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question about drive motor with motorware lab12b

chang lianqing
Intellectual 770 points

Other Parts Discussed in Thread: MOTORWARE

Hello,

I have 2 question about  using InstaSPIN-MOTION with Sensored Systems.(lab12b)

Q1: Does motorware software use either voltage or current feedbak when run in sensored program, or if the voltage(current) feedback removed will not affect the normal operation of the motor.

Q2:If motor just controlled with sensor signal, how could I Skip ENC_setZeroOffset during EST_State_Rs.

  • 0
    Guru 12800 points

    Chang,

    chang lianqing said:
    Q1: Does motorware software use either voltage or current feedbak when run in sensored program, or if the voltage(current) feedback removed will not affect the normal operation of the motor.

    The MotorWare software uses the current feedbacks when run in sensored mode.  In order to remove the voltage feedbacks you will also need to modify the software so that it does not use the Rs recalibration to perform the encoder alignment.

    chang lianqing said:
    Q2:If motor just controlled with sensor signal, how could I Skip ENC_setZeroOffset during EST_State_Rs.

    The function ENC_setZeroOffset  is done during EST_State_Rs as a matter of convenience.  Since during EST_State_Rs the motor is aligned to  an electrical angle of 0 degrees the encoder zero can be captured.  In order to remove the reliance on EST_State_Rs you would need to set positive d-axis reference current with an enforced electrical angle of 0 degrees and capture the encoder offset at that point.

  • 0 in reply to Adam D. Reynolds
    Intellectual 770 points
    hello,
    My goal is reduce the time when enable the Flag_enableSystem & Flag_runIdentify.
    as you said about my qusetion2, " Since during EST_State_Rs the motor is aligned to an electrical angle of 0 degrees the encoder zero can be captured".
    my understanding is motorware capture the encodder index signal and save the (QPOSMAX - QPOSCNT) value as enc offset.
    If my understanding is wrong, please give me a lot of guidance.

    Because i think pUserParams->RsWaitTime could be reduced, could i force the RS as static value, even though perform EST_Rs.

    thank you.
  • 0 in reply to chang lianqing
    TI__Guru** 119680 points
    yes, you can test reducing the RsWaitTime to insure you can RsRecal in the shorter time with your system.
    alternatively, you can disable RsRecal and simply start up. The first thing you would then want to do is set an Id_Ref_A of some + current to insure the rotor will align (with any load) to an electrical zero. You then do the offset the same.
  • 0 in reply to ChrisClearman
    Intellectual 770 points
    sorry, may I have a question about "electrical zero", it means encoder index signal captrued, right?

    another question is which lab could instruct me use id_ref_A to drive the motor?
  • 0 in reply to chang lianqing
    TI__Guru** 119680 points
    "sorry, may I have a question about "electrical zero", it means encoder index signal captrued, right?"
    you need to first move the rotor (through use of +Id_Ref_A) to align with the stator flux. This is an electrical zero. You can then capture the encoder count and use this as an offset to you always know your home / zero position

    "another question is which lab could instruct me use id_ref_A to drive the motor?"
    This is not in a lab. in proj_lab09 a negative Id_Ref_A is used for field weakening. You can use the same code snippet to set a + Id_Ref_A with a 0 Iq_Ref_A in the lab12 you are using.

    or just use RsRecal with a lower wait time.
  • 0 in reply to chang lianqing
    Guru 12800 points
    Chang,

    MotorWare does not use the encoder index signal. The encoder count is reset when the maximum count is reached and not after seeing an index signal.

    Since the motor and encoder are aligned by using positive d-axis current, forcing the motor to electrical angle zero the offset can be captured there. This will mean that regardless of what the actual count on the encoder is at that point, the ENC software block is producing an electrical angle of 0 which is what is needed for motor control.
  • 0 in reply to Adam D. Reynolds
    Intellectual 770 points
    which variable in project mean electrical angle ?