TMS320F28069M: where to find out OutPos in lab 12a

Hi Linda

From Table 3-12 in the InstaSPIN-FOC User's Guide, it looks like OutPos is a member of the 'cfg' type member in the ST_VelId_t structure for SpinTAC identfiy. That said, when I look at the ST_VelIdCfg_t type which is the defined type for 'cfg,' there is no OutPos member of that struct.

In "spintac_vel_id.h" we see

of which GoalSpeed is the only config parameter that I believe would correlate to the OutPos function. You could also try manipulating the 'Out' member of the ST_VelCtl_t type, which is defined as the control output between [cfg.OutMin, cfg.OutMax], similar to how OutPos and OutNeg function per their description in Table 3-12

My suggestion would be manipulating GoalSpeed and Out in an effort to fix error 2004 during the identify process in lab12a

Please report back in case we need to reach out to LineStream for further comment

Sean

I have tried to manipulate the GoalSpeed and Out according to your suggestion. But the motor still cannot run.

And I find that the motor cannot spin even gMotorVars.Torque_Nm has reached 0.37Nm. But the situation of sensor-less solution is that the motor can spin when gMotorVars.Torque_Nm has reached 0.003Nm.