This thread has been locked.
If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.
Hello,
the Motor sometimes works very well even after disconnecting the power supply and sometimes it does not start at all or only poorly and there are error messages displayed.
The supply settings have not been changed. All settings should be stored in the EPROM. What could be the mistake or what am I doing wrong?
Best,
Linus
Hi Hong,
sure. After I parameterize the engine it starts well. Even after I have disconnected the power supply and reconnected it everything still works. But after a day without use under the same conditions, it does not always start reliably. Also the start-up behavior has changed this is no longer as gentle as it was programmed but rather rough. Sometimes it does not start at all and gives the error message Abnormal BEMF Fault. What am I doing?
Best,
Linus
Hi Hong,
I've attached two files. One of the files is the state of the register where everything has worked smoothly even after disconnecting the power supply.
{
"signature": "oneui-register-data",
"data": [
[
{
"idx": 0,
"id": "isd_config",
"value": "0x44638C20"
},
{
"idx": 1,
"id": "rev_drive_config",
"value": "0x283AF064"
},
{
"idx": 2,
"id": "motor_startup1",
"value": "0x4B68DDC0"
},
{
"idx": 3,
"id": "motor_startup2",
"value": "0x24AE6000"
},
{
"idx": 4,
"id": "closed_loop1",
"value": "0x1A3181B0"
},
{
"idx": 5,
"id": "closed_loop2",
"value": "0x1AAD6E3C"
},
{
"idx": 6,
"id": "closed_loop3",
"value": "0x0C800002"
},
{
"idx": 7,
"id": "closed_loop4",
"value": "0x26898708"
},
{
"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": "0x00000000"
},
{
"idx": 12,
"id": "speed_profiles5",
"value": "0x00000000"
},
{
"idx": 13,
"id": "speed_profiles6",
"value": "0x00000000"
}
],
[
{
"idx": 0,
"id": "fault_config1",
"value": "0x6FE80206"
},
{
"idx": 1,
"id": "fault_config2",
"value": "0x74000000"
}
],
[
{
"idx": 0,
"id": "pin_config",
"value": "0x00000001"
},
{
"idx": 1,
"id": "device_config1",
"value": "0x00100000"
},
{
"idx": 2,
"id": "device_config2",
"value": "0x0000B000"
},
{
"idx": 3,
"id": "peri_config1",
"value": "0x40000000"
},
{
"idx": 4,
"id": "gd_config1",
"value": "0x00000100"
},
{
"idx": 5,
"id": "gd_config2",
"value": "0x00200000"
}
],
[
{
"idx": 0,
"id": "ana_trim3",
"value": "0x48004800"
},
{
"idx": 1,
"id": "ana_trim4",
"value": "0x00000000"
},
{
"idx": 2,
"id": "ana_trim5",
"value": "0x0000000C"
},
{
"idx": 3,
"id": "ana_trim6",
"value": "0x00000000"
},
{
"idx": 4,
"id": "ana_trim7",
"value": "0x00000000"
},
{
"idx": 5,
"id": "ana_trim8",
"value": "0x00001332"
},
{
"idx": 6,
"id": "ana_trim9",
"value": "0x806DC85D"
},
{
"idx": 7,
"id": "ana_trim10",
"value": "0xD371013A"
}
],
[
{
"idx": 0,
"id": "int_algo_1",
"value": "0x00B1407D"
},
{
"idx": 1,
"id": "int_algo_2",
"value": "0x000001A7"
}
],
[
{
"idx": 0,
"id": "gate_driver_fault_status",
"value": "0x00000000"
},
{
"idx": 1,
"id": "controller_fault_status",
"value": "0x00000000"
}
],
[
{
"idx": 0,
"id": "algo_status",
"value": "0x00000000"
},
{
"idx": 1,
"id": "mtr_params",
"value": "0x00000000"
},
{
"idx": 2,
"id": "algo_status_mpet",
"value": "0x0A000000"
}
],
[
{
"idx": 0,
"id": "dev_ctrl",
"value": "0x00000000"
}
],
[
{
"idx": 0,
"id": "algo_ctrl1",
"value": "0x00000000"
},
{
"idx": 1,
"id": "algo_ctrl2",
"value": "0x00000000"
},
{
"idx": 2,
"id": "current_pi",
"value": "0x00047661"
},
{
"idx": 3,
"id": "speed_pi",
"value": "0x00000000"
},
{
"idx": 4,
"id": "dac_1",
"value": "0x00000000"
},
{
"idx": 5,
"id": "dac_2",
"value": "0x00000000"
}
],
[
{
"idx": 0,
"id": "algorithm_state",
"value": "0x00000000"
},
{
"idx": 1,
"id": "fg_speed_fdbk",
"value": "0x7FFFFFFF"
},
{
"idx": 2,
"id": "bus_current",
"value": "0x00000000"
},
{
"idx": 3,
"id": "phase_current_a",
"value": "0x00000000"
},
{
"idx": 4,
"id": "phase_current_b",
"value": "0x00000000"
},
{
"idx": 5,
"id": "phase_current_c",
"value": "0x00000000"
},
{
"idx": 6,
"id": "csa_gain_feedback",
"value": "0x00010003"
},
{
"idx": 7,
"id": "voltage_gain_feedback",
"value": "0x00000001"
},
{
"idx": 8,
"id": "vm_voltage",
"value": "0x01CF8000"
},
{
"idx": 9,
"id": "phase_voltage_va",
"value": "0x00000000"
},
{
"idx": 10,
"id": "phase_voltage_vb",
"value": "0x00000000"
},
{
"idx": 11,
"id": "phase_voltage_vc",
"value": "0x00000000"
},
{
"idx": 12,
"id": "sin_commutation_angle",
"value": "0x00000000"
},
{
"idx": 13,
"id": "cos_commutation_angle",
"value": "0x00000000"
},
{
"idx": 14,
"id": "ialpha",
"value": "0x00000000"
},
{
"idx": 15,
"id": "ibeta",
"value": "0x00000000"
},
{
"idx": 16,
"id": "valpha",
"value": "0x00000000"
},
{
"idx": 17,
"id": "vbeta",
"value": "0x00000000"
},
{
"idx": 18,
"id": "id",
"value": "0x00000000"
},
{
"idx": 19,
"id": "iq",
"value": "0x00000000"
},
{
"idx": 20,
"id": "vd",
"value": "0x00000000"
},
{
"idx": 21,
"id": "vq",
"value": "0x00000000"
},
{
"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": "0x00000000"
},
{
"idx": 25,
"id": "speed_ref_closed_loop",
"value": "0x00000000"
},
{
"idx": 26,
"id": "id_ref_closed_loop",
"value": "0x00000000"
},
{
"idx": 27,
"id": "iq_ref_closed_loop",
"value": "0x00000000"
},
{
"idx": 28,
"id": "isd_state",
"value": "0x00000000"
},
{
"idx": 29,
"id": "isd_speed",
"value": "0x00000000"
},
{
"idx": 30,
"id": "ipd_state",
"value": "0x00000000"
},
{
"idx": 31,
"id": "ipd_angle",
"value": "0x00000000"
},
{
"idx": 32,
"id": "ed",
"value": "0x00000000"
},
{
"idx": 33,
"id": "eq",
"value": "0x00000000"
},
{
"idx": 34,
"id": "speed_fdbk",
"value": "0x00000000"
},
{
"idx": 35,
"id": "theta_est",
"value": "0x00000000"
}
]
]
}
The other file is the state of the registers after a day of waiting after which the Motor sometimes does not start and gives the error: Abnormal BEMF
{
"signature": "oneui-register-data",
"data": [
[
{
"idx": 0,
"id": "isd_config",
"value": "0x44638C20"
},
{
"idx": 1,
"id": "rev_drive_config",
"value": "0x283AF064"
},
{
"idx": 2,
"id": "motor_startup1",
"value": "0x4B68DDC0"
},
{
"idx": 3,
"id": "motor_startup2",
"value": "0x24AE6000"
},
{
"idx": 4,
"id": "closed_loop1",
"value": "0x1A3181B0"
},
{
"idx": 5,
"id": "closed_loop2",
"value": "0x1AAD6E3C"
},
{
"idx": 6,
"id": "closed_loop3",
"value": "0x0C800002"
},
{
"idx": 7,
"id": "closed_loop4",
"value": "0x26898708"
},
{
"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": "0x00000000"
},
{
"idx": 12,
"id": "speed_profiles5",
"value": "0x00000000"
},
{
"idx": 13,
"id": "speed_profiles6",
"value": "0x00000000"
}
],
[
{
"idx": 0,
"id": "fault_config1",
"value": "0x6FE80206"
},
{
"idx": 1,
"id": "fault_config2",
"value": "0x74000000"
}
],
[
{
"idx": 0,
"id": "pin_config",
"value": "0x00000001"
},
{
"idx": 1,
"id": "device_config1",
"value": "0x00100000"
},
{
"idx": 2,
"id": "device_config2",
"value": "0x0000B000"
},
{
"idx": 3,
"id": "peri_config1",
"value": "0x40000000"
},
{
"idx": 4,
"id": "gd_config1",
"value": "0x00000100"
},
{
"idx": 5,
"id": "gd_config2",
"value": "0x00200000"
}
],
[
{
"idx": 0,
"id": "ana_trim3",
"value": "0x48004800"
},
{
"idx": 1,
"id": "ana_trim4",
"value": "0x00000000"
},
{
"idx": 2,
"id": "ana_trim5",
"value": "0x0000000C"
},
{
"idx": 3,
"id": "ana_trim6",
"value": "0x00000000"
},
{
"idx": 4,
"id": "ana_trim7",
"value": "0x00000000"
},
{
"idx": 5,
"id": "ana_trim8",
"value": "0x00001332"
},
{
"idx": 6,
"id": "ana_trim9",
"value": "0x806DC85D"
},
{
"idx": 7,
"id": "ana_trim10",
"value": "0xD371013A"
}
],
[
{
"idx": 0,
"id": "int_algo_1",
"value": "0x00B1407D"
},
{
"idx": 1,
"id": "int_algo_2",
"value": "0x000001A7"
}
],
[
{
"idx": 0,
"id": "gate_driver_fault_status",
"value": "0x00000000"
},
{
"idx": 1,
"id": "controller_fault_status",
"value": "0x80500000"
}
],
[
{
"idx": 0,
"id": "algo_status",
"value": "0x002FA0C0"
},
{
"idx": 1,
"id": "mtr_params",
"value": "0x00000000"
},
{
"idx": 2,
"id": "algo_status_mpet",
"value": "0x0A000000"
}
],
[
{
"idx": 0,
"id": "dev_ctrl",
"value": "0x00000000"
}
],
[
{
"idx": 0,
"id": "algo_ctrl1",
"value": "0x00000000"
},
{
"idx": 1,
"id": "algo_ctrl2",
"value": "0x00000000"
},
{
"idx": 2,
"id": "current_pi",
"value": "0x00047661"
},
{
"idx": 3,
"id": "speed_pi",
"value": "0x00000000"
},
{
"idx": 4,
"id": "dac_1",
"value": "0x00000000"
},
{
"idx": 5,
"id": "dac_2",
"value": "0x00000000"
}
],
[
{
"idx": 0,
"id": "algorithm_state",
"value": "0x0030000E"
},
{
"idx": 1,
"id": "fg_speed_fdbk",
"value": "0x7FFFFFFF"
},
{
"idx": 2,
"id": "bus_current",
"value": "0x00000000"
},
{
"idx": 3,
"id": "phase_current_a",
"value": "0xFFC80000"
},
{
"idx": 4,
"id": "phase_current_b",
"value": "0x00200000"
},
{
"idx": 5,
"id": "phase_current_c",
"value": "0x00100000"
},
{
"idx": 6,
"id": "csa_gain_feedback",
"value": "0x00010003"
},
{
"idx": 7,
"id": "voltage_gain_feedback",
"value": "0x00000001"
},
{
"idx": 8,
"id": "vm_voltage",
"value": "0x01E64000"
},
{
"idx": 9,
"id": "phase_voltage_va",
"value": "0x0001BB67"
},
{
"idx": 10,
"id": "phase_voltage_vb",
"value": "0x00022A41"
},
{
"idx": 11,
"id": "phase_voltage_vc",
"value": "0x00014C8D"
},
{
"idx": 12,
"id": "sin_commutation_angle",
"value": "0x007A880C"
},
{
"idx": 13,
"id": "cos_commutation_angle",
"value": "0xF8066BF8"
},
{
"idx": 14,
"id": "ialpha",
"value": "0xFFD80000"
},
{
"idx": 15,
"id": "ibeta",
"value": "0x000DDB3D"
},
{
"idx": 16,
"id": "valpha",
"value": "0x0000A572"
},
{
"idx": 17,
"id": "vbeta",
"value": "0xFFFFBB1D"
},
{
"idx": 18,
"id": "id",
"value": "0x0028B41F"
},
{
"idx": 19,
"id": "iq",
"value": "0xFFF4948B"
},
{
"idx": 20,
"id": "vd",
"value": "0xFFFF567F"
},
{
"idx": 21,
"id": "vq",
"value": "0x00003AEE"
},
{
"idx": 22,
"id": "iq_ref_rotor_align",
"value": "0x00000000"
},
{
"idx": 23,
"id": "speed_ref_open_loop",
"value": "0x00000863"
},
{
"idx": 24,
"id": "iq_ref_open_loop",
"value": "0x00000000"
},
{
"idx": 25,
"id": "speed_ref_closed_loop",
"value": "0x0002C36F"
},
{
"idx": 26,
"id": "id_ref_closed_loop",
"value": "0x00000000"
},
{
"idx": 27,
"id": "iq_ref_closed_loop",
"value": "0x00002FA0"
},
{
"idx": 28,
"id": "isd_state",
"value": "0x00000005"
},
{
"idx": 29,
"id": "isd_speed",
"value": "0x0000032B"
},
{
"idx": 30,
"id": "ipd_state",
"value": "0x0004000B"
},
{
"idx": 31,
"id": "ipd_angle",
"value": "0x03EEBF48"
},
{
"idx": 32,
"id": "ed",
"value": "0x00000052"
},
{
"idx": 33,
"id": "eq",
"value": "0x00000016"
},
{
"idx": 34,
"id": "speed_fdbk",
"value": "0xFFFFF9D9"
},
{
"idx": 35,
"id": "theta_est",
"value": "0x00007891"
}
]
]
}
I can only imagine it has something to do with the temperature in the components. The remaining conditions were the same.
Maybe you have other ideas.
Best,
Linus
Hi Linus,
We noticed that your IPD current threshold (IPD_CURR_THR under Motor Startup Stationary in the GUI) and closed-loop current limit (ILIMIT under Closed Loop in the GUI) were set to 6.0A, but your open-loop current limit (OL_ILIMIT under Open Loop in the GUI) was set to 1.5A. This could be restricting the ability of the driver to provide torque, leading to inconsistent startup and motor desyncing causing an Abnormal BEMF Fault. Try setting the open-loop limit to something closer to the closed-loop limit. Additionally, we recommend that you set your IPD current threshold to half the motor's peak rated current (set to 8.0A/2 = 4.0A).
Also, did you obtain the values of R, L, and Ke through MPET? If you are still hitting Abnormal BEMF fault after trying the above, your motor might be small and you might have to manually measure the parameters.
May you provide a capture of the phase current when the motor is starting, speeding up, and in closed-loop (for both successful and unsuccessful tries) if the above doesn't work?
Best,
Hong