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Lab 12a, sensored inertia ID, appears to be working, yielding results below:
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (6)
#define USER_MOTOR_Rr (NULL)
#define USER_MOTOR_Rs (0.4327)
#define USER_MOTOR_Ls_d (0.000145)
#define USER_MOTOR_Ls_q (0.000145)
#define USER_MOTOR_RATED_FLUX (0.0452)
#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 (4.2)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0)
#define USER_MOTOR_ENCODER_LINES (4096.0) // Number of lines on the motor's quadrature encoder
#define USER_MOTOR_MAX_SPEED_KRPM (2.88) // Maximum speed that the motor
#define USER_SYSTEM_INERTIA (0.15554106) // Inertia of the motor & system, should be estimated by SpinTAC Velocity Identify
#define USER_SYSTEM_FRICTION (1.68146652) // Friction of the motor & system, should be estimated by SpinTAC Velocity Identify#define USER_SYSTEM_BANDWIDTH_SCALE (1.0)
I'm using the DRV8301-HC-EVM kit with the F28069M controlCard. My encoder is a custom 4096 line encoder.
Trying to run Lab 12b. My motor turns a few times as the program begins, but then stops and draws maximum current.
Can anyone recommend some trouble shooting steps?
