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error 2004 identify inertia lab 12a

andrea canestrari
Intellectual 420 points
Other Parts Discussed in Thread: DRV8301

Hello,
I have a problem in identifying the inertia of a new motor, basically i always get error 2004 i tried starting from 4 krpm in gMotorVars.SpinTAC.VelIdGoalSpeed_krpm and reduced it to 0.01krpm with a step of 0.5 krpm as describe on the lab guide page 229, but whitout result, the motor does not turn and consumes a lot of current around 30 A.

Previous labs I have successfully completed and obtained the values of resistance to moisture etc.


Below the setting that I use to identify the inertia.


Thanks for any hints.

  • 0
    Intellectual 420 points
    i'am afraid mi system is a drv8301 for the pre-driver and the 28069m for the micro, my hardware can supply up to 64 A at 14V
  • 0 in reply to andrea canestrari
    TI__Guru** 116090 points
    1. Ensure that the motor and encoder connections are done correctly. If the motor or encoder wires are connected in the wrong order, the lab will not function properly. It will result in the motor being unable to move, even over current.
    2. Make sure the motor parameters are correct, use lab02b/02c to identify the motor parameters.
    3. Set a right value for “gMotorVars.SpinTAC.VelIdGoalSpeed_krpm”, like set it equal to the rated speed of your motor, or half.
    4. Don't add heavy load on motor shaft, it's better to do this without load.
  • 0 in reply to Yanming Luo
    Intellectual 420 points
    Hi,

    1-2)as you can see from the previous picture i have run the lab 2c to identify the motor parameters, and it works fine the motor spin in both direction without any vibration and noise at the maximun speed. then i run the project 12b to align the output of my sensor with the output provide by the fast estimator. now i can control my motor using the position sensor like if i'm using the fast estimator but with a better result especially a low speed (<300rpm).
    so i thinks all the connections and the signals are corrrect.

    3) i have already say in the previous post
    i tried starting from 4 krpm in gMotorVars.SpinTAC.VelIdGoalSpeed_krpm and reduced it to 0.01krpm with a step of 0.5 krpm as describe on the lab guide page 229, but whitout result.

    4) the motor are free to spin, nothing is attached into the shaft.

    any other suggest are welcom.

    best regards
  • 0 in reply to andrea canestrari
    TI__Guru** 116090 points
    Lab12a use encoder interface to calculate the rotor angle, so need top make sure that the encoder interface and USER_MOTOR_ENCODER_LINES in user.h is right.
  • 0 in reply to Yanming Luo
    Intellectual 420 points
    hi,
    i don't use the incremental encoder, but i use the mlx91204 that is a contactless rotary sensor. i perform the calculation to obtain the angle and that work fine. i'am controlling the motor using that reference, and it's rotating well because i'am using the lab 12b. now my problem is the lab 13a the position control, in this lab i have a problem of stability, rotor that not stop where i'm asking and so on. i thinks that should be because i insert some wrong value of inertia but unfortunately the lab that identify the inertia provide me every time err 2004.

    consider that the position is provided correcty, other suggestions please.

    regards