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MCF8329EVM: Open loop handover issues

Part Number: MCF8329EVM
Other Parts Discussed in Thread: MCF8329A

Hello,

We are having issues tuning the MCF8329EVM to work with our (low power) Maxon motor.

(Note we are still evaluating motors, and we have chosen the MCF8329 over the MCF8316 as it provides greater flexibility with power output and maximum bus voltage)

We have not been able to get MPET to estimate parameters correctly, but luckily we have datasheet parameters for reference, see below:

After some trial and error, we seem to have consistent startup and open loop acceleration (no-load) -- however the motor gets to a certain RPM and stops -- then we get the following faults in Motor Studio: CONTROLLER_FAULT, ABN_BEMF, MTR_LCK. Log snippet below:

15:46:33:955 | : Accelerating motor in open loop control...

15:46:32:944 | : Performing motor stationery startup...

Are there any suggestions for how to debug/tune this ramp-up/handover?

Here's our .json file for reference.

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x64A2D4A1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x10A64CC0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x1B95C007",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0C3081B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x1AADBF2F",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x334C9808",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x6459112E",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"REF_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"REF_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"REF_PROFILES3",
"value":"0x00000004",
"addr":"0x00000098"
},
{
"idx":11,
"id":"REF_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"REF_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"REF_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x465A31A6",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x71422888",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x0948027D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x020082E1",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x40032309",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00100001",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x03E8C00C",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x69845CC0",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0000807B",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00000100",
"addr":"0x000000AE"
}
],
[
{
"idx":0,
"id":"GATE_DRIVER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E0"
},
{
"idx":1,
"id":"CONTROLLER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E2"
}
],
[
{
"idx":0,
"id":"ALGO_STATUS",
"value":"0x116E0004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x0A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x00000000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x019F0241",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x001660FB",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00080000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFFF00000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00080000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00010001",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x03310000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x02CF3BEC",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x02CBC51D",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x02CD11AB",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x05074D9C",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0xF9CAC438",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0xFFA40000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFF52CB80",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0xFFC16861",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0xFFA22185",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0xFFD911DE",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x00BFF38C",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0xFFF58A24",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x00707E49",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00CCBF5C",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D0"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060A"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060C"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000003",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x000AE047",
"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x0000071A"
},
{
"idx":32,
"id":"ED",
"value":"0x00004E12",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0x00008847",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x009017C4",
"addr":"0x00000774"
}
]
]
}

A few others have requested access to the previously uploaded tuning guide video, are there any updates on when this will be available again?

Thanks,
J.

  • Hi J,

    After reviewing the register configuration you sent, I would recommend making the following changes:

    1. Lower THETA_ERROR_RAMP_RATE down to  0.5 deg/meg
    2. Lower ABNORMAL_BEMF_THR up to 70%
    3. Lower AUTO_HANDOFF_MIN_BEMF down to 100mV

    If these changes still result in a ABN_BEMF fault appearing, please disable LOCK2_EN and see if the motor is able to spin into closed loop with out encountering a fault. If it does not run into a fault after disabling LOCK2_EN then more handoff tuning is required, otherwise there may be a different issue that needs to be corrected first.

    A few others have requested access to the previously uploaded tuning guide video, are there any updates on when this will be available again?

    I will get back to you on this by Friday.

    Regards,

    Joshua

  • Thanks for the quick response Joshua,

    Good news, with your help we've been able to get the motor spinning closed loop consistently with the following changes:

    • Lower THETA_ERROR_RAMP_RATE down to  0.5 deg/meg
    • Lower ABNORMAL_BEMF_THR up to 70%
    • Lower AUTO_HANDOFF_MIN_BEMF down to 100mV
    • Disabled LOCK2_EN
    • Changed ALIGN_SLOW_RAMP_RATE to 10A/s
    • Changed ALIGN_OR_SLOW_CURRENT_LIMIT to 30%
    • Changed IPD_CURRENT_THR to 30%
    • Changed Kp coeff for speed loop to 2.55
    • Changed Ki coeff for speed loop to 0.01

    We still have the following issues:

    • Motor will not start with LOCK2_EN enabled (same errors as above)
    • Motor will not run below ~30% speed (may need to bump up shunt resistance?)
    • Motor open loop handover speed is quite high

    Here's our latest .json file

    {
    "signature":"oneui-register-data",
    "data":[
    [
    {
    "idx":0,
    "id":"ISD_CONFIG",
    "value":"0x64A2D4A1",
    "addr":"0x00000080"
    },
    {
    "idx":1,
    "id":"REV_DRIVE_CONFIG",
    "value":"0x48300000",
    "addr":"0x00000082"
    },
    {
    "idx":2,
    "id":"MOTOR_STARTUP1",
    "value":"0x04AA50C0",
    "addr":"0x00000084"
    },
    {
    "idx":3,
    "id":"MOTOR_STARTUP2",
    "value":"0x3487E005",
    "addr":"0x00000086"
    },
    {
    "idx":4,
    "id":"CLOSED_LOOP1",
    "value":"0x0C3081B0",
    "addr":"0x00000088"
    },
    {
    "idx":5,
    "id":"CLOSED_LOOP2",
    "value":"0x1AADBF2F",
    "addr":"0x0000008A"
    },
    {
    "idx":6,
    "id":"CLOSED_LOOP3",
    "value":"0x334C9809",
    "addr":"0x0000008C"
    },
    {
    "idx":7,
    "id":"CLOSED_LOOP4",
    "value":"0x7FD9112E",
    "addr":"0x0000008E"
    },
    {
    "idx":8,
    "id":"REF_PROFILES1",
    "value":"0x00000000",
    "addr":"0x00000094"
    },
    {
    "idx":9,
    "id":"REF_PROFILES2",
    "value":"0x00000000",
    "addr":"0x00000096"
    },
    {
    "idx":10,
    "id":"REF_PROFILES3",
    "value":"0x00000004",
    "addr":"0x00000098"
    },
    {
    "idx":11,
    "id":"REF_PROFILES4",
    "value":"0x00000000",
    "addr":"0x0000009A"
    },
    {
    "idx":12,
    "id":"REF_PROFILES5",
    "value":"0x00000000",
    "addr":"0x0000009C"
    },
    {
    "idx":13,
    "id":"REF_PROFILES6",
    "value":"0x00000000",
    "addr":"0x0000009E"
    }
    ],
    [
    {
    "idx":0,
    "id":"FAULT_CONFIG1",
    "value":"0x465A31A6",
    "addr":"0x00000090"
    },
    {
    "idx":1,
    "id":"FAULT_CONFIG2",
    "value":"0x51C22888",
    "addr":"0x00000092"
    }
    ],
    [
    {
    "idx":0,
    "id":"INT_ALGO_1",
    "value":"0x0942027D",
    "addr":"0x000000A0"
    },
    {
    "idx":1,
    "id":"INT_ALGO_2",
    "value":"0x020082E1",
    "addr":"0x000000A2"
    }
    ],
    [
    {
    "idx":0,
    "id":"PIN_CONFIG",
    "value":"0x40032309",
    "addr":"0x000000A4"
    },
    {
    "idx":1,
    "id":"DEVICE_CONFIG1",
    "value":"0x00100001",
    "addr":"0x000000A6"
    },
    {
    "idx":2,
    "id":"DEVICE_CONFIG2",
    "value":"0x03E8C00C",
    "addr":"0x000000A8"
    },
    {
    "idx":3,
    "id":"PERI_CONFIG1",
    "value":"0x69845CC0",
    "addr":"0x000000AA"
    },
    {
    "idx":4,
    "id":"GD_CONFIG1",
    "value":"0x0000807B",
    "addr":"0x000000AC"
    },
    {
    "idx":5,
    "id":"GD_CONFIG2",
    "value":"0x00000100",
    "addr":"0x000000AE"
    }
    ],
    [
    {
    "idx":0,
    "id":"GATE_DRIVER_FAULT_STATUS",
    "value":"0x00000000",
    "addr":"0x000000E0"
    },
    {
    "idx":1,
    "id":"CONTROLLER_FAULT_STATUS",
    "value":"0x00000000",
    "addr":"0x000000E2"
    }
    ],
    [
    {
    "idx":0,
    "id":"ALGO_STATUS",
    "value":"0x0DA60004",
    "addr":"0x000000E4"
    },
    {
    "idx":1,
    "id":"MTR_PARAMS",
    "value":"0x00000000",
    "addr":"0x000000E6"
    },
    {
    "idx":2,
    "id":"ALGO_STATUS_MPET",
    "value":"0x0A000000",
    "addr":"0x000000E8"
    }
    ],
    [
    {
    "idx":0,
    "id":"ALGO_CTRL1",
    "value":"0x8A500000",
    "addr":"0x000000EA"
    }
    ],
    [
    {
    "idx":0,
    "id":"ALGO_DEBUG1",
    "value":"0xA6660000",
    "addr":"0x000000EC"
    },
    {
    "idx":1,
    "id":"ALGO_DEBUG2",
    "value":"0x00000000",
    "addr":"0x000000EE"
    },
    {
    "idx":2,
    "id":"CURRENT_PI",
    "value":"0x019F0241",
    "addr":"0x000000F0"
    },
    {
    "idx":3,
    "id":"SPEED_PI",
    "value":"0x00000000",
    "addr":"0x000000F2"
    },
    {
    "idx":4,
    "id":"DAC_1",
    "value":"0x00000000",
    "addr":"0x000000F4"
    }
    ],
    [
    {
    "idx":0,
    "id":"ALGORITHM_STATE",
    "value":"0x00200009",
    "addr":"0x00000196"
    },
    {
    "idx":1,
    "id":"FG_SPEED_FDBK",
    "value":"0x0014CA4B",
    "addr":"0x0000019C"
    },
    {
    "idx":2,
    "id":"BUS_CURRENT",
    "value":"0x00147966",
    "addr":"0x0000040E"
    },
    {
    "idx":3,
    "id":"PHASE_CURRENT_A",
    "value":"0xFFF50000",
    "addr":"0x0000043C"
    },
    {
    "idx":4,
    "id":"PHASE_CURRENT_B",
    "value":"0x00110000",
    "addr":"0x0000043E"
    },
    {
    "idx":5,
    "id":"PHASE_CURRENT_C",
    "value":"0xFFFA0000",
    "addr":"0x00000440"
    },
    {
    "idx":6,
    "id":"CSA_GAIN_FEEDBACK",
    "value":"0x00000000",
    "addr":"0x00000450"
    },
    {
    "idx":7,
    "id":"VOLTAGE_GAIN_FEEDBACK",
    "value":"0x00000000",
    "addr":"0x00000458"
    },
    {
    "idx":8,
    "id":"VM_VOLTAGE",
    "value":"0x033192D0",
    "addr":"0x0000045C"
    },
    {
    "idx":9,
    "id":"PHASE_VOLTAGE_VA",
    "value":"0x02C8BD28",
    "addr":"0x00000460"
    },
    {
    "idx":10,
    "id":"PHASE_VOLTAGE_VB",
    "value":"0x02C99ADC",
    "addr":"0x00000462"
    },
    {
    "idx":11,
    "id":"PHASE_VOLTAGE_VC",
    "value":"0x02CA788F",
    "addr":"0x00000464"
    },
    {
    "idx":12,
    "id":"SIN_COMMUTATION_ANGLE",
    "value":"0x03F1E6F4",
    "addr":"0x000004AA"
    },
    {
    "idx":13,
    "id":"COS_COMMUTATION_ANGLE",
    "value":"0x06F4CD64",
    "addr":"0x000004AC"
    },
    {
    "idx":14,
    "id":"IALPHA",
    "value":"0xFF7B0000",
    "addr":"0x000004CC"
    },
    {
    "idx":15,
    "id":"IBETA",
    "value":"0x00A6DAAE",
    "addr":"0x000004CE"
    },
    {
    "idx":16,
    "id":"VALPHA",
    "value":"0xFFCF92A9",
    "addr":"0x000004D0"
    },
    {
    "idx":17,
    "id":"VBETA",
    "value":"0x004A0873",
    "addr":"0x000004D2"
    },
    {
    "idx":18,
    "id":"ID",
    "value":"0xFFDD0E23",
    "addr":"0x000004DC"
    },
    {
    "idx":19,
    "id":"IQ",
    "value":"0x00D258F2",
    "addr":"0x000004DE"
    },
    {
    "idx":20,
    "id":"VD",
    "value":"0xFFFA64CE",
    "addr":"0x000004E0"
    },
    {
    "idx":21,
    "id":"VQ",
    "value":"0x0058520E",
    "addr":"0x000004E2"
    },
    {
    "idx":22,
    "id":"IQ_REF_ROTOR_ALIGN",
    "value":"0x01999390",
    "addr":"0x0000051A"
    },
    {
    "idx":23,
    "id":"SPEED_REF_OPEN_LOOP",
    "value":"0x00000000",
    "addr":"0x00000532"
    },
    {
    "idx":24,
    "id":"IQ_REF_OPEN_LOOP",
    "value":"0x00CCC9C8",
    "addr":"0x00000542"
    },
    {
    "idx":25,
    "id":"SPEED_REF_CLOSED_LOOP",
    "value":"0x02666000",
    "addr":"0x000005D0"
    },
    {
    "idx":26,
    "id":"ID_REF_CLOSED_LOOP",
    "value":"0x00000000",
    "addr":"0x0000060A"
    },
    {
    "idx":27,
    "id":"IQ_REF_CLOSED_LOOP",
    "value":"0x00000000",
    "addr":"0x0000060C"
    },
    {
    "idx":28,
    "id":"ISD_STATE",
    "value":"0x00000005",
    "addr":"0x000006B0"
    },
    {
    "idx":29,
    "id":"ISD_SPEED",
    "value":"0x000002E5",
    "addr":"0x000006BA"
    },
    {
    "idx":30,
    "id":"IPD_STATE",
    "value":"0x00000000",
    "addr":"0x000006E4"
    },
    {
    "idx":31,
    "id":"IPD_ANGLE",
    "value":"0x00000000",
    "addr":"0x0000071A"
    },
    {
    "idx":32,
    "id":"ED",
    "value":"0x00000000",
    "addr":"0x0000075C"
    },
    {
    "idx":33,
    "id":"EQ",
    "value":"0x00000000",
    "addr":"0x0000075E"
    },
    {
    "idx":34,
    "id":"SPEED_FDBK",
    "value":"0x026A6D60",
    "addr":"0x0000076E"
    },
    {
    "idx":35,
    "id":"THETA_EST",
    "value":"0x00000000",
    "addr":"0x00000774"
    }
    ]
    ]
    }

    Cheers,
    J.

  • Hi J,

    Can you please provide a capture of the phase current starting from idle until the device faults or gets into closed loop?

    Can you let MPET measure the BEMF and the Speed gains Kp and Ki to see what the results are. Please make sure the motor has no load before running MPET. To run MPET so that it only measures the BEMF and Speed gains, please use the MPET page and toggle the bottom two switches under MPET select as shown in the following image:

    Please make sure to Not enable Motor Resistance or Motor Inductance as these measurements are not functional on the MCF8329A device. The Speed gains and BEMF constant measured by MPET should be relatively close to the values you are using, if they are not I would recommend using the MPET measured values.

    Regards,

    Joshua

  • Thanks Joshua,

    We've spent some time trying to get MPET to work (measure BEMF/Mechanical params).

    We keep running into an strange issue where the motor will begin to spin (Algorithm State: MOTOR_MPET_KE_MEASURE) and the current will continue to ramp up (~100mA per second) until we hit our power supply OC setting (~1.5A at 24V).

    Any suggestions on what could be causing this behavior?

    Cheers,

    J.

  • Hello J,

    The OL_ILIMIT is set for 20% of BASE_CURRENT, this is 9.375 A * .2 = 1.875 A. When in open loop the motor will continue to increase the provided current until it hits OL_ILIMIT. I would recommend setting OL_ILIMIT to 10% so that the open loop current limit is set to 0.9375 A.

    Regards,

    Joshua

  • Thanks Joshua,

    Updating OL_ILIMIT has fixed the over current issue.

    Our next MPET issue is the rotor is only spinning up to a certain speed and then locking causing the motor to vibrate.

    We've tried to decrease MPET_OPEN_LOOP_SLEW_RATE and increase MPET_OPEN_LOOP_CURR_REF but have had no success.

    Are there any other parameters that tune the MPET ramp up?

    Up to date .json below for reference:

    {
    "signature":"oneui-register-data",
    "data":[
    [
    {
    "idx":0,
    "id":"ISD_CONFIG",
    "value":"0x64A2D4A1",
    "addr":"0x00000080"
    },
    {
    "idx":1,
    "id":"REV_DRIVE_CONFIG",
    "value":"0x48300000",
    "addr":"0x00000082"
    },
    {
    "idx":2,
    "id":"MOTOR_STARTUP1",
    "value":"0x02A64CC0",
    "addr":"0x00000084"
    },
    {
    "idx":3,
    "id":"MOTOR_STARTUP2",
    "value":"0x1C85C005",
    "addr":"0x00000086"
    },
    {
    "idx":4,
    "id":"CLOSED_LOOP1",
    "value":"0x0C3081B0",
    "addr":"0x00000088"
    },
    {
    "idx":5,
    "id":"CLOSED_LOOP2",
    "value":"0x1AADBF2F",
    "addr":"0x0000008A"
    },
    {
    "idx":6,
    "id":"CLOSED_LOOP3",
    "value":"0x334C9809",
    "addr":"0x0000008C"
    },
    {
    "idx":7,
    "id":"CLOSED_LOOP4",
    "value":"0x7FD9112E",
    "addr":"0x0000008E"
    },
    {
    "idx":8,
    "id":"REF_PROFILES1",
    "value":"0x00000000",
    "addr":"0x00000094"
    },
    {
    "idx":9,
    "id":"REF_PROFILES2",
    "value":"0x00000000",
    "addr":"0x00000096"
    },
    {
    "idx":10,
    "id":"REF_PROFILES3",
    "value":"0x00000004",
    "addr":"0x00000098"
    },
    {
    "idx":11,
    "id":"REF_PROFILES4",
    "value":"0x00000000",
    "addr":"0x0000009A"
    },
    {
    "idx":12,
    "id":"REF_PROFILES5",
    "value":"0x00000000",
    "addr":"0x0000009C"
    },
    {
    "idx":13,
    "id":"REF_PROFILES6",
    "value":"0x00000000",
    "addr":"0x0000009E"
    }
    ],
    [
    {
    "idx":0,
    "id":"FAULT_CONFIG1",
    "value":"0x465A31A6",
    "addr":"0x00000090"
    },
    {
    "idx":1,
    "id":"FAULT_CONFIG2",
    "value":"0x51C22888",
    "addr":"0x00000092"
    }
    ],
    [
    {
    "idx":0,
    "id":"INT_ALGO_1",
    "value":"0x09420705",
    "addr":"0x000000A0"
    },
    {
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    "id":"INT_ALGO_2",
    "value":"0x020082E1",
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    ],
    [
    {
    "idx":0,
    "id":"PIN_CONFIG",
    "value":"0x40032309",
    "addr":"0x000000A4"
    },
    {
    "idx":1,
    "id":"DEVICE_CONFIG1",
    "value":"0x00100001",
    "addr":"0x000000A6"
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    {
    "idx":2,
    "id":"DEVICE_CONFIG2",
    "value":"0x03E8C00C",
    "addr":"0x000000A8"
    },
    {
    "idx":3,
    "id":"PERI_CONFIG1",
    "value":"0x69845CC0",
    "addr":"0x000000AA"
    },
    {
    "idx":4,
    "id":"GD_CONFIG1",
    "value":"0x0000807B",
    "addr":"0x000000AC"
    },
    {
    "idx":5,
    "id":"GD_CONFIG2",
    "value":"0x00000100",
    "addr":"0x000000AE"
    }
    ],
    [
    {
    "idx":0,
    "id":"GATE_DRIVER_FAULT_STATUS",
    "value":"0x00000000",
    "addr":"0x000000E0"
    },
    {
    "idx":1,
    "id":"CONTROLLER_FAULT_STATUS",
    "value":"0x81000000",
    "addr":"0x000000E2"
    }
    ],
    [
    {
    "idx":0,
    "id":"ALGO_STATUS",
    "value":"0x00660004",
    "addr":"0x000000E4"
    },
    {
    "idx":1,
    "id":"MTR_PARAMS",
    "value":"0x00000000",
    "addr":"0x000000E6"
    },
    {
    "idx":2,
    "id":"ALGO_STATUS_MPET",
    "value":"0x0A000000",
    "addr":"0x000000E8"
    }
    ],
    [
    {
    "idx":0,
    "id":"ALGO_CTRL1",
    "value":"0x8A500000",
    "addr":"0x000000EA"
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    ],
    [
    {
    "idx":0,
    "id":"ALGO_DEBUG1",
    "value":"0x80000000",
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    {
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    "value":"0x0000003E",
    "addr":"0x000000EE"
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    {
    "idx":2,
    "id":"CURRENT_PI",
    "value":"0x019F0241",
    "addr":"0x000000F0"
    },
    {
    "idx":3,
    "id":"SPEED_PI",
    "value":"0x00000000",
    "addr":"0x000000F2"
    },
    {
    "idx":4,
    "id":"DAC_1",
    "value":"0x00000000",
    "addr":"0x000000F4"
    }
    ],
    [
    {
    "idx":0,
    "id":"ALGORITHM_STATE",
    "value":"0x00000011",
    "addr":"0x00000196"
    },
    {
    "idx":1,
    "id":"FG_SPEED_FDBK",
    "value":"0x012E50B0",
    "addr":"0x0000019C"
    },
    {
    "idx":2,
    "id":"BUS_CURRENT",
    "value":"0x00000000",
    "addr":"0x0000040E"
    },
    {
    "idx":3,
    "id":"PHASE_CURRENT_A",
    "value":"0xFFF90000",
    "addr":"0x0000043C"
    },
    {
    "idx":4,
    "id":"PHASE_CURRENT_B",
    "value":"0x000D0000",
    "addr":"0x0000043E"
    },
    {
    "idx":5,
    "id":"PHASE_CURRENT_C",
    "value":"0xFFFA0000",
    "addr":"0x00000440"
    },
    {
    "idx":6,
    "id":"CSA_GAIN_FEEDBACK",
    "value":"0x00000000",
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    },
    {
    "idx":7,
    "id":"VOLTAGE_GAIN_FEEDBACK",
    "value":"0x00010001",
    "addr":"0x00000458"
    },
    {
    "idx":8,
    "id":"VM_VOLTAGE",
    "value":"0x0330C000",
    "addr":"0x0000045C"
    },
    {
    "idx":9,
    "id":"PHASE_VOLTAGE_VA",
    "value":"0x02C8BD28",
    "addr":"0x00000460"
    },
    {
    "idx":10,
    "id":"PHASE_VOLTAGE_VB",
    "value":"0x02C692E6",
    "addr":"0x00000462"
    },
    {
    "idx":11,
    "id":"PHASE_VOLTAGE_VC",
    "value":"0x02C5B532",
    "addr":"0x00000464"
    },
    {
    "idx":12,
    "id":"SIN_COMMUTATION_ANGLE",
    "value":"0x08000000",
    "addr":"0x000004AA"
    },
    {
    "idx":13,
    "id":"COS_COMMUTATION_ANGLE",
    "value":"0x00000000",
    "addr":"0x000004AC"
    },
    {
    "idx":14,
    "id":"IALPHA",
    "value":"0x00690000",
    "addr":"0x000004CC"
    },
    {
    "idx":15,
    "id":"IBETA",
    "value":"0xFFA8D1F2",
    "addr":"0x000004CE"
    },
    {
    "idx":16,
    "id":"VALPHA",
    "value":"0xFFFE114E",
    "addr":"0x000004D0"
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    {
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    "id":"VBETA",
    "value":"0x0001B09A",
    "addr":"0x000004D2"
    },
    {
    "idx":18,
    "id":"ID",
    "value":"0xFFA8D1F2",
    "addr":"0x000004DC"
    },
    {
    "idx":19,
    "id":"IQ",
    "value":"0xFF970000",
    "addr":"0x000004DE"
    },
    {
    "idx":20,
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    },
    {
    "idx":21,
    "id":"VQ",
    "value":"0x0001EEB2",
    "addr":"0x000004E2"
    },
    {
    "idx":22,
    "id":"IQ_REF_ROTOR_ALIGN",
    "value":"0x00000000",
    "addr":"0x0000051A"
    },
    {
    "idx":23,
    "id":"SPEED_REF_OPEN_LOOP",
    "value":"0x00000000",
    "addr":"0x00000532"
    },
    {
    "idx":24,
    "id":"IQ_REF_OPEN_LOOP",
    "value":"0x01999390",
    "addr":"0x00000542"
    },
    {
    "idx":25,
    "id":"SPEED_REF_CLOSED_LOOP",
    "value":"0x00000000",
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    },
    {
    "idx":26,
    "id":"ID_REF_CLOSED_LOOP",
    "value":"0x00000000",
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    {
    "idx":27,
    "id":"IQ_REF_CLOSED_LOOP",
    "value":"0x04CCBA88",
    "addr":"0x0000060C"
    },
    {
    "idx":28,
    "id":"ISD_STATE",
    "value":"0x00000005",
    "addr":"0x000006B0"
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    {
    "idx":29,
    "id":"ISD_SPEED",
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    {
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    {
    "idx":33,
    "id":"EQ",
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    },
    {
    "idx":34,
    "id":"SPEED_FDBK",
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    "addr":"0x0000076E"
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    {
    "idx":35,
    "id":"THETA_EST",
    "value":"0x00000000",
    "addr":"0x00000774"
    }
    ]
    ]
    }


    Cheers,
    J.

  • Hello J,

    1. Can you provide a capture of the phase current when MPET is running? 
    2. What is the max current rating of the motor? If the power supply is set to 1.5A then I assume this is close to the rated max phase current of the motor? If 1.5A is close to the rated max current of the motor, I would recommend  changing the CSA gain and R_SENSE being used so that BASE_CURRENT is closer to the rated max current of the motor.
    A few others have requested access to the previously uploaded tuning guide video, are there any updates on when this will be available again?

    This video can be downloaded here: tidrive.ext.ti.com/.../03ca804d-4764-47b7-93ef-dd46c5ac18d7

    Access Code: 45psk/dz

    The download link to this video will expire on April 14th.

    Regards,

    Joshua

  • Thanks Joshua,

    I will review the video, and work on getting some phase current captures.
    We are also going to fit a higher value shunt resistor to configure our BASE_CURRENT more appropriately for the target motor.

    Will check in when I have more information.

    Cheers,
    J.