Part Number: DRV8301-69M-KIT
After the motor runs through the Identify in lab 13a or lab 13b, gMotorVars.SpinTAC.PosCtlErrorID shows an error. It is either error code 2 or error code 5. I looked in the user manual and found ERR_ID Code table for SpinTAC Position Controll but I don't understand how to use the recommended solution and eliminate the error.
2 Invalid velocity reference maximum value Set cfg.VelMax within (0, 1]
5 Invalid control signal minimum value Set cfg.OutMin within [-1, 0)
Yanming,
1. May I know if you have used lab02a to identify the motor paramters and lab12a to identify the motor inertia, and then set these parameters in user.h.
Yes, the motor I am using at the moment is a production motor which we identified successfully a couple years ago. I actually use Lab02c because it is considered a low inductance motor. I ran it again and the values seem reasonable.
It did identify the inertia and friction for both Lab05c and Lab12a with the following results. I do not know the actual inertia of the motor but the 2 labs seem to compare ok.
2. Could you check if the connection and configuration of encoder is correct?
I don't really know what is really correct since I bought the encoder and is separate from the motor. If there was something incorrect, would Lab12a not identify the inertia?
3. For errorID=2, make sure that _IQ24(USER_MOTOR_MAX_SPEED_KRPM * ST_SPEED_PU_PER_KRPM)) is within [_IQ(0,0), _IQ(1,0)].
USER_MOTOR_MAX_SPEED_KRPM was 8.0 which was too high because of the "new" calculation for USER_IQ_FULL_SCALE_FREQ_Hz instead of the fixed value. I changed USER_MOTOR_MAX_SPEED_KRPM = 7.0 and is good for now.
4. For errorID=5, make sure that _IQ24(USER_MOTOR_MAX_CURRENT / USER_IQ_FULL_SCALE_CURRENT_A) is within [_IQ(0,0), _IQ(1,0)].
This ratio was valid (127/128) but it did not like USER_IQ_FULL_SCALE_CURRENT_A=128 according to my software engineer. Changed it to 127 and reduced USER_MOTOR_MAX_CURRENT slightly to maintain [_IQ(0,0), _IQ(1,0)]. Everything is good now.
Thanks
