Other Parts Discussed in Thread: MOTORWARE
Tool/software: Code Composer Studio
Hello,
I am trying to do Lab 12a of motorware. i followed the lab procedure as instructed. I am using a IE3-1024L incremental encoder. i have connected the encoders A,B,I and 5 v and GND according to the encoder data sheet with QEP2 of launchxl-28069M. I have rechecked the encoder connections and they seemed to be correct. I have also seen in oscilloscope the level shifted encoder Pulses A and B in pin 50 and 11 (which coresponds to GPIO 54,55 for the encoder pulses) when i set gMotorVars.SpinTAC.VelIdRun to 1, the motor seems to move once to a fix position and stops. after few seconds gMotorVars.SpinTAC.VelIdErrorID gives an error 2004. I made the gMotorVars.SpinTAC.VelIdGoalSpeed_krpm to half the rated speed still no result. what can be the problem?
note that I have successfully run lab 5c,d,e.
I am using a faulhaber 3274g024bp4 motor.the motor has 2 pole pairs and has rated 8.7krpm no load speed. it has the encoder builtin with it. encoder has 1-1024 lines per revolution.
useful User.h settings bellow:
#define USER_IQ_FULL_SCALE_FREQ_Hz (800.0)
#define USER_PWM_FREQ_kHz (45.0)
#define USER_SYSTEM_BANDWIDTH (1.0)
#elif (USER_MOTOR == MY_MOTOR)
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (2)
#define USER_MOTOR_Rr (NULL)
#define USER_MOTOR_Rs (0.131655052)
#define USER_MOTOR_Ls_d (0.000029107603)
#define USER_MOTOR_Ls_q (0.000029107603)
#define USER_MOTOR_RATED_FLUX (0.0535894074)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL)
#define USER_MOTOR_RES_EST_CURRENT (1.0)
#define USER_MOTOR_IND_EST_CURRENT (-1.0)
#define USER_MOTOR_MAX_CURRENT (6.9)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0)
#define USER_MOTOR_ENCODER_LINES (1024.0)
#define USER_MOTOR_MAX_SPEED_KRPM (8.0)
#define USER_SYSTEM_INERTIA (0.02089852095)
#define USER_SYSTEM_FRICTION (0.01076946259)
thanks
safwat