MCF8316AEVM: Increase torque on low speed

Thilo Förster

Part Number: MCF8316AEVM
Other Parts Discussed in Thread: MCF8316A

Tool/software:

Hi,

I am currently configuring the driver to operate a pump motor. The motor runs well at higher speeds, but when the pump is set to rotate slowly, it jerks or stops. How can I configure the driver so that it increases the torque at lower speeds?

Currently the speed loop is enabled, do I have to switch to torque mode? In torque mode, the motor does not start under load.

It should also be mentioned that the required torque fluctuates while the pump head is turning. Could this be a problem?

The current configuration:

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{
"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":"0x4B6811D0",
"addr":"0x00000084"
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

{
"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":"0x4B6811D0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x4B066000",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0C3181B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x1AAD945E",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x4A800002",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x2789C4B0",
"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":"0x800D0000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"REF_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
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{
"idx":13,
"id":"REF_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x4FE80206",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x74000000",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B34175",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x000001A7",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x00000002",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00000000",
"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":"0x00000100",
"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":"0x012C0004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x94715E00",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0xF6000000",
"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":"0x00000001",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x013102E5",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x02270127",
"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":"0x00000190"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x01638E38",
"addr":"0x00000196"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00100000",
"addr":"0x00000440"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFFF80000",
"addr":"0x00000442"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFFF80000",
"addr":"0x00000444"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00010003",
"addr":"0x00000468"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000472"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x03364000",
"addr":"0x00000476"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00014C8D",
"addr":"0x0000047A"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x0000DDB3",
"addr":"0x0000047C"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x00000000",
"addr":"0x0000047E"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x03EE717C",
"addr":"0x000004B6"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0xF9096F34",
"addr":"0x000004B8"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFFF6C32C",
"addr":"0x000004D4"
},
{
"idx":16,
"id":"VALPHA",
"value":"0xFFFC2B6D",
"addr":"0x000004D6"
},
{
"idx":17,
"id":"VBETA",
"value":"0xFFF98442",
"addr":"0x000004D8"
},
{
"idx":18,
"id":"ID",
"value":"0xFFFB75DB",
"addr":"0x000004E2"
},
{
"idx":19,
"id":"IQ",
"value":"0x00080A54",
"addr":"0x000004E4"
},
{
"idx":20,
"id":"VD",
"value":"0x000025E2",
"addr":"0x000004E6"
},
{
"idx":21,
"id":"VQ",
"value":"0x00078846",
"addr":"0x000004E8"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x0000053C"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00EF0BCE",
"addr":"0x0000054C"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D4"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x00000606"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x15DC61C7",
"addr":"0x00000608"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000003",
"addr":"0x00000682"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00344B73",
"addr":"0x0000068C"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x0000000B",
"addr":"0x000006C0"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x06AE5431",
"addr":"0x00000704"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000074A"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000074C"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000075A"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x0000075E"
}
]
]
}

Best regards

Thilo

2 months ago

0 Venkatadri Shantaram84961 2 months ago

TI__Genius 16385 points

Hi Thilo,

Is this MCF8316C or MCF8316A?

I assume it should be MCF8316C on the EVM. I made some changes to slew rate and startup.

If speed loop gain is sufficient device should apply torque appropriate,

One question, is this Speed PI is MPET tuned?

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20
21
{
"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":"0x4B6805D0",
"addr":"0x00000084"
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

{
"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":"0x4B6805D0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x4B066005",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0C3181B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0AAD945E",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x4A800002",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x2789C4B0",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"REF_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
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"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"REF_PROFILES3",
"value":"0x00000000",
"addr":"0x00000098"
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{
"idx":11,
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{
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[
{
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"value":"0x4FE83206",
"addr":"0x00000090"
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{
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"value":"0x7F002000",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B34175",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x000001A7",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x00000002",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00000000",
"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":"0x00A00000",
"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":"0x012C0004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x94715E00",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0xF6000000",
"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":"0x00000001",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x013102E5",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x02270127",
"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":"0x00000190"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x01638E38",
"addr":"0x00000196"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00100000",
"addr":"0x00000440"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFFF80000",
"addr":"0x00000442"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFFF80000",
"addr":"0x00000444"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00010003",
"addr":"0x00000468"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000472"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x03364000",
"addr":"0x00000476"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00014C8D",
"addr":"0x0000047A"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x0000DDB3",
"addr":"0x0000047C"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x00000000",
"addr":"0x0000047E"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x03EE717C",
"addr":"0x000004B6"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0xF9096F34",
"addr":"0x000004B8"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFFF6C32C",
"addr":"0x000004D4"
},
{
"idx":16,
"id":"VALPHA",
"value":"0xFFFC2B6D",
"addr":"0x000004D6"
},
{
"idx":17,
"id":"VBETA",
"value":"0xFFF98442",
"addr":"0x000004D8"
},
{
"idx":18,
"id":"ID",
"value":"0xFFFB75DB",
"addr":"0x000004E2"
},
{
"idx":19,
"id":"IQ",
"value":"0x00080A54",
"addr":"0x000004E4"
},
{
"idx":20,
"id":"VD",
"value":"0x000025E2",
"addr":"0x000004E6"
},
{
"idx":21,
"id":"VQ",
"value":"0x00078846",
"addr":"0x000004E8"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x0000053C"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00EF0BCE",
"addr":"0x0000054C"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D4"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x00000606"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x15DC61C7",
"addr":"0x00000608"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000003",
"addr":"0x00000682"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00344B73",
"addr":"0x0000068C"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x0000000B",
"addr":"0x000006C0"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x06AE5431",
"addr":"0x00000704"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000074A"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000074C"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000075A"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x0000075E"
}
]
]
}

Thanks and Best Regards

Venkatadri S

0 Thilo Förster 2 months ago in reply to Venkatadri Shantaram84961

Prodigy 30 points

Hi,

yes it is a MCF8316C and I ran MPET before configuring the other settings.

Unfortunately nothing changes with these settings.

Thank you and best regards

Thilo

0 Venkatadri Shantaram84961 2 months ago in reply to Thilo Förster

TI__Genius 16385 points

Hi Thilo,

We should characterize torque / speed under load for this.

Disable speed loop, run motor in torque mode and directly apply more than 50% torque command with full load condition.

Verify on same load condition to achieve required speed and record how much torque we need to apply.

Start with full torque and reduce until speed is settling to required value and with stability.

Please provide your observation to me.

Next, once we understand load torque requirement, we will adjust speed loop KP/KI, accel/decel parameters.

How is MPET verified for speed KP, KI? With load or no load?

Do you have power vs speed specification at loaded conditions?

Thanks and Best Regards

Venkatadri S

0 Thilo Förster 2 months ago in reply to Venkatadri Shantaram84961

Prodigy 30 points

Hi,

I need to start at 80% in torque mode resulting in a very high speed. I can then go down to a minimum of 67% before the pump stops turning and the speed is still above the speed mode minimum.

Venkatadri Shantaram84961 said:
How is MPET verified for speed KP, KI? With load or no load?

I run MPET without load, since it does not work with load

Venkatadri Shantaram84961 said:
Do you have power vs speed specification at loaded conditions?

No.

+1 Venkatadri Shantaram84961 2 months ago in reply to Thilo Förster

TI__Genius 16385 points

Hi Thilo,

Few tips

1. Increase the Open Loop acceleration - Verify if the open loop acceleration is suitable for the inertia.

2. Increase theta ramp rate to 2 deg

3. Increase close loop acceleration.

4. Double the speed loop KP, KI gains

All the settings mentioned will apply higher torque.

Hence it is good to characterize it, run speed Vs Torque char to understand the motor, do this on full load.

I made changes as per the list and adding the JSON. Please have verify this and test it and you can modify through testing.

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{
"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":"0x4B6805D0",
"addr":"0x00000084"
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

{
"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":"0x4B6805D0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x4B82A007",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x103181B0",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0AAD945E",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x4A800002",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x2789C4B0",
"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":"0x800D0000",
"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":"0x4FE83206",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x7F002000",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B34175",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x00000221",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x00000002",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x00000000",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x0000F000",
"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":"0x00A00000",
"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":"0x012C0004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x94715E00",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0xF6000000",
"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":"0x00000001",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x013102E5",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x02270127",
"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":"0x00000190"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x01638E38",
"addr":"0x00000196"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x00000410"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00100000",
"addr":"0x00000440"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFFF80000",
"addr":"0x00000442"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFFF80000",
"addr":"0x00000444"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00010003",
"addr":"0x00000468"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000472"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x03364000",
"addr":"0x00000476"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x00014C8D",
"addr":"0x0000047A"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x0000DDB3",
"addr":"0x0000047C"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x00000000",
"addr":"0x0000047E"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x03EE717C",
"addr":"0x000004B6"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0xF9096F34",
"addr":"0x000004B8"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFFF6C32C",
"addr":"0x000004D4"
},
{
"idx":16,
"id":"VALPHA",
"value":"0xFFFC2B6D",
"addr":"0x000004D6"
},
{
"idx":17,
"id":"VBETA",
"value":"0xFFF98442",
"addr":"0x000004D8"
},
{
"idx":18,
"id":"ID",
"value":"0xFFFB75DB",
"addr":"0x000004E2"
},
{
"idx":19,
"id":"IQ",
"value":"0x00080A54",
"addr":"0x000004E4"
},
{
"idx":20,
"id":"VD",
"value":"0x000025E2",
"addr":"0x000004E6"
},
{
"idx":21,
"id":"VQ",
"value":"0x00078846",
"addr":"0x000004E8"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x00000524"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x0000053C"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00EF0BCE",
"addr":"0x0000054C"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D4"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x00000606"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x15DC61C7",
"addr":"0x00000608"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000003",
"addr":"0x00000682"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00344B73",
"addr":"0x0000068C"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x0000000B",
"addr":"0x000006C0"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x06AE5431",
"addr":"0x00000704"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000074A"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000074C"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000075A"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x0000075E"
}
]
]
}

Please refer to advanced motor control training webinar link for motor studio feature about how to characterize the motor,

https://ti.webex.com/ti/ldr.php?RCID=86fc0fff8d2726818542635fb5353db8

Thanks and Best Regards

Venkatadri S

0 Thilo Förster 2 months ago in reply to Venkatadri Shantaram84961

Prodigy 30 points

Hi,

thank you. Changing all these parameters does not bring any real improvement. We will probably need a transmission to achieve lower speeds.

Best regards

Thilo

Motor drivers

Motor drivers forum

MCF8316AEVM: Increase torque on low speed