.Pos_mrev variable and it starts at zero and goes to positive 1 after one full rotation. Let me know if anybody has any troubleshooting suggestions. Thanks!

  • 0
    TI__Guru** 117270 points

    Please take a look at the lab user's guide and make sure that you connect the motor and encoder wires correctly.

  • 0 in reply to Yanming Luo
    Prodigy 60 points

    It is I verified it with st_obj.vel.conv.Pos_mrev, it is equal to 1 after one full rotation. I also created a variable to read the encoder counts. its starts at zero and wraps after reaching 1000 with one full revolution. My encoder seems to work properly. I was able to run lab02b and lab05c with Instaspin motion without issue. My guess is that the pullup resistors are the problem on the QEPA pins. But that wouldn't make much sense if it works if I spin it by hand. My encoders data sheet says " CMOS sink/source per channel" which might mean that A, B, and I should not be pulled up. But I am not sure. 

  • 0 in reply to Aiden Brendemihl
    Prodigy 60 points

    I removed the pullup resistors. The encoder is still read by the program without issue but the motor just buzzes and draws current immediately during RsRecalc. I am really not sure what is going on here. Any suggestions would be helpful. Thanks!

  • 0 in reply to Aiden Brendemihl
    TI__Guru** 117270 points

    What motor you are  using? As metnioned above, please make sure the connection is correct.

  • 0 in reply to Yanming Luo
    Prodigy 60 points

    I am using an Anaheim Autmation BLWS233D-24V-4000 a 2 pole pair BLDC motor. It is wired correctly it rotates clockwise in other labs. My encoder is AMT103-D2048-I6350-S. I have the select switches set to 1000 PPR. This is my user parameters. Any troubleshooting suggestions would be helpful. I have tried swapping phases and A, B on  the encoder but it all results with the motor buzzing and drawing high current. These are my motor parameters: #elif (USER_MOTOR == AA_BLWS23)
    #define USER_MOTOR_TYPE MOTOR_Type_Pm
    #define USER_MOTOR_NUM_POLE_PAIRS (2)
    #define USER_MOTOR_Rr (NULL)
    #define USER_MOTOR_Rs (0.179684982)
    #define USER_MOTOR_Ls_d (0.000395773881)
    #define USER_MOTOR_Ls_q (0.000395773881)
    #define USER_MOTOR_RATED_FLUX (0.0535573661)
    #define USER_MOTOR_MAGNETIZING_CURRENT (NULL)
    #define USER_MOTOR_RES_EST_CURRENT (1.0)
    #define USER_MOTOR_IND_EST_CURRENT (-1.0)
    #define USER_MOTOR_MAX_CURRENT (6.1)
    #define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0)
    #define USER_MOTOR_ENCODER_LINES (250.0)
    #define USER_MOTOR_MAX_SPEED_KRPM (4.0)
    #define USER_SYSTEM_INERTIA (0.01848489)
    #define USER_SYSTEM_FRICTION (0.08867663145)
    #define USER_SYSTEM_BANDWIDTH (130.0)

  • 0 in reply to Aiden Brendemihl
    Prodigy 60 points

    I found that when Rs is recalculated in this lab it is way higher than normal which is likely the root of my problems. It says it is in a range of 200-2500 which is way to high, it should be less then 1. Have any idea why this is occurring in this lab and not others?

  • 0 in reply to Aiden Brendemihl
    TI__Guru** 117270 points

    You still need to run lab02b to tune the right USER_MOTOR_RES_EST_CURRENT and  USER_MOTOR_IND_EST_CURRENT, and aslo need to idenfity the motor parameters. Make sure that the encoder and motor wire are connected correctly to run the lab12a. You may try a motor shown in the example lab first if possible.