MCF8329A: MPET Error

Hi Jeong,

Based on the register information you provided and assuming that the phase current shunt resistance (R44 on the MCF8329EVM) being used is 0.001mOhm We recommend changing the following current limits:

1. ILIMIT to 40%
2. LOCK_ILIMIT to 50%
3. HW_LOCK_ILIMIT to 60% in general we recommend keeping HW_LOCK_ILIMIT higher than LOCK_ILIMIT.

We recommend changing the following:

1. ALIGN_SLOW_RAMP_RATE to 10A/s
2. increase ALIGN_TIME to 3s
3. decrease OL_ACC_A1 down to 10Hz/s
4. decrease CL_ACC down to 20Hz/s
5. decrease CL_SLOW_ACC down to 10 Hz/s

Increase these settings to achieve faster startup time and acceleration after the the motor is able to spin up successfully. We recommend these values be this low in order to give the motor the best chance to start up.

If the above changes do not resolve the HW_LOCK_ILIMIT error, please provide two captures:

1. The motors phase current from when the motor startups to when it faults
2. A zoomed in capture of the motors phase current when the fault occurred

Regards,

Joshua

Hi, Joshua

I reset the registers by referring to your answer.

I measured the motor Rs, Ld, and Lq again using the motor parameter identification function in Insta-spin.

- Rs : 0.3847 ohm

- Ld/Lq : 14.4 uH (ultra low)

For the drive test, the quick spin function was not used, and commands were sent through I2C communication.

Motor control is unstable and speed is not controlled using I2C.

Please refer to the json file and driving waveform and let me know which registers need to be changed additionally.

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x24AED4A1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x056A4CC4",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2A85C007",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0D7102B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0AAD6E09",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x4AE188F9",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x00720708",
"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":"0x343A31A0",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x01427888",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x0946027D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x02008161",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x40032309",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00100002",
"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":"0x00000400",
"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":"0x00000004",
"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":"0x20000000",
"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":"0x011F030C",
"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":"0x7FFFFFFF",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00000000",
"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":"0x01D20000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x01FEF479",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x01FE16C5",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x02018D95",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0x00000000",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x00000000",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x00000000",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0x00000000",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x00000000",
"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":"0x00000000",
"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":"0x00000000",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"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":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000774"
}
]
]
}

Hello Jeong,

1. How were the values for the SPEED Loop KP and KI determined?
2. How were the values for the CURRENT loop KP and KI values determined?
3. How was the BEMF constant value determined?
4. I see on the Quick Spin page that the max speed is set to 300 Hz, this results in a max speed of 1800 rpm. Please increase the max speed to the desired max speed which I assume is 6000 rpm or 1000 Hz.
5. If possible I would change the sense resistor R44 to a 0.003 ohm 2W resistor. With the CSA gain at 10 V/V this will make the max measurable current of the CSA as 25A which will increase the accuracy of the algorithm and provide greater range to the current sensing. If you do change the sense resistor R44 to 0.003 ohms and the CSA gain to 10V/V, the BASE_CURRENT will need to be changed to 0x2AB.

Regards,

Joshua

Hi, Joshua

1. Speed loop KP, KI were set to arbitrary values.

2. Current loop KP, KI values were automatically found by Motorstudio.

- KP : 0x374

- KI : 0x11f

3. BEMF was calculated based on the measured waveform.

   The calculated values were similar to the Insta-spin motor parameter idenfication values.

- Flux Calculated values : BEMF Constant ke = EPH / (1/TE) = 5.3 / (1/0.01203) = 0.063759 V/Hz

- Insta-spin motor parameter idenfication values = 0.066086 V/Hz

4. OK

5. OK  (Note = Motor Performance : Output 250 Watt / Phase Max Peak Current 60A / Max 3500rpm @ 0.67Nm)

For 1.2.3, we received some help from engineer at TI Korea.

Question 1 : If I change R44 to 0.003 ohm and CSA Gain to 10V/V, isn't BASE_CURRENT 0x555(Hex) according to the calculation formula?

Question 2 : When I change the RSHUNT number in the Motorstudio advanced tuning menu, the BASE_CURRENT register value changes. Is this a bug?

Please recommend register settings.

Regards,

Hi Jeong,

1. MPET should find the speed KP and KI values, can you please set both the speed and current gains (Kp and Ki) to zero and run MPET so it can determine the values again? For the gains MPET does not find (should be the current Kp and Ki), please leave these values empty since the algorithm will determine these values as it spins the motor.

2. For the base current, since the motor is able to go up to 60A I would recommend not changing R44 and instead setting the CSA gain to 20 V/V so that the base current is 75A.

If the above step do not help, set CTRL_MODE to Modulation index control, try to spin the motor at the desired speed, and provide me a capture of the phase current. Please increase the speed slowly to avoid damage to the motor while in this mode. for more information about the Modulation index control mode please see section 7.3.11.5 of the datasheet. I do not expect this mode to be used in your application, I ask you to use this mode only to see if the mcf8329A can spin the motor at the desired speed successfully.

JEONG YONGHOE said:

Question 1 : If I change R44 to 0.003 ohm and CSA Gain to 10V/V, isn't BASE_CURRENT 0x555(Hex) according to the calculation formula?

You are correct. When I did my calculation I used a CSA gain of 20 V/V which give a BASE_CURRENT of 25A but I wrote 10V/V by mistake. A CSA gain of 10V/V gives a BASE_CURRENT of 50A or 0x555(Hex)

JEONG YONGHOE said:

Question 2 : When I change the RSHUNT number in the Motorstudio advanced tuning menu, the BASE_CURRENT register value changes. Is this a bug?

This feature appears to be bugged, it is intended that changing the RSHUNT number should change the BASE_CURRENT value but the equation does not appear to be correct. I will make note that this feature is bugged so we can fix it in a future update, thank you.

Regards,

Joshua

Hi, Joshua

1. I set the current and speed KP and KI gains to 0 and MPET was successful.

 > I increased the I2C command percentage using the value extracted through MPET, but control was not good. What is the reason?

Please refer to the contents of the *.json file. (The json file is the contents of the successful MPET.)

2. CTRL_Mode was driven by Modulation index control. It was not possible to drive at the desired speed, and the motor rotation direction suddenly changed to the opposite direction during operation. What is the reason?

 > Please refer to the attached picture file.

※ *.json File

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x24AED4A1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x110A4CC4",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2B85C007",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x177304B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0AAD6E09",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x48800001",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x06674708",
"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":"0x465A31A0",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x41423888",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x0946027D",
"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":"0x00100002",
"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":"0x00000400",
"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":"0x00000004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x3A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0xAA500000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000019",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x011F0374",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x019D0086",
"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":"0x0026499B",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00000000",
"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":"0x01D80000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x02018D95",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x02026B48",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x0205E218",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0x00000000",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x00000000",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x00000000",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0x00000000",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x00000000",
"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":"0x00000000",
"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":"0x00000000",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"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":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000774"
}
]
]
}

Hi Jeyong,

Today is a Holiday in the US, we will aim to provide a response by the end of the week.

Regards,

Anthony

Hi Jeong,

Please allow me some time to look into this issue. I will aim to get back with you by Friday.

Regards,

Joshua