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LAUNCHXL-F28069M: Proj_lab13e: Don't know the error of SpinTAC Position Move!

Tran Binh Duong
Expert 2550 points
Part Number: LAUNCHXL-F28069M

Dear SpinTAC team,

I'm working with Prj_lab13b and Prj_lab13e in order to control a PMSM motor at very low speed. When I try Prj_lab13b with another motor which was controlled successfully with Sensorless FOC, then I met the following error, the error code #1106

I looked up to find the meaning of this error code, but in the SPRUHJ1F document only described the error 1105.  So that please let me what the meaning of error code is?

Thank you!

  • 0
    Guru 12800 points

    The 1106 error code is an additional calculation overflow error code.  It is quite uncommon.

    In looking at the settings you have configured, my guess as to why you are seeing this error is because your profile is extremely long ( > 4 billion ISRs).

    Try reducing the total length of time of your profile, if you cant increase speed then possibly decrease the step size.

  • 0 in reply to Adam D. Reynolds
    Expert 2550 points

    Dear  Adam,

    Your mean that I set the SpinTAC-Position Move is too long. Right???

    And what the parameter is describing the total length of time in my position profile?

    Thank you for your help in advance

  • 0 in reply to Tran Binh Duong
    Guru 12800 points

    Tran Binh Duong said:
    Your mean that I set the SpinTAC-Position Move is too long. Right???

    Correct the complete motion is too long.

    Tran Binh Duong said:
    And what the parameter is describing the total length of time in my position profile?

    There are two variables gMotorVars.SpinTAC.PosMoveTime_ticks & gMotorVars.SpinTAC.PosMoveTime_mticks.

    gMotorVars.SpinTAC.PosMoveTime_mticks is the number of millions of isr ticks that the profile will take and gMotorVars.SpinTAC.PosMoveTime_ticks is the number of isr ticks it will take.

  • 0 in reply to Adam D. Reynolds
    Expert 2550 points

    Dear Adam,

    Thank you for your explanation. I understood the problem but I continue to meet another problem with SpinTAC-Position Move. Namely, I am trying to apply Lab13e to my application in order to control a PMSM motor at very low speed in camera tracking. When I ran the original Lab13e for this system, everything is perfect; the motor can be controlled to run at 0.1RPM with full torque. But when I copy most code of Lab13e to my project and test it, the motor can only run at the lowest about 15 RPM, below this velocity, the motor could not run smoothly anymore. I don't understand why. 

    I attached the file that I have integrated the most code of Lab13e in my project for you review. Please help me to resolve the problem. Where was I wrong?

    Thank you very much!servo_main_rev5.c

  • 0 in reply to Tran Binh Duong
    Guru 12800 points

    Are you running SpinTAC Velocity Control or SpinTAC Position Control?

    With SpinTAC Velocity Contol, you won't be able to control better the minimum velocity resolution of your encoder.  

    Lab 13e uses SpinTAC Position Move to emulate a velocity control system but is ultimately using position control on the motor.

  • 0 in reply to Adam D. Reynolds
    Expert 2550 points

    Dear Adam,

    I am using SpinTAC Position Control with Velocity mode to control PMSM motor which is installed in a camera tracking. However, I have already found out my problem. It's in linking error of CCS, not in your SpinTAC Suite.

    Thank you for your regards!