MCF8316A:Not stable at low RPM

Inashima Satoshi

Part Number: MCF8316A
Other Parts Discussed in Thread: , MSP430FR2355

Tool/software:

Hello.
I am trying to control a nail drill using a combination of MCF8316AEVM and ATmega328PB Xplained Mini.

In order to use it at a maximum of 30,000 rpm as a product, I have set the MAX_SPEED of the MCF8316A to 36,000 rpm and am controlling the rotation speed via I2C.
In this case, when the speed is set below 5,000 rpm, the rotation becomes unstable and stops.
Below are the current register settings.
Please let me know how to improve this.

This is my first time working with a motor driver, and I'm unclear about many of the meanings of the register settings, so I'm setting them up blindly.
I'd appreciate any advice you can give me overall.

uint32_t eeprom_regmap[eeprom_array_size][2] = {
	{ 0x80, 0x7C330D88 }, // ISD_CONFIG			
	{ 0x82, 0x702AF064 }, // REV_DRIVE_CONFIG	
	{ 0x84, 0x0B700D00 }, // MOTOR_STARTUP1		
	{ 0x86, 0x44066004 }, // MOTOR_STARTUP2		
	{ 0x88, 0x28A18070 }, // CLOSED_LOOP1		
	{ 0x8A, 0x4AFF4908 }, // CLOSED_LOOP2		
	{ 0x8C, 0x2480200A }, // CLOSED_LOOP3		
	{ 0x8E, 0x2187CE10 }, // CLOSED_LOOP4		
	{ 0x90, 0x1FE80206 }, // FAULT_CONFIG1		
	{ 0x92, 0x74000000 }, // FAULT_CONFIG2
	{ 0x94, 0x00000000 }, // SPEED_PROFILES1
	{ 0x96, 0x00000000 }, // SPEED_PROFILES2
	{ 0x98, 0x00000000 }, // SPEED_PROFILES3
	{ 0x9A, 0x00000000 }, // SPEED_PROFILES4
	{ 0x9C, 0x00000000 }, // SPEED_PROFILES5
	{ 0x9E, 0x00000000 }, // SPEED_PROFILES6
	{ 0xA0, 0x00B3407D }, // INT_ALGO_1		  
	{ 0xA2, 0x000001A7 }, // INT_ALGO_2
	{ 0xA4, 0x00000002 }, // PIN_CONFIG  	i2c
	{ 0xA6, 0x00100000 }, // DEVICE_CONFIG1 
	{ 0xA8, 0x0000B000 }, // DEVICE_CONFIG2
	{ 0xAA, 0x40000000 }, // PERI_CONFIG1
	{ 0xAC, 0x0C000100 }, // GD_CONFIG1			
	{ 0xAE, 0x00200000 }  // GD_CONFIG2
};

8 months ago

0 Venkatadri Shantaram84961 8 months ago

TI__Mastermind 23542 points

Hi Inashima-san,

I recommend first use GUI to test and characterize your motor before going to external Host controller.

Download latest GUI (MOTOR STUDIO) from TI.COM.

Can you confirm device marking number , is it MCF8316A or MCF8316C?

Motor studio will automatically detects the device.

Thanks and Best Regards

Venkatadri S

0 Inashima Satoshi 8 months ago in reply to Venkatadri Shantaram84961

Prodigy 20 points

Thank you for your reply,
I have already performed testing using the GUI.
When testing with the GUI, it did not work at all at first, but after rewriting the MSP430FR2355 firmware, it finally started working. After that, some kind of problem with the PC caused the GUI to not start up, and since it did not recover, I am continuing the evaluation by switching to external CPU control.
With external CPU control, MPET is also performed at startup, and I believe that motor-specific parameters are obtained.
I am monitoring the ALGORITHM_STATE Register, and at startup, it transitions from ALIGN to OPEN_LOOP to CLOSED_LOOP_ALIGNED.
I am also monitoring the CONTROLLER_FAULT_STATUS Register, and when the motor stops, MTR_LCK=1 and ABN_BEMF=1 occur.
Given the above situation, could you please give me some appropriate advice?
Thank you in advance.

0 Venkatadri Shantaram84961 8 months ago in reply to Inashima Satoshi

TI__Mastermind 23542 points

Hi Inashima-san,

Can you confirm if this is MCF8316A or MCF8316C?

Also, please share R, L of the motor (Phase to center) and number of pole pairs?

If you have verified with GUI please share the JSON and please provide part number version A or C.

Thanks and Best Regards

Venkatadri S

0 Inashima Satoshi 7 months ago in reply to Venkatadri Shantaram84961

Prodigy 20 points

Hello, Venkatadri-san.

The MCF8316AEVM I'm currently using has an MCF8316A.

I'm planning to use MCF8316C in the production version.

I'm using a brushless motor, but I don't know the phase center of the motor I'm using.

The number of pole pairs is 2.

I'll send you a json file.

Regards.

Inashima

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x7C330D88",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x702AF064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x0B700D00",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x44066004",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x28A18070",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x4AFF4908",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x2480200A",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x2187CE10",
"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":"0x1FE80206",
"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":"0x00000002",
"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":"0x00000000",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x00000000",
"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":"0x0001007E",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x00000000",
"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":"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":"0x00000000",
"addr":"0x0000047A"
},
{
"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"
}
]
]
}

0 Venkatadri Shantaram84961 7 months ago in reply to Inashima Satoshi

TI__Mastermind 23542 points

Hi Inashima-san,

Wha is the type of load?

In your JSON I see accel and deccel is set for large value 1000Hz/s, I am not sure if your load inertia works.

Reduce to below 50Hz , keep same KP, KI and test.

Can you increase speed kp/ki gain (double both) and torque ILIMIT?

Also current loop KP, KI was too low, I made it 0 so that device auto calculates the value.

What is the device number autodetected by motor studio?

Even though the legend marking is MCF8316A EVM the device will be replaced with MCF8316C.

In this device due to bandwidth I2C communication is restricted while running the motor, this is not convenient for motor tuning cycle.

Please verify MCF8316A errata (+) [FAQ] Production device information - Motor drivers forum - Motor drivers - TI E2E support forums

Can you measure R , L all phase to phase and share.

Please refer to the tuning guide MCF8316A Tuning Guide (Rev. A)

Using oscilloscope voltage probe, hand spin the rotor and capture peak to peak voltage and one cycle period value. With use formulae shown above.

Thanks and Best Regards

Venkatadri S

0 Inashima Satoshi 7 months ago in reply to Venkatadri Shantaram84961

Prodigy 20 points

Hello, Venkatadri-san.

The motor is for a nail drill. The load is very light.

On another PC's GUI, the following values were detected for R and L using MPET with default.json:
R=1.25Ω
L=0.06mH

In inashima.json, the following values were detected by MPET in the GUI, causing an error stop:
R=1.40Ω
L=1000mH
These values are nonsense, aren't they?

The device detected is MCF8316A.

I'll let you know the current situation so far.
Thank you in advance.

Regards.
Inashima

0 Venkatadri Shantaram84961 7 months ago in reply to Inashima Satoshi

TI__Mastermind 23542 points

Hi Inashima-san,

Yes L value is not correct,.

I see IPD current configuration is high 2A, some time higher current can cause rotor to move and R, L measurement can go wrong.

I reduced the IPD current (you should try few values until result is fairly stable)

I also made some changes to the MPET setting.

Please note for MCF8316A you should not use I2C transaction while motor is running.

Please find the JSON file

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x7C330C88",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x702AF064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x0B700500",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x1B02A005",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0E398078",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x4AFF4908",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x24800002",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x2187CE10",
"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":"0x1FE80206",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x74C02000",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B3407D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x000001A1",
"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":"0x00000000",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x00000000",
"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":"0x0001007C",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x00000000",
"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":"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":"0x00000000",
"addr":"0x0000047A"
},
{
"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"
}
]
]
}

Thanks and Best Regards

Venkatadri S

0 Inashima Satoshi 7 months ago in reply to Venkatadri Shantaram84961

Prodigy 20 points

Hello, Venkatadri.

By modifying the json file you sent me, it now rotates at low speeds.
However, there are a few points that bother me.

1. The rotation speed fluctuates slightly, and acoustic noise is generated.

→ Can the noise be reduced?

2. When the rotation starts, for example, if you set it to 3000 rpm, it will first slowly increase from 0 rpm to 8000 rpm, then suddenly drop to 3000 rpm and stabilize at 3000 rpm. This takes about 10 seconds. At this time, there is a high probability that the motor will stop. When it stops, an "abnormal BEMF motor lock state" occurs.

→ How can I stabilize the operation so that it does not stop?
→ How can I transition to the desired rotation speed quickly when it starts rotating?

3. When observing the FG signal with an oscilloscope, ripples like the one in the photo are generated.

→ Does this help solve 1 and 2 above?

I will send you the modified json file. any advice would be appreciated.

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x7C330C88",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x702AF064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x0B700500",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x1B02A005",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0E398078",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x4AFFB124",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x1C800002",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x1C870E10",
"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":"0x2FE80206",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x74C02000",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x00B3407D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x000001A1",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x00000002",
"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":"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":"0x00000000",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0xB13B2400",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0xFA000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x20000000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x00000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00010040",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x000A532E",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x0008711C",
"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":"0x032B0000",
"addr":"0x0000047A"
},
{
"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"
}
]
]
}

Regards.
Inashima

0 Venkatadri Shantaram84961 7 months ago in reply to Inashima Satoshi

TI__Mastermind 23542 points

Hi Inashima-san,

I will verify your JSON and reply by Monday.

Thanks and Best Regards

Venkatadri S

0 Inashima Satoshi 7 months ago in reply to Venkatadri Shantaram84961

Prodigy 20 points

Hello, Venkatadri-san.

I have two additional questions.

1. "When using the MCF8316A, do not use I2C transactions while the motor is running."
However, I am able to change the rotation speed without any problems.
In this case, am I correct in understanding that the problem with changing the rotation speed via I2C on the MCF8316A is that it affects tracking?

2. Can the parameters in the json file I am currently considering be used when using the MCF8316C?

Regards.
Inashima

0 Venkatadri Shantaram84961 7 months ago in reply to Inashima Satoshi

TI__Mastermind 23542 points

Hi Inashima-san,

I recommend to run MPET MECH (do not enable MPET KE) and tune the speed loop KP, KI. The properly set KP/KI will reduce transient behavior and settles to set point faster.

About the questions

1. We can use but sometime if conflicts with motor run execution point, we will lose control. Hence, we recommend not to use I2C while motor is running, this is only for MCF8316A and no such restrictions for MCF8316C/D devices.

2. Most of the configuration need not change, better to do one careful check as some of the features which were provided for debug purpose are disabled and implemented in different way.

Thanks and Best Regards

Venkatadri S