DRV2604L: In closed loop mode, constant PWM drive is interrupted every 50 - 70 ms

Hello,

Are you using this on an LRA or ERM? and what mode do you have it set for currently in register 0x1A?

Best Regards,

Carson

Yes, this is an ERM, and calibration was successful.

After calibration register 0x1A is equal to 0x34

could you provide full register dump if possible?

Yep. Below are the registers in order from address 0x00 to 0x22

(0xC0, 0x05, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x19, 0xFF, 0x19, 0xFF, 0x94, 0xBC, 0x2A, 0x56, 0x34, 0x93, 0xF5, 0x80, 0x20, 0x80, 0x33, 0xAD, 0x3F)

The only ones I have written to are the MODE (0x01) and 0x16 through 0x1A for motor settings and calibration.

Hello,

Ill take a look at this and get back to you in 24 hours

Best Regards,

Carson

So you said you are using PWM but you have mode set for RTP?

Did you switch?

Sorry for the confusion. We are definitely using RTP.

(In the original post I was describing the waveform of the output from the driver as PWM.)

So you are playing at a constant RTP value?

Yes, exactly. One constant RTP value, which is originating from a single command (i.e. the command is not sent repeatedly).

Hello,

I am not sure why this is happening. Have you tried with multiple devices?

And can i assume this does not happen in open-loop?

The only functionality lost in open-loop is that auto-brake which can just be replicated in open loop by going to a negative voltage for a certain amount of time.

Best Regards,

Carson

I have tested with a different microcontroller attached to a DRV2605L as well and it produces the same behaviour. 

In open-loop it does not happen, that mode is perfectly smooth.

How is the negative voltage applied when using Open Loop Mode? And is there a way to retrieve the time period for this from the calibration routine?