TMS320F28069M: Lab12b and Lab6a speed profile generation

Motor_Enthusiast

Part Number: TMS320F28069M
Other Parts Discussed in Thread: MOTORWARE

In motorware 14. Using lab12b and porting st-curve functionality of lab6a, I run the motor with st-curve.

Is it possible to change gMotorVars.MaxAccel_krpmps and gMotorVars.MaxJrk_krpmps2 while the trajectory has not completed yet? I want to make some calculations and according to that I want to change the trajectory profile in a point before it has completed.

I watch the instantenous speed reference output of SpinTAC module with the graph window. But as far as I see, I can change those values but trajectory behaves like gMotorVars.MaxAccel_krpmps and gMotorVars.MaxJrk_krpmps2 has still the old values.

Is it possible for me to overcome this?

Best regards

over 7 years ago

0 Sean Bigley over 7 years ago

TI__Genius 17175 points

Hi, just want to let you know I'm in receipt of your question and will be working to provide an answer soon

Sean

0 Sean Bigley over 7 years ago in reply to Sean Bigley

TI__Genius 17175 points

Sorry for the delay. Looking through the code, it seems as if the profile is updated in "one-shot" after the velocity plan has been executed. As such, I don't believe there is any way to update it during the profile execution

Sean

0 Motor_Enthusiast over 7 years ago in reply to Sean Bigley

Intellectual 820 points

Thank you for the answer, so let me give you a feedback about that. It will be very good if it is possible to modify the trajectory before it has completed. Because it is not always possible to control the motor exactly as the trajectory commands, so it will be needed to upgrade the trajectory at some check points. I hope that this will be available in the future motorware releases. Kind regards

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TMS320F28069M: Lab12b and Lab6a speed profile generation