Other Parts Discussed in Thread: BOOSTXL-DRV8320RS, C2000WARE
Hi:
I am using:
LAUNCHXL-F280049C
BOOSTXL-DRV8320RS
CCS10.1.0.00010
C2000Ware_MotorControl_SDK_3_00_01_00
with a small BLDC motor.
Lab is05 worked to id and spin my motor, and changing motorVars.speedRef_Hz in the
expressions watch window controls the speed as expected.
However, when I try lab is06, the motor fails to start spinning.
If I grab the motor and twist the shaft by hand, it then spins and
torque control by setting IdqSet_A.value[1] seems to work.
But if I then set IdqSet_A.value[1] to 0.0, or any value low enough for the motor to stop,
it will not spin unless I again start it by hand.
My questions:
1) How can I be sure my motor can spin from stopped using torque control?
2) Why should eliminating the outer speed controller change the startup
behavior of the motor?
3) Do I need to change some other code, or perhaps ramp IdqSet_A.value[1]
to get it to start? I am guessing ramping IdqSet_A.value[1] is (part of?)
what the speed controller does in lab is05.
4) What exactly is IdqSet_A.value and where is this documented?
Is is amps? Percent of some max torque? What about the high byte IdqSet_A.value[0]?
The comment in is06_torque_control.c only says:
IdqSet_A.value[1] = 1.0; // Need to change this value based on motor
which is not informative.
Thanks.