Other Parts Discussed in Thread: MOTORWARE
Hey-o,
I've been experimenting with the new 69M-KIT that came this week and have been going through the MotorWare instaspin-labs to test the kit.
I'm learning the platform to adapt it to our motor controller for an electric skateboard and it will be used in torque mode only and probably only in positive speed (at least in the beginning). This has raised a couple questions on how to operate on all 4 quadrants of speed/torque control (picture of the 4 quadrants attached below). Lab 4 doesn't completely answer the questions I have due it not supporting regen and doing automatic speed reversal according to the sign of commanded torque.
So if I have understood on how to operate on each independent quadrant would be:
speed reference signedness controlled with (CTRL_setSpd_ref_krpm) and torque reference with (CTRL_setIq_ref_pu)
1. Positive speed reference, positive commanded Iq
2. Negative speed reference, positive commanded Iq
3. Negative speed reference, negative commanded Iq
4. Positive speed reference, negative commanded Iq
