BOOSTXL-DRV8323RS: Encoder Issues

Charlie Urban

Part Number: BOOSTXL-DRV8323RS
Other Parts Discussed in Thread: MOTORWARE

Hello,

When using the LSERVOMTR with the BOOSTXL-DRV8323RS and LAUNCHXL_F28069M, I have issues getting Lab 12a for Insta-Spin Motion to work. I have confirmed labs 2b and 5c work, but no luck using the encoder. When I try to monitor st_obj.vel.conv.Pos_mrev in lab 12a after setting gMotorVars.Flag_enableSys to 1, and rotate the motor shaft counter-clockwise manually per another forum's advice, st_obj.vel.conv.Pos_mrev stays at 0 or sometimes erratically jumps to a large value. I have tried every possible connection for the encoder to QEP_A and none of those worked. I followed Lab 12a's connection table for the LSERVOMTR (Teknic Motor).

I would greatly appreciate helpful insight, thank you.

over 3 years ago

0 Aaron Barrera over 3 years ago

TI__Mastermind 26046 points

Hi Charlie,

I will forward this to the C2000 team for InstaSPIN-MOTION support.

Thanks,
Aaron

0 Yanming Luo over 3 years ago in reply to Aaron Barrera

TI__Guru** 115480 points

Lab12a uses an encoder interface to calculate the rotor angle, please make sure that the encoder is connected to the related interface on the board and USER_MOTOR_ENCODER_LINES is set in the file of user.h correctly.

You might refer to the links below.

https://e2e.ti.com/support/microcontrollers/c2000/f/171/t/632347

https://e2e.ti.com/support/microcontrollers/c2000/f/171/p/782727/2915002

https://e2e.ti.com/support/microcontrollers/c2000/f/171/p/821839/3048574

0 Charlie Urban over 3 years ago in reply to Yanming Luo

Prodigy 10 points

Hi Yanming,

Update, I have the encoder working when I manually rotate the motor, however, after trying to run the motor for a bit with gMotorVars.Flag_enableSys and gMotorVars.Flag_Run_Identify, it appears that the encoder stops working after a bit. It is also interesting that I hear relays going off in my power supply while running this and notice that my motor is running at the max current setting but well below the 24V I am trying to supply it with. I followed the lab setup of the motor with White wire on A, black on B and red on C of the Teknic motor, so unless you think otherwise I will not change how it is setup. I will add that while the motor is running it wiggles clockwise and counter-clockwise before sometimes rotating properly. I have also tried all possible motor connections and the recommended works the best but still fails.

I also noticed st_obj.vel.conv.Pos_mrev increments by the scaling factor of 16777216, is this correct?

My problem is similar to this: https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/912652/drv8301-69m-kit-abnormal-operation-with-lab12

Although I know my encoder is properly connected.

0 Yanming Luo over 3 years ago in reply to Charlie Urban

TI__Guru** 115480 points

You can try to run the lab02b and lab05c first for motor parameters and inertia identification, if both labs work well and identify the motor parameters correctly close to the values in user.h, you have to check the connection and configuration for the encoder, if not, you have to check the configuration of the DRV8323RS. This motor and software has been tested on the LAUNCHXL_F28069M with other boostxl boards as shown in the motorWare, you don't need to change any codes for InstaSPIN-Motion in the example lab, just need to change the hardware and encoder parameters in user.h and the peripheral configuration in hal.c and hal.h files for the BOOSTXL-DRV8323RS.

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BOOSTXL-DRV8323RS: Encoder Issues