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Problems with instaspin

Sean Brooks
Prodigy 60 points

Other Parts Discussed in Thread: DRV8301, DRV8305, MOTORWARE, INSTASPINUNIVERSALGUI, LAUNCHXL-F28379D, LAUNCHXL-F28069M

Hi everone, I am trying to add my own motor settings but I am getting an error all the time

I am using a F28069M and Drv8301 booster kit

My Compiler Version = TI v15.12.3.LTS

 I am trying to get a hobby outrunner motor

Input Voltage     =   12v

Rs (Ohm)           =   0.068925

Ls-d / Ls-q          =  0.0117075

Flux (V/Hz)         =  0.0066480

USER_PWM_FREQ_kHz (45.0)

USER_MOTOR_FLUX_EST_FREQ_Hz (45.0)

USER_MOTOR_MAX_CURRENT (5.0)

USER_MOTOR_NUM_POLE_PAIRS (5)

USER_MOTOR_RES_EST_CURRENT (1.0)

USER_MOTOR_IND_EST_CURRENT (-1.0)

USER_IQ_FULL_SCALE_FREQ_Hz (800.0)

USER_NUM_PWM_TICKS_PER_ISR_TICK (3)

my problem is I can not put the setting into user_j1 

when I do I am getting an error    USER_ErrorCode_iqFullScaleVoltage_V_Low

but when I do the Calculation for the about

  0.5*  5.0 * 0.0117075 * 364.682  = 10.67V 

Also I am unable to get any of the INSTASPIN MOTION PROJECTS WORKING

I have hooked up a Omron E6B2-CWZ6C (incremental) encoder to QEP1 

but I can get the motor running in INSTASPIN FOC

I can do the Rs ID but the Ls has problems  i have killed 2 motors with magic smoke

  • 0
    Prodigy 60 points
    I like to add I want to use the Instaspin motion to drive to a BLDC hobby motor and gearhead as servos for a BB-8 Project and later change to 2x Maxon EC flat BLDC with encoders

    ever the DRV8301 or DRV8305

    Spec of the EC flat motor
    Nominal voltage 12 V
    No load speed 4610 rpm
    No load current 75.7 mA
    Nominal speed 2790 rpm
    Nominal torque (max. continuous torque) 25.1 mNm
    Nominal current (max. continuous current) 1 A
    Stall torque 82.4 mNm
    Stall current 3.43 A

    Terminal resistance 3.5 Ω
    Terminal inductance 1.87 mH
    Torque constant 24.1 mNm/A
    Speed constant 397 rpm/V
    Speed / torque gradient 57.7 rpm/mNm
    Mechanical time constant 21.2 ms
    Rotor inertia 35 gcm²

    can anyone help
  • 0
    TI__Guru** 119680 points
    your Ls value is much higher than a typical high speed hobby motor, and that's why the equation is failing.
    11 uH is more likely than 11mH
    I would use proj_lab02c to ID and recheck those values.
  • 0 in reply to ChrisClearman
    Prodigy 60 points
    what do you mean by too high this number was taking from the instaspin_FOC GUI and was from proj_lab02c
    are the number there not what you put into the user.h file

    it a shame you don't have a gui that can make the user.h file automatic and you can save out from it
    it would make things easier what I do is add next time a screen shot
  • 0 in reply to Sean Brooks
    TI__Guru** 119680 points
    are you sure the Ls value was recorded correctly into user.h?
    the GUI may display the value as 0.011 uH and you need to put this in user.h as (0.000011)
  • 0 in reply to ChrisClearman
    TI__Guru** 119680 points
    oh, I think you may be using the "fixed" GUI.

    For these hobby motors you need to use MotorWare and run proj_lab02c
    You can use the INSTASPINUNIVERSALGUI to instrument this project, but you must use this MotorWare lab
  • 0 in reply to ChrisClearman
    Prodigy 60 points
    Hi can you tell me what support Packages I need for MATLABs HOME EDITION to get motor running
  • 0 in reply to Sean Brooks
    Mastermind 9005 points

    Hi Sean,

    Sorry, the C2000 Support Package from MathWorks wont work with our Home edition. Specifically the C2000 Support Package requires Embedded Coder, our most advanced code generation product, and that product isn't available for our Home edition.

    You'll need to use Code Composer Studio to work with your motor, and can use InstaSPIN from there.

     Thanks,

    -Brian

  • 0 in reply to ChrisClearman
    Prodigy 60 points
    Hi can I ask is this the best MPU for servo positioning or would it be better going for something high up like the F28377S or maybe the new LAUNCHXL-F28379D
  • 0 in reply to Sean Brooks
    TI__Guru** 119680 points
    it depends on what you need.

    LAUNCHXL-F28069M includes the InstaSPIN-MOTION software which gives a full motion suite and automates many important parts of a motion control system (motor ID, inertia ID, current loop, simple tuning for velocity and position loops).

    LAUNCHXL-F28377S or LAUNCHXL-F28379D are much higher performance devices, but include very limited servo control software. They are platforms for those with their own servo control SW systems or who will be taking advantage of tools like The Mathworks Embedded Target.

    High end Industrial Servo drive companies with their own expertise are using devices like F2837x.
    Mid range velocity and position applications - without as much experience - are using F28069M.