MCF8329EVM: Motor Studio doesn't spin the BLDC motor after succesful MPET

ALGO_DEBUG1 shows me MOTOR_IDLE as Algorithm State. It is not changed regardless of my actions. 

Yes, indeed, thank you!

Then one more question, I can spin the BLDC now, but regardless of the selected speed, the rotation occurs all the time at one (about 80% of the nominal). What could this be connected with?

Hello Alex,

Please make sure your CTRL_MODE (you can find this under Advanced Tuning -> Control Configuration - Closed Loop -> Control Mode [CTRL_MODE].

Thanks and regards,
Sachin S

It's is configured as Speed control there

Hi Alex,

Could you share your configuration file? You can download it from MOTORSTUDIO.

Thanks and regards,

Sachin S

Yes, sure, here it is:

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x65A2D4E1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x066250C0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2B81C007",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0D7181B8",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0AADD428",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x2F800002",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x7E9F84B0",
"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":"0x0A86027D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x020082E3",
"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":"0x01008079",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00000052",
"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":"0x2B16FFF4",
"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":"0x20000000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80C40000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000018",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x00000000",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x027E017E",
"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":"0x1B8C5740",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00192F88",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x001C0000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFFF80000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFFE80000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000002",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x01518000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x0000DDB3",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x0000DDB3",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x0000DDB3",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0xF808B0C0",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00A5D14C",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0xFD080000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFF3E02A3",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00130942",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0xFFF95CD0",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x0069659F",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0xFCF7220F",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0x00082A8B",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x0012740C",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x06664E40",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x01999908",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x166611E0",
"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":"0x00000005",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00002128",
"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":"0xFFF6FFE7",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0xFFFB8711",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x06221B22",
"addr":"0x00000774"
}
]
]
}

I use a E-max BLDC motor from Maxon, according to the datasheet it has following characteristics:

Nominal voltage	12 V
No load speed	11900 rpm
No load current	64.2 mA
Nominal speed	7300 rpm
Nominal torque (max. continuous torque)	8.02 mNm
Nominal current (max. continuous current)	0.909 A
Stall torque	21.1 mNm
Stall current	2.27 A
Max. efficiency	70 %
Characteristics
Terminal resistance	5.3 Ω
Terminal inductance	0.14 mH
Torque constant	9.32 mNm/A
Speed constant	1020 rpm/V
Speed / torque gradient	582 rpm/mNm

Hi Alex,

Wanted to share you some basic steps to follow to begin with:

--------------------------------

1. Program R, L and max speed in Hz

2. Configure BASE Current as per motor rating and Rshunt on the EVM

3. Configure Open Loop current limit (OL_ILIMIT), close loop current limit (ILIMIT), Controller Fault for current limits and Motor lock. These settings are having default which is good for starting point.

4. Run MPET to extract KE (Recommending this methos since many confuse with units)- We use mV/Hz 

5. Run in current loop initially before speed / power loop is enabled

Parameter template:

-----------------------------------

Once you are done with the above steps, you should be able to run it in SPEED loop. 

Also I had a few follow up questions:

1. If your inductance is 0.14mH you need to enter 0.14 in both Lq and Ld. Also please check if your resistance and inductance values are per phase? You can refer to sections 7.3.14.1 and 7.3.14.2 in the datasheet

2. What is the application you are targeting? The power seems too low for a gate driver FOC solution, we have integrated solutions like the MCF8315/16 series for lower power applications. Any specific reason you are going with the MCF8329A?

Regards,
Sachin S

Hello Sachin, thank you for your reply, yes, this were exactly my steps,

I have configured R, L and max speed, then changed the base current according to my shunt settings, then run the MPET and got the KE, then I was able to run my motor, but the rotation speed was not correct.

About your questions:

1. Resistance and inductance are phase-to-phase in the datashet, so I have divided them by 2.

2. Actually I wanted to control a bigger motor, but I thought it would be better to start with a smaller one. Is it not correct?

Hello Alex,

Thanks for confirming, 

You can enter Ld = Lq = 0.14mH if that is the phase inductance.

Alex Kiselev said:

Resistance and inductance are phase-to-phase in the datashet, so I have divided them by 2.

The MCF8329A is typically suited for higher power applications. No problem in starting with a smaller one, but I think you can also go ahead with the bigger motor once you are comfortable with the device. 

Alex Kiselev said:

Actually I wanted to control a bigger motor, but I thought it would be better to start with a smaller one. Is it not correct?

Wanted to check with you if the speed control issue still persists? Also please let us know your shunt resistance, on board.

Regards,

Sachin S

Hello Sachin,

I have connected a bigger motor with following characteristics:

Nominal voltage	48 V
Nominal current	2.02 A
Stall current	12.7 A
No load speed	7560 rpm
Terminal resistance	3.07 Ω (phases to phase)
Terminal inductance	0.788 mH (phase to phase)
Speed constant	159 rpm/V

This is my configuration file (after performing MPET):

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x65A2D4E1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x086650C0",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2B81C007",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x157181B8",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0AADB572",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x63000000",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x4A5282EE",
"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":"0x0A86027D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x020082E3",
"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":"0x01008079",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x00000052",
"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":"0x7A8D0004",
"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":"0xA3D60000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000018",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x00280236",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x014A004A",
"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":"0x009B3212",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0xFFFC0000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00140000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFFF00000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000002",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x018F785A",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x01AA15A1",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x01AAF355",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x01A937ED",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0xF801E088",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0xFFDC315C",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00E00000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFF0695AE",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x017E5E53",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00008955",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x00ED9C3E",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x00EBD5C0",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0xFFF8C486",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x017E97BA",
"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":"0x09997560",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x023D6000",
"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":"0x00000265",
"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x0000000B",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x0072DB37",
"addr":"0x0000071A"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x0210EB82",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000774"
}
]
]
}

Everything seems to be Ok, I can change the rotation speed, but it doesn't affect the BLDC motor after about 32RPM, it doesn't change more. It goes till 32RPM but not more. Nominal rotatation speed at 100% shall be 125RPM according to a datasheet. Motor can start pretty well, so this is the only problem I have.

I have also modificated the PCB and have a 50mOhm shunt there.

Hello Alex,

Can you enable this bit in FAULT_CONFIG1 -> SATURATION_FLAGS_EN = 1b. I want to see if the motor is hitting any saturation limits.

Thanks and regards,

Sachin S

Hello Sachin,

I've configured the FAULT_CONFIG1 register as you told me and now I can see theese flags set during the rotation:

Hello Alex,

1. I see you have configured your max speed as 125, the device takes values only in Hz, so you can use the formula below to convert your value from RPM to Hz:

   f = ( N * P )/120. 

   Here N is the mechanical frequency in rpm, P is the number of poles and f is the electrical frequency in Hz. 

2. Nominal current you have mentioned maybe average? You have set your base current value to around 3A if I am not wrong and the ILIMIT to 60%. Please try increasing the BASE_CURRENT to maybe 5-6A and keep the ILIMIT at 60-70%. Make sure to keep the LOCK_ILIMIT values higher than the ILIMIT.

Thanks and regards,

Sachin S

Hello Sachin,

I've increased the BASE_CURRENT, it doesn't help with the speed feedback, but makes the startup very instable. Increasing of ILIMIT doesn't change anything. 

Hello Alex,

What is the CSA_GAIN setting you are using, if it is currently set to 40V/V, could you reduce it to 20V/V and let me know if the issue persists.

Thanks and regards,

Sachin S

Also if your maximum current rating is less than 6A, please do look at our MCF8316 device.