Part Number: DRV8301-69M-KIT
Dear TI,
I am trying to implement tourque contol based on instaspin lab 13c (for an application with separated position and torque control)
I tested the torque control in lab 4 which just forces a set curernt to the FOC controller.
This implementation would fit the job well enough for me right now, but there remain 2 questions.
1. When forcing the current to the FOC controller with the function
CTRL_setIq_ref_pu(handle, iq_ref);
As done in lab 4 with works as intended
When doing the same in lab 13c there is a seperate function which forces the Iq_ref which im monitoring in the watch window.
As I understand this is due to the speed/move control, but im nog sure which part I need to disable for this to work.
2. When using torque control, when my system reaches its maximum physical position, I want the motor to keep providing the set torque to the system (this motor doesn't turn).
When trying this in lab 4, this does sort of work, but the motor position get some kickback and starts to give little shokking movements back and forths agains the object it is running on to.
How can I prevent this to happen, so that to motor just provides the set torque againts a non movable object without the shocking.
Thanks in advance,
Alain
