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TMS320F28054M: TMS320F20854M

Mika Bay
Intellectual 600 points
Part Number: TMS320F28054M


.I am testing lab5C on a custom board. When I activate gMotorVars.SpinTAC.VelIdRun flag, once test is performed properly with motor speeding up and down twice giving inertia. However, some other time motor tries to speed in opposite direction, moves a little (few degrees), then wobbles in its place. The test ends with error 2004 and inertia value is not detected. Apparently hardware and software configuration is Ok, as all labs before this (5C)worked well. Also this behavior seems to appearing alternately, one time test goes OK, next it doesn't. Can you pl. let me know as to what might be an issue?

Are there any parameters, flags I need to check to see if spintac engine is running halfway during unsuccessful test & that triggers wrong behaviour? Does spintac state needs to be idle before beginning of inertia test? Are there hints/checkpoints to see before triggering inertia detection? Is there any hint someone can give to test what might be happening?

  • 0
    TI__Guru** 116570 points
    Did you use lab02b/lab02c to get the motor parameter properly first? And enable force angle in project?
  • 0 in reply to Yanming Luo
    Intellectual 600 points

    Yes, I did, the motor runs at slow speed when I set gMotorVars.Flag_Run_Identify flag, the motor runs slowly in anti clockwise direction, when I set gMotorVars.SpinTAC.VelIdRun to 1 & if motor does wobble in opposite direction & if I forcefully make motor go in opposite direction(anti clockwise as expected), the test does get going, though motor reaches higher speed, but inertia is detected properly. Another thing I have observed is that sometimes, at the end of test, motor again triggers test. I am confused, can you pl. let me know what points I can test?

  • 0 in reply to Mika Bay
    Intellectual 600 points
    I found out that test is re triggered if motor doesn't reach zero speed for long time. If I reduce the peak test speed to 0.5 (500rpm) motor stops well in time and retriggering is avoided. Is there a way to extend the retrigger time in Inertia detection test? Also I think this startup problem started appearing more often when I put a big inertia wheel to motor ( motor inertia to wheel inertia 1:50). Is bigger inertia related to these issues?
  • 0 in reply to Mika Bay
    Intellectual 600 points

    While, reading through instaspin labs documentaiondocumentation , I found out that USER_SYSTEM_BANDWIDTH needs to be set as (1.0), where as the value set by s (20.0). Also inertia and friction values are set as (0.0) instead of (0.02) and (0.01). Can that be the reason for false triggering of motor in opposite direction?

  • 0 in reply to Mika Bay
    TI__Guru** 116570 points
    After run lab02c to get the motor parameters, and then you can run lab05c to get the inertia and friction. In the process, you can adjust the USER_SYSTEM_BANDWIDTH_SCALE and the configuration parameters of SpinTAC, such as Iq reference and speed reference based on your motor.
  • 0 in reply to Yanming Luo
    Intellectual 600 points

    I managed to get it working. Thanks