LAUNCHXL-F28069M: Very low speed. Error 1007

Jakub Jurica

Hello,

I run lab13e to control motor at very low speed. It works at speed 0.01RPM. But this speed I can reach only when motor previously running on higher speed(e.g. 1rpm). When motor is stopped I cannot set so low speed. I get error 1007. The minimum speed what can I set when motor stopped is only 0.06RPM ( with parameters USER_NUM_ISR_TICKS_PER_CTRL_TICK and USER_NUM_CTRL_TICKS_PER_SPEED_TICK).

I would like to ask why I cannot set directly so low speed or which parameters I have to focus, if there any?

over 8 years ago

0 Chen Jiang ti over 8 years ago

TI__Genius 16015 points

Hi Jakub,

Thank you for your question. This thread has been assigned to a C2000 expert and should be replied soon.

Best regards,
Chen

0 Yanming Luo over 8 years ago in reply to Chen Jiang ti

TI__Guru** 116880 points

It can be difficult to overcome the system inertia at low speeds, to get a precise speed feedback which results in choppy movement at startup.

0 Jakub Jurica over 8 years ago in reply to Yanming Luo

Prodigy 120 points

Problem is not choppy movement at startup. Problem is why I get error 1007( or what this error mean?) when I set low speed from zero speed? I don't get this error when motor is running.

0 Jakub Jurica over 8 years ago in reply to Jakub Jurica

Prodigy 120 points

Ok, to set low speed first I set higher speed and then lower speed. This works fine for now. When is moving in positive direction with this low speed and set zero velocity, then motor stops. But when motor is moving with same speed in negative direction and set zero velocity, motor doesn't stop. Again get position move error 1007.

Please, is there any solution how to solve it?

0 Sean Bigley over 8 years ago in reply to Jakub Jurica

TI__Genius 17175 points

The error you are getting is described in the InstaSPIN User's Guide (www.ti.com/.../spruhj1g.pdf) on page 456. It has to do with an invalid velocity end value

Sean

0 Jakub Jurica over 8 years ago in reply to Sean Bigley

Prodigy 120 points

Yes, I found a description of the error in the document. But if anyone could explain in more detail what it means? Why I get this error when set end velocity from zero velocity( motor stops) and dont get error when set the same end velocity from non zero actual velocity.

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LAUNCHXL-F28069M: Very low speed. Error 1007