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F28035 piccolo control Estun EMJ-04APB22 settings

Leo Yeh
Prodigy 80 points

Dear Hank:

Hello, I want to ask that the settings in my "HVPM_Sensored_Servo.h" with " Estun_EMJ_04APB22"Servo  PMSM.

I found this website: https://e2e.ti.com/support/microcontrollers/c2000/f/171/t/86018.

 TI's employee  has solved some of my  questions, but the information he provide is not complete.

These settings the employee provided are  as following:

#if (USER_MOTOR == Estun_EMJ_04APB22)                  
#define USER_MOTOR_TYPE                   MOTOR_Type_Pm  
#define USER_MOTOR_NUM_POLE_PAIRS         (4)         
#define USER_MOTOR_Rr                    (NULL)       
#define USER_MOTOR_Rs                    (2.200221)     
#define USER_MOTOR_Ls_d                  (0.008721023)  
#define USER_MOTOR_Ls_q                  (0.008721023)  
#define USER_MOTOR_RATED_FLUX            (0.3846985)   
#define USER_MOTOR_MAGNETIZING_CURRENT      (NULL) 

---------------------------------------------------------------------------------------------------------------
These settings  I should  modify in my program(HVPM_Sensored_Servo-settings.h):

//// Define the electrical motor parametes (Estun Servomotor)
#define RS  2.200221                                                                 // Stator resistance (ohm)
#define RR                                                                                    // Rotor resistance (ohm)
#define LS    0.008721023                                                        // Stator inductance (H)
#define LR                                                                                    // Rotor inductance (H)
#define LM                                                                                   // Magnatizing inductance (H)
#define POLES      8                                                                   // Number of poles
//
//// Define the base quantites
#define BASE_VOLTAGE       200            // Base peak phase voltage (volt)
#define BASE_CURRENT       2.7          // Base peak phase current (amp)
#define BASE_TORQUE        1.27    // Base torque (N.m)
#define BASE_FLUX          0.3846985    // Base flux linkage (volt.sec/rad)
#define BASE_FREQ         200            // Base electrical frequency (Hz)
The employee didn't mention  "BASE_VOLTAGE","BASE_CURRENT"," BASE_TORQUE".
Do you have certain values?
1.
I'm not sure whether   BASE_VOLTAGE 、 BASE_CURRENT、BASE_TORQUE   is     motor's rated voltage、rated current、rated torque or not.
2.
Should I  fill out  RR、LR、LM or any other blank space?
I didn't find them in  Estun_EMJ_04APB22's  datasheet.
I want my motor operate  normally.
3.
 If I use   "HVPM_Sensored_Servo   Level 4B"

 I use SpeedLoop I know "SpeedRef = IQ(0.1)  ----> 300rpm"，"SpeedRef = IQ(0.2)  ----> 600rpm"........
"SpeedRef = IQ(1)  ----> 3000rpm"
They have  proportional relationship.
But when I use CurrentLoop,  the  proportional relationship  would  change  by modifying   BASE_CURRENT  、RS
and  Ls.
Please  solve my doubt!!
Thanks a lot!!
Best regards.