MCF8315A: HW_LOCK_ILIMIT

Hi Shlomi,

Did you run the MPET to measure the motor parameters? Can you share the register config file? You can download the file by clicking File--> Save registers. 

Regards,

Vishnu

Hi Vishnu,

I think the MPET is running automatically at the start, when I'm issuing a non zero speed command (tried analog, and with I2C).

Below is the config file.

{
  "signature": "oneui-register-data",
  "data": [
    [
      {
        "idx": 0,
        "id": "isd_config",
        "value": "0x64738C20"
      },
      {
        "idx": 1,
        "id": "rev_drive_config",
        "value": "0xA8200000"
      },
      {
        "idx": 2,
        "id": "motor_startup1",
        "value": "0x0B6807D0"
      },
      {
        "idx": 3,
        "id": "motor_startup2",
        "value": "0xA306600C"
      },
      {
        "idx": 4,
        "id": "closed_loop1",
        "value": "0x0D3201B5"
      },
      {
        "idx": 5,
        "id": "closed_loop2",
        "value": "0x9BADDBB4"
      },
      {
        "idx": 6,
        "id": "closed_loop3",
        "value": "0x1F800004"
      },
      {
        "idx": 7,
        "id": "closed_loop4",
        "value": "0x2F000FF0"
      },
      {
        "idx": 8,
        "id": "speed_profiles1",
        "value": "0x00000000"
      },
      {
        "idx": 9,
        "id": "speed_profiles2",
        "value": "0x00000000"
      },
      {
        "idx": 10,
        "id": "speed_profiles3",
        "value": "0x00000000"
      },
      {
        "idx": 11,
        "id": "speed_profiles4",
        "value": "0x800D0000"
      },
      {
        "idx": 12,
        "id": "speed_profiles5",
        "value": "0x00000000"
      },
      {
        "idx": 13,
        "id": "speed_profiles6",
        "value": "0x00000000"
      }
    ],
    [
      {
        "idx": 0,
        "id": "algo_ctrl1",
        "value": "0x00000000"
      },
      {
        "idx": 1,
        "id": "algo_debug1",
        "value": "0x00000000"
      },
      {
        "idx": 2,
        "id": "algo_debug2",
        "value": "0x00000020"
      },
      {
        "idx": 3,
        "id": "current_pi",
        "value": "0x00330174"
      },
      {
        "idx": 4,
        "id": "speed_pi",
        "value": "0x03180231"
      },
      {
        "idx": 5,
        "id": "dac_1",
        "value": "0x00000000"
      },
      {
        "idx": 6,
        "id": "dac_2",
        "value": "0x00000000"
      }
    ],
    [
      {
        "idx": 0,
        "id": "algorithm_state",
        "value": "0x00000010"
      },
      {
        "idx": 1,
        "id": "fg_speed_fdbk",
        "value": "0x015648EE"
      },
      {
        "idx": 2,
        "id": "bus_current",
        "value": "0x000A3C24"
      },
      {
        "idx": 3,
        "id": "phase_current_a",
        "value": "0x00000000"
      },
      {
        "idx": 4,
        "id": "phase_current_b",
        "value": "0x00040000"
      },
      {
        "idx": 5,
        "id": "phase_current_c",
        "value": "0xFFFE0000"
      },
      {
        "idx": 6,
        "id": "csa_gain_feedback",
        "value": "0x00000001"
      },
      {
        "idx": 7,
        "id": "voltage_gain_feedback",
        "value": "0x00000001"
      },
      {
        "idx": 8,
        "id": "vm_voltage",
        "value": "0x02620000"
      },
      {
        "idx": 9,
        "id": "phase_voltage_va",
        "value": "0x0019FB13"
      },
      {
        "idx": 10,
        "id": "phase_voltage_vb",
        "value": "0x000376CF"
      },
      {
        "idx": 11,
        "id": "phase_voltage_vc",
        "value": "0x0081E75F"
      },
      {
        "idx": 12,
        "id": "sin_commutation_angle",
        "value": "0x07A09098"
      },
      {
        "idx": 13,
        "id": "cos_commutation_angle",
        "value": "0xFD990D3A"
      },
      {
        "idx": 14,
        "id": "ialpha",
        "value": "0xFFC00000"
      },
      {
        "idx": 15,
        "id": "ibeta",
        "value": "0xFFF224C2"
      },
      {
        "idx": 16,
        "id": "valpha",
        "value": "0xFF91DAB8"
      },
      {
        "idx": 17,
        "id": "vbeta",
        "value": "0xFFEC7349"
      },
      {
        "idx": 18,
        "id": "id",
        "value": "0x00035650"
      },
      {
        "idx": 19,
        "id": "iq",
        "value": "0x00414EDE"
      },
      {
        "idx": 20,
        "id": "vd",
        "value": "0x000E7271"
      },
      {
        "idx": 21,
        "id": "vq",
        "value": "0x006EFAAD"
      },
      {
        "idx": 22,
        "id": "iq_ref_rotor_align",
        "value": "0x00000000"
      },
      {
        "idx": 23,
        "id": "speed_ref_open_loop",
        "value": "0x00000000"
      },
      {
        "idx": 24,
        "id": "iq_ref_open_loop",
        "value": "0x00AD49FC"
      },
      {
        "idx": 25,
        "id": "speed_ref_closed_loop",
        "value": "0x015136FA"
      },
      {
        "idx": 26,
        "id": "id_ref_closed_loop",
        "value": "0x00000000"
      },
      {
        "idx": 27,
        "id": "iq_ref_closed_loop",
        "value": "0x00482FFD"
      },
      {
        "idx": 28,
        "id": "isd_state",
        "value": "0x00000000"
      },
      {
        "idx": 29,
        "id": "isd_speed",
        "value": "0x0150BBA2"
      },
      {
        "idx": 30,
        "id": "ipd_state",
        "value": "0x00000000"
      },
      {
        "idx": 31,
        "id": "ipd_angle",
        "value": "0x00000000"
      },
      {
        "idx": 32,
        "id": "ed",
        "value": "0x00031018"
      },
      {
        "idx": 33,
        "id": "eq",
        "value": "0x0056A56A"
      },
      {
        "idx": 34,
        "id": "speed_fdbk",
        "value": "0x014050DD"
      },
      {
        "idx": 35,
        "id": "theta_est",
        "value": "0x02637240"
      }
    ],
    [
      {
        "idx": 0,
        "id": "fault_config1",
        "value": "0x28000000"
      },
      {
        "idx": 1,
        "id": "fault_config2",
        "value": "0xF0D00888"
      }
    ],
    [
      {
        "idx": 0,
        "id": "gate_driver_fault_status",
        "value": "0x00000000"
      },
      {
        "idx": 1,
        "id": "controller_fault_status",
        "value": "0x80040000"
      }
    ],
    [
      {
        "idx": 0,
        "id": "pin_config",
        "value": "0x00000000"
      },
      {
        "idx": 1,
        "id": "device_config1",
        "value": "0x00101462"
      },
      {
        "idx": 2,
        "id": "device_config2",
        "value": "0xC000F00F"
      },
      {
        "idx": 3,
        "id": "peri_config1",
        "value": "0xC1C01F00"
      },
      {
        "idx": 4,
        "id": "gd_config1",
        "value": "0x9C450100"
      },
      {
        "idx": 5,
        "id": "gd_config2",
        "value": "0x80200000"
      }
    ],
    [
      {
        "idx": 0,
        "id": "int_algo_1",
        "value": "0xA433407D"
      },
      {
        "idx": 1,
        "id": "int_algo_2",
        "value": "0x000001A7"
      }
    ],
    [
      {
        "idx": 0,
        "id": "algo_status",
        "value": "0x17727B84"
      },
      {
        "idx": 1,
        "id": "mtr_params",
        "value": "0x00000000"
      },
      {
        "idx": 2,
        "id": "algo_status_mpet",
        "value": "0x10000000"
      }
    ]
  ]
}

Thanks,

Shlomi

Hi Shlomi,

I understood your request. This can be achieved by disabling the speed loop (SPEED_LOOP_DIS bit in CLOSED_LOOP1 register). Maximum value for Torque reference can be programmed in ILIMIT (Register name: FAULT_CONFIG1 bit 27-30) and the torque can be commanded by changing the PWM duty cycle/analog voltage (applied to the SPEED pin) or via I2C depending on how the SPEED_MODE is configured.

Regards,

Vishnu

Hi Vishnu,

It seems to work. We succeeded to set Kp_curr=1 ; Ki_curr=500.

Is there a way to decrease further Kp? (below 1), In order to have higher BW for the current loop.

Thanks,

Shlomi

Shlomi,

Unfortunately, we cannot decrease Kp below 1. Can you try setting the PWM output frequency to 55 kHz.?

Regards,

Vishnu

Ok Vishnu, so we increased the PWM frequency to 55KHz and even to 75KHz.

We need Ki/Kp to be around ~5000. Is this even possible?

(The max ratio now is 1023)

Thanks, Shlomi

Hi Shlomi, 

Please let us know if you require further assistance on this debug. 

If not, please help mark thread as resolved. Thanks 

Best Regards, 
Andrew 

Yes, thanks, already found it.