HVKIT + Estun_EMJ_04APB22, run MotorWare Lab12 has a problem

Chang,

I sent this to LineStream to take a look at, they are the owners of the SpinTAC IP that we licensed.

Once you move up to high voltage do the non-encoder labs work?  Can you run lab5x with good performance?

Lianqing,

What is the order that you have connected the wires for the Estun motor?  Do you have your encoder connected to the system?

Please follow the debugging steps in the attached document.  It sounds like you can start from 6 Encoder Setup.  

6036.InstaSPIN-MOTION Position Commissioning.pdf

Yes, I could run lab5x with good performance when I move up to high voltage without encoder.

thank you for your advise, and I had check them again. 

I could not believe for the wires reasons caused the problem.

Afterall, I could run lab12 work properly by DC.30V

May I assume that it is the software reason caused the problem

such as Current PI loop  and "FULL_SCALE" define in user.h.

Now I test step.6 Encoder Setup

when I Manually rotate the motor in the anti- clockwise direction 

1.st_obj.vel.conv.Pos_erev (IQ24) is two times increase from 0 to 1 (one circle)

2.st_obj.vel.conv.Pos_mrev (IQ24) is increase to 10 , and move to -10 immediately. this variable continued to grow as I turn the motor.

Lianqing,

There should be no reason that using 30Vdc works and 220 Vac does not.  I tested your user.h settings in my setup and went from 30Vdc to 200Vdc without any issues.  

When you run lab 5c & 5e did the motor shaft spin anti-clockwise?

Are you setting gMotorVars.Flag_enableRsRecalc to 0?  Lab 12 uses the resistance recalibration process in order to detect the encoder calibration.  I would recommend leaving this value as 1.

The Estun_EMJ_04APB22 motor has 4 pole pairs.  So when you manually rotate the motor shaft in one circle you should see four transitions from 0 to 1 for the electrical angle.

hello,

I am sure that the motor shaft spin anti-clockwise in lab 5c & 5e.

and i will check the value of gMotorVars.Flag_enableRsRecalc later when I run the project, should I set it to 1 manually?

may I have qusetion about the variable "st_obj.vel.conv.Pos_erev" two times increase from 0 to 1 (one circle), even through i had the setting:

#define USER_MOTOR_ENCODER_LINES        (2500.0)      

#define USER_MOTOR_NUM_POLE_PAIRS       (4) 

I would like to express my appreciation for having given me a helping hand.

Lianqing,

If gMotorVars.Flag_enableRsRecalc is not 1 prior to setting gMotorVars.Flag_enableSys, please set it to 1 at that point.

I'm surprised that you only saw it go from 0 to 1 twice in a complete revolution.  This should represent the electrical angle of the motor and should go from 0 to 1 for each pole of the motor.

Can you send me a screenshot of your compiler version?  You mentioned that you were on 6.3.2, I want to make sure that is a typo.  

Adam,

gMotorVars.Flag_enableRsRecalc is set 1 default by program.

And I check st_obj.vel.conv.Pos_erev again, it is 4 times increase from 0 to 1 (one circle),that is my wrong before.

Another is question is why I could run lab12 normally by DC.30V,  is there any hardware setting i missed.

Lianqing,

Seems like you do have the correct compiler.  It also seems like it is handling the zero offset correctly.  

One thing that I noticed is that the other bus voltage you are using is 220Vac which is about 310Vdc.  The Estun motor is rated for a Vdc bus of 200V.  

Do you have a way to try other bus voltages besides 30Vdc & 220Vac?

Adam,

thank you for you advise, I mee the same problem with 300Vdc.

And i try to use a "higher level" motor,but have no advancement.

or say, may i find some key by change the software settings?

because i could drive the motor very well by 30Vdc

Lianqing,

There should be no software settings that need to be changed to run the motor at 30Vdc or 200Vdc.  When you run the motor at 30Vdc are you still using the TMDSHVMTRINSPIN evaluation kit?

yes, i could drive the motor both with DRV8301 and  TMDSHVMTRINSPIN evaluation kit(hvkit) by DC.30V

and it have the same state by another motor. that motor's rate U & I is much higher than hvkit supply.

of course, i am sure the motor could run well with sensorless project.

Lianqing,

I don't know what could be different between running that motor at 30Vdc and 300Vdc.  The software should be compensating for the difference in the voltage.

I had a similar problem with the HVKIT + Estun motor when I was trying to run the "HVPM_Sensored_Servo" project from controlSUITE. I used a variac to control the AC input. The motor behaved properly when the bus voltage was up to 40V. When the voltage was increased any higher, the behavior started to be erratic.

-Tamil

ChrisClearman,

I'm sorry about the problem is been bugging me for days.

Would you give me some of your views on this issue?

Adam,

I agree with you, but i still couldn't find the way to solve the problem....

My instinct says to check for noise on the encoder lines.  Perhaps this is exacerbated with voltage and frequency.