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Original question:

CCS/TMS320F28069M: Lab 5C Inertia is zero

CCS/TMS320F28069M: Lab 5C Inertia is zero

Ayushi Thakkar
Intellectual 840 points

Part Number: TMS320F28069M

Tool/software: Code Composer Studio

I am facing same problem as Steven

While running Lab 5C to identify the system inertia, after setting gMotorVars.Flag_enableSys and gMotorVars.Flag_Run_Identify to 1, Motor resistance is determined and then motor spins as in lab 2a and continues to spin slowly at 0.2. It stays in this state - I am not sure if I am supposed to do anything to get it to the inertia identification step?

I tried to set gMotorVars.SpinTAC.VelIdRun to 1 but it goes back to zero within a second. Changing gMotorVars.SpinTAC.VelIdGoalSpeed_krpm has no effect. gMotorVars.Flag_MotorIdentified is 1 and gMotorVars.SpinTAC.VelIdErrorID is 0. Motor continues to spin constantly at 0.2 throughout. gMotorVars.SpinTAC.VelIdStatus is always ST_VEL_ID_IDLE.  

gMotorVars.SpinTAC.InertiaEstimate_Aperkrpm and gMotorVars.SpinTAC.VelIdRun is always zero. (Although I have set it to the recommended starting values in h file) 

Please let me know what I can try - I have used the same parameters/settings as for my previous stable instaspin projects. The only thing new which I am uncertain about is the quadrature encoder which I set as 1 as am not sure if my motor has this.

Thanks in advance!

  • 0
    TI__Guru** 117210 points
    As replied in the former thread. Did you identify the motor using lab02a/b and set the identified parameters (R, L, and Flux) in user.h for lab05c?
    And what board are you using? TI EVM kits or a customized board? Could you please check if the motor spun smoothly during the identification process? And the current/voltage feedback signals are clear enough if you used a customized board?
  • 0 in reply to Yanming Luo
    Intellectual 840 points
    Yes I identified motor in lab02a/b and updated the required parameters in user.h
    I am using Drv8301-F28069 kit.
    I identified inertia using GUI Composer and updated its value in user.h, Now I am able to control motor in lab5d ,12b

    Again My problem is I am not able to spin my motor in lab13b.
    RunPositionProfile sets to 0 and not let the SpintacMove to run.
  • 0 in reply to Ayushi Thakkar
    TI__Guru** 117210 points
    1. Good. Set the identified motor parameters (Rs, Ls, Flux, and inertia) in user.h by using lab02a/b and lab12a.
    2. To run the motor, you need to set the variable “gMotorVars.Flag_enableSys” and equal “gMotorVars.Flag_Run_Identify” to 1 first, and then
    3. Set “gMotorVars.PosStepInt_MRev” and “gMotorVars.PosStepFrac_MRev” as you want, then
    4. Set “gMotorVars.RunPositionProfile” to true to trigger SpinTAC Position Move.
    Please have a more detailed description of the operation steps if you met the problem again.