MCF8316AEVM: Cannot Spin Motor at Max RPM

Shawn L

Part Number: MCF8316AEVM
Other Parts Discussed in Thread: MCF8316A

Tool/software:

I have been trying to spin a 580KV 7-pole outrunner motor at the max RPM using a supply voltage of 21V. The max rpm should be well over 10K rpm, but it seems to hit a max speed limit of around 8400 rpm. Current is not an issue, The power supply can output 6A max and this is never reached anyway.

Motor specs: Coil resistance of 0.1Ohms, inductance of 0.03mH. No-load current is about 400mA average.

Test setup: MCF8316A EVM & Motor Studio. Speed control is over I2C. Default values loaded. If I try to run MPET, it fails. First of all, I cannot even enter the max. RPM or number of poles – selection is grayed out - unless I switch from “Speed in Hz” to “speed in RPM”. Then MPET seems to hang after properly determining resistance and inductance; so, it fails at the BEMF determination stage. The Algorithm state is : MOTOR MPET_KE_MEASURE. Faults are: DRIVER FAULT, OCP and OCP_LB.

Clearing the faults and manually entering the remaining values of BEMF of 9.4, Speed loop Kp of 0.4, Speed loop Ki of 0.9, will get the motor running. but only to the speed limit of around 8400 RPM as mentioned. This motor, when driver by another BLDC ESC (off-the-shelf QWinout Brushless ESC running SimonK firmware), can easily reach 10000RPM and beyond at 21 V.

I have tried multiple combinations of BEMG, Ki & KP.

Any ideas what on what configuration is required to spin the motor to the max speed?

over 1 year ago

0 Eric Chen over 1 year ago

TI__Genius 9220 points

Hi Shawn,

Could you please provide your register configuration json file?

Assuming your motor is a 7-pole-pair (14-pole motor), then the [MAX_SPEED] register should be set to 1166.67Hz.

What is [PWM_FREQ_OUT] configured? Does increasing [PWM_FREQ_OUT] improve performance?

Enabling the [OVERMODULATION_ENABLE] bit could also help achieve faster top speed by sacrificing efficiency and smooth current waveform.

Regards,
Eric C.

0 Shawn L over 1 year ago in reply to Eric Chen

Prodigy 20 points

Hi Eric,

Thanks for getting back. here are two register files in JSON. The first one is just after setting the MAX_SPEED to 1166.67Hz and the Pole Pairs to 7. The second one is just after I tried to run MPET. It correectly found the resistance and inductance, and then simply stopped. BEMF value was still at 0.00. The latest messages were: "Motor Ke measurement error... Checking for faults". This was then followed by: "Could not detect any MPET Faults. Please check the tuning file.". Nothing else is happening now.

Thanks,

Shawn

6807D0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x23066000",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0C3181B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x1AAD0000",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x00000000",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x00001B58",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"SPEED_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"SPEED_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"SPEED_PROFILES3",
"value":"0x00000000",
"addr":"0x00000098"
},
{
"idx":11,
"id":"SPEED_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"SPEED_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"SPEED_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x5FE80206",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x74000000",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B3407D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x000001A7",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x00000000",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00100000",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x0000B000",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x40000000",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C000100",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00200000",
"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":"0x00000480",
"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":"0x00000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x000C0701",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
},
{
"idx":5,
"id":"DAC_2",
"value":"0x00000000",
"addr":"0x000000F6"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000210"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x7FFFFFFF",
"addr":"0x00000216"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043E"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x00000440"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00000000",
"addr":"0x00000442"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00010003",
"addr":"0x00000466"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000476"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x02D74000",
"addr":"0x00000478"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00000000",
"addr":"0x0000047E"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x00000000",
"addr":"0x00000480"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x00000000",
"addr":"0x00000482"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004BA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004BC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004D4"
},
{
"idx":15,
"id":"IBETA",
"value":"0x00000000",
"addr":"0x000004D6"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D8"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004DA"
},
{
"idx":18,
"id":"ID",
"value":"0x00000000",
"addr":"0x000004E4"
},
{
"idx":19,
"id":"IQ",
"value":"0x00000000",
"addr":"0x000004E6"
},
{
"idx":20,
"id":"VD",
"value":"0x00000000",
"addr":"0x000004E8"
},
{
"idx":21,
"id":"VQ",
"value":"0x00000000",
"addr":"0x000004EA"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x0000053A"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000548"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005CC"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FC"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FE"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000000",
"addr":"0x0000067A"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"addr":"0x00000684"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006B8"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x000006FC"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x00000742"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x00000744"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x00000752"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000756"
}
]
]
}

// After MPET failed...

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x44638C20",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x283AF064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x0B6807D0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x23066000",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0C3181B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x1AAD3914",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x00000000",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x00001B58",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"SPEED_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"SPEED_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"SPEED_PROFILES3",
"value":"0x00000000",
"addr":"0x00000098"
},
{
"idx":11,
"id":"SPEED_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"SPEED_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"SPEED_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x5FE80206",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x74000000",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B3407D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x000001A7",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x00000000",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00100000",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x0000B000",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x40000000",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C000100",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00200000",
"addr":"0x000000AE"
}
],
[
{
"idx":0,
"id":"GATE_DRIVER_FAULT_STATUS",
"value":"0x90040000",
"addr":"0x000000E0"
},
{
"idx":1,
"id":"CONTROLLER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E2"
}
],
[
{
"idx":0,
"id":"ALGO_STATUS",
"value":"0x7FFE0480",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x39001400",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0xCA000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x00000000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x00000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000026",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x00095FF1",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
},
{
"idx":5,
"id":"DAC_2",
"value":"0x00000000",
"addr":"0x000000F6"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00120014",
"addr":"0x00000210"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x020A72F0",
"addr":"0x00000216"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00050000",
"addr":"0x0000043E"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFFF80000",
"addr":"0x00000440"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00040000",
"addr":"0x00000442"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00010000",
"addr":"0x00000466"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000476"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x02D80000",
"addr":"0x00000478"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00045483",
"addr":"0x0000047E"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x00045483",
"addr":"0x00000480"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x0003E5A9",
"addr":"0x00000482"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x06FC37D4",
"addr":"0x000004BA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x03E35954",
"addr":"0x000004BC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0xFFF40000",
"addr":"0x000004D4"
},
{
"idx":15,
"id":"IBETA",
"value":"0x0001279A",
"addr":"0x000004D6"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x018958A8",
"addr":"0x000004D8"
},
{
"idx":17,
"id":"VBETA",
"value":"0x02C314F8",
"addr":"0x000004DA"
},
{
"idx":18,
"id":"ID",
"value":"0xFFF99E21",
"addr":"0x000004E4"
},
{
"idx":19,
"id":"IQ",
"value":"0x000A3679",
"addr":"0x000004E6"
},
{
"idx":20,
"id":"VD",
"value":"0x0329B153",
"addr":"0x000004E8"
},
{
"idx":21,
"id":"VQ",
"value":"0x0000329B",
"addr":"0x000004EA"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x06664E40",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x01FFFF4A",
"addr":"0x0000053A"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x06664E40",
"addr":"0x00000548"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005CC"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FC"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FE"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000005",
"addr":"0x0000067A"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x04EFCE07",
"addr":"0x00000684"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x0000000B",
"addr":"0x000006B8"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x03AAC5F7",
"addr":"0x000006FC"
},
{
"idx":32,
"id":"ED",
"value":"0xFFA22D5E",
"addr":"0x00000742"
},
{
"idx":33,
"id":"EQ",
"value":"0x00A6088F",
"addr":"0x00000744"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x00000752"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x52591DD4",
"addr":"0x00000756"
}
]
]
}

0 Eric Chen over 1 year ago in reply to Shawn L

TI__Genius 9220 points

Hi Shawn,

There can be different reasons that cause the motor KE measurement to fail. If the motor makes a slight movement but never spins up, you can try changing some of the MPET configurations before running MPET again. For example, if the motor has significant inertia/load, I would try decreasing the [MPET_OPEN_LOOP_SLEW_RATE] to see if the motor can keep up with the commutation. You can also try increasing the MPET_OPEN_LOOP_CURRENT_REF] in case the motor requires more torque to spin up.

If MPET still fails to measure KE after playing around with the MPET settings, you could try manually measuring the BEMF constant (refer to this E2E FAQ). If you know the motor parameters from the motor datasheet, you can also directly enter the values (in the correct unit) into the registers.

I see that your [PWM_FREQ_OUT] is set to 25kHz, which could be a little low if the motor has low inductance. Could you also try increasing the [PWM_FREQ_OUT] to 60kHz to 75kHz and see if it helps?

Regards,
Eric C.

0 Shawn L over 1 year ago in reply to Eric Chen

Prodigy 20 points

Hi Eric,

Thanks for getting back.

Tried the suggested settings, and still MPET did not run properly. I have attached the latest register JSON file. Also, did a BEMF measurement. Had to spin the motor manually. The .json file text is below as it would not upload as just a file.

Thanks, again.

Shawn

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x44638C20",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x283AF064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x4B6807D0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x23066000",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x4C3181B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x1AAD3707",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x31800000",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x000020D0",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"SPEED_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"SPEED_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"SPEED_PROFILES3",
"value":"0x00000000",
"addr":"0x00000098"
},
{
"idx":11,
"id":"SPEED_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"SPEED_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"SPEED_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x5FE80206",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x74000000",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B3436D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x000001A7",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x00000000",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00100001",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x0000B000",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x40000000",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x04000100",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00200000",
"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":"0x7FFFD700",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x38001200",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0xCA000000",
"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":"0x0000003F",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x000947CA",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
},
{
"idx":5,
"id":"DAC_2",
"value":"0x00000000",
"addr":"0x000000F6"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00120014",
"addr":"0x00000210"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x01FBEFBC",
"addr":"0x00000216"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00060000",
"addr":"0x0000043E"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x00000440"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFFF80000",
"addr":"0x00000442"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00010000",
"addr":"0x00000466"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000476"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x02D6C000",
"addr":"0x00000478"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00045483",
"addr":"0x0000047E"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x00045483",
"addr":"0x00000480"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x00045483",
"addr":"0x00000482"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0xF861C9FC",
"addr":"0x000004BA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0xFD9044A2",
"addr":"0x000004BC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00040000",
"addr":"0x000004D4"
},
{
"idx":15,
"id":"IBETA",
"value":"0x000376CF",
"addr":"0x000004D6"
},
{
"idx":16,
"id":"VALPHA",
"value":"0xFF22C5E0",
"addr":"0x000004D8"
},
{
"idx":17,
"id":"VBETA",
"value":"0xFD4C4B21",
"addr":"0x000004DA"
},
{
"idx":18,
"id":"ID",
"value":"0xFFFB136E",
"addr":"0x000004E4"
},
{
"idx":19,
"id":"IQ",
"value":"0x0001EB3E",
"addr":"0x000004E6"
},
{
"idx":20,
"id":"VD",
"value":"0x02D663FF",
"addr":"0x000004E8"
},
{
"idx":21,
"id":"VQ",
"value":"0x00000000",
"addr":"0x000004EA"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x0CCC9C80",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x01FFFF24",
"addr":"0x0000053A"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x0CCC9C80",
"addr":"0x00000548"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005CC"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FC"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FE"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000005",
"addr":"0x0000067A"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x072D97B3",
"addr":"0x00000684"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006B8"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x012FF84C",
"addr":"0x000006FC"
},
{
"idx":32,
"id":"ED",
"value":"0x01229367",
"addr":"0x00000742"
},
{
"idx":33,
"id":"EQ",
"value":"0x022AFA13",
"addr":"0x00000744"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x00000752"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x4F5C5E04",
"addr":"0x00000756"
}
]
]
}

0 Eric Chen over 1 year ago in reply to Shawn L

TI__Genius 9220 points

Hi Shawn,

Could you please help describe the motor behavior when MPET KE measurement fails? Does the motor move at all? Can you hear any electrical noise?

Due to the very low motor inductance, have you tried increasing [PWM_FREQ_OUT] to 60kHz? I see that the settings above still configures it to 25kHz.

Could you try entering arbitrary Kp and Ki values like you did previously and see if you can get the motor to spin-up into CLOSED_LOOP_ALIGNED state?

Regards,
Eric C.

0 Shawn L over 1 year ago in reply to Eric Chen

Prodigy 20 points

Hi Eric,

Thanks for your suntinuing support. Still cannot get the motor to spin. There is a single click, and that's it. Here is the register files I used:00",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B3407D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x000001A7",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x00000000",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00100000",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x0000B000",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x40000000",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C000100",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00200000",
"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":"0x00000480",
"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":"0x00000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x000C0701",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
},
{
"idx":5,
"id":"DAC_2",
"value":"0x00000000",
"addr":"0x000000F6"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000210"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x7FFFFFFF",
"addr":"0x00000216"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043E"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x00000440"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00000000",
"addr":"0x00000442"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00010003",
"addr":"0x00000466"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000476"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x02D6C000",
"addr":"0x00000478"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00000000",
"addr":"0x0000047E"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x00000000",
"addr":"0x00000480"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x00000000",
"addr":"0x00000482"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004BA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004BC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004D4"
},
{
"idx":15,
"id":"IBETA",
"value":"0x00000000",
"addr":"0x000004D6"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D8"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004DA"
},
{
"idx":18,
"id":"ID",
"value":"0x00000000",
"addr":"0x000004E4"
},
{
"idx":19,
"id":"IQ",
"value":"0x00000000",
"addr":"0x000004E6"
},
{
"idx":20,
"id":"VD",
"value":"0x00000000",
"addr":"0x000004E8"
},
{
"idx":21,
"id":"VQ",
"value":"0x00000000",
"addr":"0x000004EA"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x0000053A"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000548"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005CC"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FC"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FE"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000000",
"addr":"0x0000067A"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"addr":"0x00000684"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006B8"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x000006FC"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x00000742"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x00000744"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x00000752"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000756"
}
]
]
}

When I run it, I get a CONTROLLER_FAULT and LOCK_LIMIT fault. The mnotor is unloaded.

Also, woudl you, by any chance, know of a consultant we can hire to help us?

Thanks again,

Shawn

0 Shawn L over 1 year ago in reply to Shawn L

Prodigy 20 points

Hi Eric,

Would you perhaps be able to share, as a starting point, a register file for the following conditions:

. Motor is a 7-pole pair typical outrunner drone-type motor

. Resistance is 0.1 Ohm

. Inductance is 0.01mH

. BEMF is 9.2mV/Hz.

. Typical no load current is about 400mA.

. We are driving it at a VBUS of around 21V; so, we are expecting a max RPM of around 12000.

. Speed to be set by I2C.

In this application, we will be using two motors: one running CW and the other running CCW. Also, we will need to be constantly polling for the bus current using I2C. I’ve read that this might be an issue with the “A” version of this chip. Can you confirm this, please?

Thanks so much,

Shawn

0 Anthony Lodi over 1 year ago in reply to Shawn L

TI__Mastermind 27826 points

Hi Shawn,

Eric is out of office today, but should be able to get back to you by the end of the week.

Regards,

Anthony Lodi

0 Shawn L over 1 year ago in reply to Anthony Lodi

Prodigy 20 points

Hi Anthony,

Any update on this, please? These issues are gating the use of this chip in our design currently under development.

Thanks,

Shawn

0 Eric Chen over 1 year ago in reply to Shawn L

TI__Genius 9220 points

Hi Shawn,

Attached is an initial tuning based on your provided motor information:

Fullscreen mcf8316a_reg.json Download

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x6C230C24",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x98119064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x0B060803",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x9BB5C004",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x124D01B1",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x89E53705",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x19800005",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x489920D0",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"SPEED_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"SPEED_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"SPEED_PROFILES3",
"value":"0x00000000",
"addr":"0x00000098"
},
{
"idx":11,
"id":"SPEED_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"SPEED_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"SPEED_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x9F6A4327",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0xFF022088",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x84314195",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x00000067",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x08000002",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00101465",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0xC000F107",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x81C03F00",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C000000",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00020000",
"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":"0x07000000",
"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":"0x0159019B",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x02410186",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
},
{
"idx":5,
"id":"DAC_2",
"value":"0x00000000",
"addr":"0x000000F6"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000210"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x00000000",
"addr":"0x00000216"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043E"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x00000440"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00000000",
"addr":"0x00000442"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000466"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x019CC000",
"addr":"0x00000476"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x000261AE",
"addr":"0x0000047A"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00033F62",
"addr":"0x0000047E"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x00000000",
"addr":"0x00000480"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x00000000",
"addr":"0x00000482"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004BA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004BC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004D4"
},
{
"idx":15,
"id":"IBETA",
"value":"0x00000000",
"addr":"0x000004D6"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D8"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004DA"
},
{
"idx":18,
"id":"ID",
"value":"0x00000000",
"addr":"0x000004E4"
},
{
"idx":19,
"id":"IQ",
"value":"0x00000000",
"addr":"0x000004E6"
},
{
"idx":20,
"id":"VD",
"value":"0x00000000",
"addr":"0x000004E8"
},
{
"idx":21,
"id":"VQ",
"value":"0x00000000",
"addr":"0x000004EA"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x0000053A"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000548"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005CC"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FC"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005FE"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000000",
"addr":"0x0000067A"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"addr":"0x00000684"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006B8"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x000006FC"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x00000742"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x00000744"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x00000752"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000756"
}
]
]
}

If you will be constantly polling for I2C registers while the motor is spinning, then yes you will run into the I2C errata on the A version. The C version of this device fixes this issue.

Regards,
Eric C.

0 Shawn L over 1 year ago in reply to Eric Chen

Prodigy 20 points

Hi Eric,

Thanks for the file. Tried it, and the motor does start up, but it stops before reaching its set speed with some fault donditions. See that attached file. When I clear the fault, the motor does not re-start any more. There are no more faults generated as well. It just seems like noting is happening. The only way to get it to restart again is to actually turn off/on the EVM, reload the register JSON file, and then it spins again with the same faults as before.

Thanks again for your support,

Shawn

0 Shawn L over 1 year ago in reply to Shawn L

Prodigy 20 points

Hi Eric,

Any chance you can point me toward what registers I shoud be looking at to resolve these fault conditions?

Thanks,

Shawn

0 Venkatadri Shantaram84961 over 1 year ago in reply to Shawn L

TI__Mastermind 26412 points

Hi Shawn,

Eric is out of office, our team will respond to your question by end of this week.

We need to look back this thread and understand the problem and status, kindly provide a daytime.

Thanks and Best Regards,

Venkatadri S

0 Shawn L over 1 year ago in reply to Venkatadri Shantaram84961

Prodigy 20 points

Hi,

Been trying to get the motor spinnigncorrectly, but still no succes yet. Anything suggestions as to what I can try?

Thanks,

Shawn

0 Venkatadri Shantaram84961 over 1 year ago in reply to Shawn L

TI__Mastermind 26412 points

Hi Shawn,

Is it possible to replace A version with C version since you require to read the device continuously while motor is running?

I also made small change to the tuning file.

1. Reduced open loop acceleration - we can increase it later when you are able to spin the motor.

2. Disabled speed loop - Let us first get it spinning and then goto speed loop tuning (We will characterize the motor with Motor studio Close Loop tuning tab)

For now please use the tuning file

{

"signature":"oneui-register-data",

"data":[

[

{

"idx":0,

"id":"ISD_CONFIG",

"value":"0x6C230C24",

"addr":"0x00000080"

{

"idx":1,

"id":"REV_DRIVE_CONFIG",

"value":"0x98119064",

"addr":"0x00000082"

{

"idx":2,

"id":"MOTOR_STARTUP1",

"value":"0x0B060803",

"addr":"0x00000084"

{

"idx":3,

"id":"MOTOR_STARTUP2",

"value":"0x9B09C005",

"addr":"0x00000086"

{

"idx":4,

"id":"CLOSED_LOOP1",

"value":"0x104381B3",

"addr":"0x00000088"

{

"idx":5,

"id":"CLOSED_LOOP2",

"value":"0x89E53705",

"addr":"0x0000008A"

{

"idx":6,

"id":"CLOSED_LOOP3",

"value":"0x19800005",

"addr":"0x0000008C"

{

"idx":7,

"id":"CLOSED_LOOP4",

"value":"0x489920D0",

"addr":"0x0000008E"

{

"idx":8,

"id":"SPEED_PROFILES1",

"value":"0x00000000",

"addr":"0x00000094"

{

"idx":9,

"id":"SPEED_PROFILES2",

"value":"0x00000000",

"addr":"0x00000096"

{

"idx":10,

"id":"SPEED_PROFILES3",

"value":"0x00000000",

"addr":"0x00000098"

{

"idx":11,

"id":"SPEED_PROFILES4",

"value":"0x00000000",

"addr":"0x0000009A"

{

"idx":12,

"id":"SPEED_PROFILES5",

"value":"0x00000000",

"addr":"0x0000009C"

{

"idx":13,

"id":"SPEED_PROFILES6",

"value":"0x00000000",

"addr":"0x0000009E"

}

[

{

"idx":0,

"id":"FAULT_CONFIG1",

"value":"0x9F6A4327",

"addr":"0x00000090"

{

"idx":1,

"id":"FAULT_CONFIG2",

"value":"0xFF022088",

"addr":"0x00000092"

}

[

{

"idx":0,

"id":"INT_ALGO_1",

"value":"0x84314195",

"addr":"0x000000A0"

{

"idx":1,

"id":"INT_ALGO_2",

"value":"0x000001E7",

"addr":"0x000000A2"

}

[

{

"idx":0,

"id":"PIN_CONFIG",

"value":"0x08000002",

"addr":"0x000000A4"

{

"idx":1,

"id":"DEVICE_CONFIG1",

"value":"0x00000000",

"addr":"0x000000A6"

{

"idx":2,

"id":"DEVICE_CONFIG2",

"value":"0xC000F107",

"addr":"0x000000A8"

{

"idx":3,

"id":"PERI_CONFIG1",

"value":"0x81C03F00",

"addr":"0x000000AA"

{

"idx":4,

"id":"GD_CONFIG1",

"value":"0x0C000000",

"addr":"0x000000AC"

{

"idx":5,

"id":"GD_CONFIG2",

"value":"0x00020000",

"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":"0x07000000",

"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":"0x0159019B",

"addr":"0x000000F0"

{

"idx":3,

"id":"SPEED_PI",

"value":"0x02410186",

"addr":"0x000000F2"

{

"idx":4,

"id":"DAC_1",

"value":"0x00000000",

"addr":"0x000000F4"

{

"idx":5,

"id":"DAC_2",

"value":"0x00000000",

"addr":"0x000000F6"

}

[

{

"idx":0,

"id":"ALGORITHM_STATE",

"value":"0x00000000",

"addr":"0x00000210"

{

"idx":1,

"id":"FG_SPEED_FDBK",

"value":"0x00000000",

"addr":"0x00000216"

{

"idx":2,

"id":"BUS_CURRENT",

"value":"0x00000000",

"addr":"0x00000410"

{

"idx":3,

"id":"PHASE_CURRENT_A",

"value":"0x00000000",

"addr":"0x0000043E"

{

"idx":4,

"id":"PHASE_CURRENT_B",

"value":"0x00000000",

"addr":"0x00000440"

{

"idx":5,

"id":"PHASE_CURRENT_C",

"value":"0x00000000",

"addr":"0x00000442"

{

"idx":6,

"id":"CSA_GAIN_FEEDBACK",

"value":"0x00000000",

"addr":"0x00000466"

{

"idx":7,

"id":"VOLTAGE_GAIN_FEEDBACK",

"value":"0x00000000",

"addr":"0x00000476"

{

"idx":8,

"id":"VM_VOLTAGE",

"value":"0x000261AE",

"addr":"0x0000047A"

{

"idx":9,

"id":"PHASE_VOLTAGE_VA",

"value":"0x00033F62",

"addr":"0x0000047E"

{

"idx":10,

"id":"PHASE_VOLTAGE_VB",

"value":"0x00000000",

"addr":"0x00000480"

{

"idx":11,

"id":"PHASE_VOLTAGE_VC",

"value":"0x00000000",

"addr":"0x00000482"

{

"idx":12,

"id":"SIN_COMMUTATION_ANGLE",

"value":"0x00000000",

"addr":"0x000004BA"

{

"idx":13,

"id":"COS_COMMUTATION_ANGLE",

"value":"0x00000000",

"addr":"0x000004BC"

{

"idx":14,

"id":"IALPHA",

"value":"0x00000000",

"addr":"0x000004D4"

{

"idx":15,

"id":"IBETA",

"value":"0x00000000",

"addr":"0x000004D6"

{

"idx":16,

"id":"VALPHA",

"value":"0x00000000",

"addr":"0x000004D8"

{

"idx":17,

"id":"VBETA",

"value":"0x00000000",

"addr":"0x000004DA"

{

"idx":18,

"id":"ID",

"value":"0x00000000",

"addr":"0x000004E4"

{

"idx":19,

"id":"IQ",

"value":"0x00000000",

"addr":"0x000004E6"

{

"idx":20,

"id":"VD",

"value":"0x00000000",

"addr":"0x000004E8"

{

"idx":21,

"id":"VQ",

"value":"0x00000000",

"addr":"0x000004EA"

{

"idx":22,

"id":"IQ_REF_ROTOR_ALIGN",

"value":"0x00000000",

"addr":"0x00000524"

{

"idx":23,

"id":"SPEED_REF_OPEN_LOOP",

"value":"0x00000000",

"addr":"0x0000053A"

{

"idx":24,

"id":"IQ_REF_OPEN_LOOP",

"value":"0x00000000",

"addr":"0x00000548"

{

"idx":25,

"id":"SPEED_REF_CLOSED_LOOP",

"value":"0x00000000",

"addr":"0x000005CC"

{

"idx":26,

"id":"ID_REF_CLOSED_LOOP",

"value":"0x00000000",

"addr":"0x000005FC"

{

"idx":27,

"id":"IQ_REF_CLOSED_LOOP",

"value":"0x00000000",

"addr":"0x000005FE"

{

"idx":28,

"id":"ISD_STATE",

"value":"0x00000000",

"addr":"0x0000067A"

{

"idx":29,

"id":"ISD_SPEED",

"value":"0x00000000",

"addr":"0x00000684"

{

"idx":30,

"id":"IPD_STATE",

"value":"0x00000000",

"addr":"0x000006B8"

{

"idx":31,

"id":"IPD_ANGLE",

"value":"0x00000000",

"addr":"0x000006FC"

{

"idx":32,

"id":"ED",

"value":"0x00000000",

"addr":"0x00000742"

{

"idx":33,

"id":"EQ",

"value":"0x00000000",

"addr":"0x00000744"

{

"idx":34,

"id":"SPEED_FDBK",

"value":"0x00000000",

"addr":"0x00000752"

{

"idx":35,

"id":"THETA_EST",

"value":"0x00000000",

"addr":"0x00000756"

}

]

}

0 Venkatadri Shantaram84961 over 1 year ago in reply to Venkatadri Shantaram84961

TI__Mastermind 26412 points

Hi Shawn,

We can also use the DACOUT feature of MCF8316A , map the data to DAC and read the analog signal from external controller alternate to I2C.

Thanks and Best Regards

Venkatadri S

0 Shawn L over 1 year ago in reply to Venkatadri Shantaram84961

Prodigy 20 points

Hi Venkatadri,

Thanks for the reply. Does TI have an EVM with the MCT8316C/ My EVM has the "A" version. I am investigating the DACOUT option; issue is the ADC of my MCU may not be accurate enough. In th emeantime, I am trying out the new register settings.

Thanks,

Shawn

0 Venkatadri Shantaram84961 over 1 year ago in reply to Shawn L

TI__Mastermind 26412 points

Hi Shawn,

You can order new EVM which will be assembled with MCF8316C or order MCF8316C sample and replace the device.

Thanks and Best Regards

Venkatadri S

0 Venkatadri Shantaram84961 over 1 year ago in reply to Venkatadri Shantaram84961

TI__Mastermind 26412 points

Hi Shawn,

Hope you are able to make progress. Please let me know if you have any questions?

Thanks and Best Regards,

Venkatadri S

0 Shawn L over 1 year ago in reply to Venkatadri Shantaram84961

Prodigy 20 points

Hi Venkatadri,

Bought another EVM, this one with the MCF8316C instead. It’s almost working now. See the attached JSON register file. Startup is consistently reliable, and I can achieve 10K RPM as well. However, it seems like it always generates either a SPEED_LOOP_SATURATION or a CURRENT_LOOP_SATURATION or both. Since the fault auto clears, the motor keeps on spinning. However, it seems like I can then only get to around 80% o max speed. Tried various values of SPD_LOOP_KI and SPD_LOOP_KP as well as CURR_LOOP_KI and CURR_LOOP_KP, but still getting these faults. Any ideas?

Thanks for your help,

Shawn

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x6C230C24",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x98119064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x0B060803",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x9BB5C004",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x124901B1",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x89E53705",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x1A629815",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x489E23BD",
"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":"0x00000000",
"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":"0xBF6A4327",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0xFF022088",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x84314195",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x00000067",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x08000002",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00101465",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0xC000F107",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x81C03F00",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C000000",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00020000",
"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":"0x7859C514",
"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":"0xE28E0000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x03020314",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x02410186",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
},
{
"idx":5,
"id":"DAC_2",
"value":"0x00000000",
"addr":"0x000000F6"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00200009",
"addr":"0x00000190"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x06242950",
"addr":"0x00000196"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x0377C92F",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0xF2EE0000",
"addr":"0x00000440"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x09820000",
"addr":"0x00000442"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x018C0000",
"addr":"0x00000444"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00010001",
"addr":"0x00000468"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000472"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x02E80000",
"addr":"0x00000476"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00006ED9",
"addr":"0x0000047A"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x00006ED9",
"addr":"0x0000047C"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x00006ED9",
"addr":"0x0000047E"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0xFAC2CD70",
"addr":"0x000004B6"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x0227081E",
"addr":"0x000004B8"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x09F40000",
"addr":"0x000004D2"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFD1E2578",
"addr":"0x000004D4"
},
{
"idx":16,
"id":"VALPHA",
"value":"0xFFF7249F",
"addr":"0x000004D6"
},
{
"idx":17,
"id":"VBETA",
"value":"0x01A638F7",
"addr":"0x000004D8"
},
{
"idx":18,
"id":"ID",
"value":"0x045B4758",
"addr":"0x000004E2"
},
{
"idx":19,
"id":"IQ",
"value":"0x03741F4E",
"addr":"0x000004E4"
},
{
"idx":20,
"id":"VD",
"value":"0xFFFF26E3",
"addr":"0x000004E6"
},
{
"idx":21,
"id":"VQ",
"value":"0x02A57F8B",
"addr":"0x000004E8"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x06664E40",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00344676",
"addr":"0x0000053C"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x06664E40",
"addr":"0x0000054C"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x0628E000",
"addr":"0x000005D4"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x00000606"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x035D0B6B",
"addr":"0x00000608"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000005",
"addr":"0x00000682"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"addr":"0x0000068C"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006C0"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x00000704"
},
{
"idx":32,
"id":"ED",
"value":"0x0000954E",
"addr":"0x0000074A"
},
{
"idx":33,
"id":"EQ",
"value":"0x02A33DEC",
"addr":"0x0000074C"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x06291C8C",
"addr":"0x0000075A"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0xC263D151",
"addr":"0x0000075E"
}
]
]
}

0 Venkatadri Shantaram84961 over 1 year ago in reply to Shawn L

TI__Mastermind 26412 points

Hi Shawn,

The saturation flag tell device has applied max modulation.

In order to increase the speed we have to increase applied voltage.

SPEED LOOP SATURATION flag sets when commanded speed can not be reached

Reason is applied voltage is not sufficient enough to reach to set speed.

CURRENT LOOP SATURATION flag sets when commanded torque cannot be reached- Reason is device reached max modulation, need more voltage.

Thanks and Best Regards

Venkatadri S

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MCF8316AEVM: Cannot Spin Motor at Max RPM