MCF8329A: Not able to complete MPET testing, not be able to start the motor using knob

Adding a little more details. 

I also tried to spin up the motor by rotating the know CCW, the motor just swings a little bit, but not moving. The current goes high.

Here is the registers:

idx,id,value,addr
0,ISD_CONFIG,0xE462D4A1,0x00000080
1,REV_DRIVE_CONFIG,0x48300000,0x00000082
2,MOTOR_STARTUP1,0x10A240C8,0x00000084
3,MOTOR_STARTUP2,0x8AA8E007,0x00000086
4,CLOSED_LOOP1,0x167A0438,0x00000088
5,CLOSED_LOOP2,0x8AAD2A07,0x0000008A
6,CLOSED_LOOP3,0x1BF41828,0x0000008C
7,CLOSED_LOOP4,0x29FA1C20,0x0000008E
8,REF_PROFILES1,0x00000000,0x00000094
9,REF_PROFILES2,0x00000000,0x00000096
10,REF_PROFILES3,0x80000004,0x00000098
11,REF_PROFILES4,0x00000000,0x0000009A
12,REF_PROFILES5,0x00000000,0x0000009C
13,REF_PROFILES6,0x00000000,0x0000009E
0,FAULT_CONFIG1,0x46483186,0x00000090
1,FAULT_CONFIG2,0x71402888,0x00000092
0,INT_ALGO_1,0x09460075,0x000000A0
1,INT_ALGO_2,0x02008163,0x000000A2
0,PIN_CONFIG,0x40032300,0x000000A4
1,DEVICE_CONFIG1,0x00100002,0x000000A6
2,DEVICE_CONFIG2,0x03E8C00C,0x000000A8
3,PERI_CONFIG1,0x069845C0,0x000000AA
4,GD_CONFIG1,0x8000807B,0x000000AC
5,GD_CONFIG2,0x8000019A,0x000000AE
0,GATE_DRIVER_FAULT_STATUS,0x00000000,0x000000E0
1,CONTROLLER_FAULT_STATUS,0x00000000,0x000000E2
0,ALGO_STATUS,0x00000004,0x000000E4
1,MTR_PARAMS,0x00370000,0x000000E6
2,ALGO_STATUS_MPET,0x2A000000,0x000000E8
0,ALGO_CTRL1,0x20000000,0x000000EA
0,ALGO_DEBUG1,0x80000000,0x000000EC
1,ALGO_DEBUG2,0x00000000,0x000000EE
2,CURRENT_PI,0x030503A0,0x000000F0
3,SPEED_PI,0x00000000,0x000000F2
4,DAC_1,0x00000000,0x000000F4
0,ALGORITHM_STATE,0x00000000,0x00000196
1,FG_SPEED_FDBK,0x7FFFFFFF,0x0000019C
2,BUS_CURRENT,0x00000000,0x0000040E
3,PHASE_CURRENT_A,0x00000000,0x0000043C
4,PHASE_CURRENT_B,0x00000000,0x0000043E
5,PHASE_CURRENT_C,0x00000000,0x00000440
6,CSA_GAIN_FEEDBACK,0x00000000,0x00000450
7,VOLTAGE_GAIN_FEEDBACK,0x00000000,0x00000458
8,VM_VOLTAGE,0x033F0000,0x0000045C
9,PHASE_VOLTAGE_VA,0x02B76B1B,0x00000460
10,PHASE_VOLTAGE_VB,0x02B5AFB3,0x00000462
11,PHASE_VOLTAGE_VC,0x02B5AFB3,0x00000464
12,SIN_COMMUTATION_ANGLE,0x00000000,0x000004AA
13,COS_COMMUTATION_ANGLE,0x00000000,0x000004AC
14,IALPHA,0x00000000,0x000004CC
15,IBETA,0x00000000,0x000004CE
16,VALPHA,0x00000000,0x000004D0
17,VBETA,0x00000000,0x000004D2
18,ID,0x00093CD3,0x000004DC
19,IQ,0x00060000,0x000004DE
20,VD,0x00000000,0x000004E0
21,VQ,0x00000000,0x000004E2
22,IQ_REF_ROTOR_ALIGN,0x00000000,0x0000051A
23,SPEED_REF_OPEN_LOOP,0x00000000,0x00000532
24,IQ_REF_OPEN_LOOP,0x00000000,0x00000542
25,SPEED_REF_CLOSED_LOOP,0x00000000,0x000005D0
26,ID_REF_CLOSED_LOOP,0x00000000,0x0000060A
27,IQ_REF_CLOSED_LOOP,0x00000000,0x0000060C
28,ISD_STATE,0x00000000,0x000006B0
29,ISD_SPEED,0x00000000,0x000006BA
30,IPD_STATE,0x00000000,0x000006E4
31,IPD_ANGLE,0x00000000,0x0000071A
32,ED,0x00000000,0x0000075C
33,EQ,0x00000000,0x0000075E
34,SPEED_FDBK,0x00000000,0x0000076E
35,THETA_EST,0x00000000,0x00000774

Hi,

Current loop Kp and Ki values are different in Close_loop3 and CURRENT_PI registers. have you manually tuned the current loop gains?

Please note that the device calculates current loop gains automatically based on the motor phase resistance and inductance value and displayed in CURRENT-PI register. you can override these values by entering your custom current loop gains through CLOSED_LOOP3 register.

have you done BEMF constant measurement before running the motor mechanical parameters? Motor BEMF constant is another important parameter that device will look while spinning the motor.

You need to enable the "Auto read motor status" slider button to get the motor status variable automatically updated on the screen.

Hope you have configured the right base current and CSA gain settings for the board R shunt resister.

Thanks,

Dhinesh

I have done the BEMF tuning, which is 10(measured by the tuning), not use how accurate it is. It takes a few seconds to do the testing. It looks fine for BEMF.

I am sure the poles setting is correct, the resistance and inductance is measured by LCR, which shall be close enough.

For CSA gain calculation, i am a little confused.

It is evm board, so the resistor is 1mohm. The CSA gain is choose to be 40v/v. Giving the resistor value, the calculated base-current is 37.5A, but I set the base_current to be 15A (hex value is 019A). Do i have to increase the resistor to 2.5mohm to be match with number?

Thanks

My application is for targetting 6A current. So I set the base_current to be 15A, with this calculation, the CSA shall be 100v/v , but 40v/v is the max value. So I am a little confused. What is the best way (tune the resistor or the base_current value?) for my application.

Thanks

Update the base_current to be 37.5A. this is the default value. CSA=40v/v

and run the Ke measurement. The ke measurement never stops and the nmos heat up a lot.

During the testing, the status is always Ke measurement, not mech measurement, is this normal?

And the Id, Iq changes a lot, even negative values shows up.

Does this mean it is trying to tune the parameters and not able to get the convergency?

Or does someone has a working json values to try on the evm board?

Update on CSA setting. I have another board, replace the resistor to be 3mohm and update the base_current to be 0x155.

The current during motor MPET significantly drop from 3A to 2A. It is able to auto measure the BEMF number, but not able to measure the mechanical parameter kp ki. It just keep going on the mechanical testing as shown in the previous post. The id and Iq fluctuates a lot

Anyone has similar config file for 10A application I can try?

Thanks

Hello Dhinesh

Can you help to create a json config file as following:

1. Motor phase resistance 0.075ohm (0.15ohm phase to phase), phase inductance 13uH

2. Poles =8 

3. Normal current needed to drive the motor is 3-6A, up to 16500rpm. We have another project using another chip to drive the motor.

4. shunt resistor is 3 mohm (replaced it on the evm board).

5. normal voltage is 24v, up to 33v.

Really appreciate!

Thanks

Hi,

Please find the JSON file attached.

it is configured for current control mode (PERI_CONFIG1->CTRL_MODE = current control). 

Try running the motor in current control mode first, you can switch to speed control mode if there are no issue with current control.

I set minimal speed loop gain as initial value.

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x7462D4A1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x483AF064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x01028810",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x0A89A066",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0D3102CC",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x00502B08",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x1B800006",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x01C059C8",
"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":"0x80000004",
"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":"0xBCC02307",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x7FC04888",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x094821A5",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x2FB1904F",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0xD8041249",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x80100002",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x03E8D00C",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x650C5CE1",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x01008053",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x80000155",
"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":"0x0000D704",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x0A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x20000000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x03640264",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x01370037",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000014",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x7FFFFFFF",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00180000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFFE80000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000003",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00020002",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x01FFA000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x0353F3D5",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x0352A747",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x0353F3D5",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x08000000",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00080000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFFFB6196",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0xFFFB6196",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0xFFF80000",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0x00000000",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x00000000",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D0"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060A"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060C"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000005",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x04C1EFFC",
"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x0000071A"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000774"
}
]
]
}

Thanks,

Dhinesh

After download the json file, I update the pole number from 4 to 8. The motor has 8 poles.

And updated the motor inductance (there are two values related with the inductance)to be same value.

Run the MPET test. it fails at the BEMF testing.

Any additional steps need to take?

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x7462D4A1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x483AF064",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x01028610",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x0A89A066",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x0D3104CC",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x00502B09",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x25F91853",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x01C059C8",
"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":"0x80000004",
"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":"0xBDD02587",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x71C04888",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x094821B5",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x2FB1904F",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0xD8041249",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x80100002",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x03E8D00C",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x650C5CE0",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x01008053",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x80000155",
"addr":"0x000000AE"
}
],
[
{
"idx":0,
"id":"GATE_DRIVER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E0"
},
{
"idx":1,
"id":"CONTROLLER_FAULT_STATUS",
"value":"0x81000000",
"addr":"0x000000E2"
}
],
[
{
"idx":0,
"id":"ALGO_STATUS",
"value":"0x00000004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x0A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x20000000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x00000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000024",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x030A03C8",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000018",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x7FFFFFFF",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00000000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x0333C000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x02CBC51D",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x02C99ADC",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x02CA09B5",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0x00000000",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x00000000",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x00000000",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0x00000000",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x00000000",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D0"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060A"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060C"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000000",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x0000071A"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0xFFFFFF2C",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000774"
}
]
]
}

I downloaded another json file from the E2E Q&A: https://e2e.ti.com/cfs-filesystemfile/__key/communityserver-discussions-components-files/38/BLDC_5F00_fan_5F00_30A_5F00_1KHz_5F00_MCF8329A.json?_=638739001992769680

And modified the motor parameters and base current as well.

During mechanical parameter testing, will it always be hot?

Thanks

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x74A2D4A1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x4AA08610",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2C01C006",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x1C5B84B8",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x00002A08",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x1BF91853",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x7ACA9770",
"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":"0x80000004",
"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":"0xBDD02587",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x71C04888",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x09466A3D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x42140261",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0xD80C8248",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x80100001",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x03E8D00C",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x0688C5E0",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x00008078",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x80000155",
"addr":"0x000000AE"
}
],
[
{
"idx":0,
"id":"GATE_DRIVER_FAULT_STATUS",
"value":"0x01000000",
"addr":"0x000000E0"
},
{
"idx":1,
"id":"CONTROLLER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E2"
}
],
[
{
"idx":0,
"id":"ALGO_STATUS",
"value":"0x03850004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00370000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x2A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0xAA500000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000022",
"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":0,
"id":"ALGORITHM_STATE",
"value":"0x00120014",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x02C6AF74",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00100000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFFD80000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00180000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x03348000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x02CCA2D1",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x02CB5643",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x02CAE769",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x048789D0",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x06959988",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00B10000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0x01B06F72",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0xFFEFC930",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00103579",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x01094B77",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x0180786A",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0xFFFBD2E0",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x00169113",
"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":"0x01999390",
"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":"0x00000001",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x000000D4",
"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":"0x00000064",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0xFFFFFFCA",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x01333691",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x0000E0B8",
"addr":"0x00000774"
}
]
]
}

Hi,

All necessary parameters to run the motor in current control mode are configured in the shared JSON file. did you try running the motor in current control mode? 

MPET is only required to estimate BEMF and speed loop gains (Kp,Ki). since we have motor BEMF parameter, please run the motor in current control mode and observe the motor operation.

if everything looks fine in current control mode, we can start testing the motor using speed control mode with minimal gain as starting point.

Thanks,

Dhinesh

my biggest problem is not being able to obtain the Kp/Ki in either current control or speed control mode.

During the mechanical measurement, the Id and Iq varies a lot, and the nmos becomes very hot.

How long does it take to run the mechanical measurement normally? 1min ?

During the testing, should  i expect the Id and Iq slowly turn to stable?

Any indication to show a good potential the measurement is normal?

I am buying a new evm board mcf8316A and try to replace the ic with mcf8316c to run auto tune. Maybe i can obtain the kp/ki and used in the mcf8329a?

will that approach work?

Thanks

Hi,

MCF8329A estimates the current control loop gains based on the motor phase resistance and inductance, you can find the device estimated current loop Kp and Ki value in CURRENT_PI register. Please make sure current loop Kp and Ki values in close_loop3 register are made zero before you read those values from CURRENT_PI register. MPET is not required here.

Only for speed loop, you need to run to MPET for device to estimate speed loop kp, Ki. So, there is no MPET dependency to run the motor in current control mode.

How long does it take to run the mechanical measurement normally? 1min ?

>> It depends on the MPET configurations. "open to close loop handoff" speed and "open loop acceleration rate" are the key parameters. First, device will accelerate the motor speed to "open to close loop handoff" speed with the specified acceleration rate and then motor current will slowly reduce to the current level required to spin the motor. 

During the testing, should  i expect the Id and Iq slowly turn to stable?

>>Yes, motor current will slowly reduce to minimum required current level

Any indication to show a good potential the measurement is normal?

>>Device completing MPET without any fault is the pass criteria.

Thanks,

Dhinesh

Hi,

could you please share the type of motor that you are testing?

Thanks,

Dhinesh

The motor is from neumotor company, 1902 /5Y

https://neumotors.com/brushless-motor-manufacturing/neumotors-1900-series-bldc-motors-300-6000-watts/?srsltid=AfmBOoq3pY-EKUqh3dCv_j4z_cDJlXremDTC-Ic8QH_a_xFeOQZAS9I1

The datasheet says 8poles /24slots. I count the slots . it is 24. so it matches.

I tested again. MPET doesn't stop for mechanical testing. I use strong air to blow the nmos during the testing. But the testing just continues.

As you mentioned, the current control mode has nothing to do with the MPET testing. 

The problem is:

1) MPET never stop spinning(just continue) for mechanical testing either I set to current control mode or speed control mode)

Never be able to get speed kp and ki.

2)I turn the speed knob (not during MPET), nothing happens. After I reset kp /ki in close-loop3, the Current KP/Ki does auto generate in Current_PI register.

What to do for next ?

If i skip the speed Kp/Ki, how do i make it spin at the current control mode?

Thanks

if you are trying to use the EVM potentiometer (speed knop) to adjust the speed, then PIN_CONFIG->SPEED_MODE setting needs to be configured as "Analog mode".

I shared the JSON with PIN_CONFIG->SPEED_MODE parameter as "Duty control mode". Please change it to "Analog mode"

Please confirm that you are see varying voltage (0-3V) on the "Speed/wake" jumper while adjusting the speed knop.

Thanks,

Dhinesh

My biggest issue still be the Kp Ki measurement. Without the correct number , I can make it working properly.

The motor I am using is traditional .

During the measurement, Id, Iq is not stable at all,. Is this is a indication the tuning doesn't work ?

Any other suggestion to fine tune? 

I have followed the tuning guide to step by step .

My another thoughts is trying TI Intraspin series. Those chip was designed to auto tune /detect the parameters.

After I got those parameters, maybe I can switch back.

Thanks

Good news

After i reduce the max speed to 300Hz, the max current shows in power supply is about same 1.7A, but it finish the Kp/Ki testing in 10s.

My question is this good enough for the measurement. What is the next step to optimize the setting

Thanks

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x74A2D4A1",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x4AA04640",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2C11C006",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x1C5B84B8",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x00002A08",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x19791852",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x3A964708",
"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":"0x80000004",
"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":"0xB5D02587",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x71C04888",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x0946217D",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x42140263",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0xD80C8248",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x80100001",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x03E8D00C",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x0688C5D0",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0000807B",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x80000155",
"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":"0x00320000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x1A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x8A500000",
"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":"0x030A03C8",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x0259013A",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x7FFFFFFF",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00000000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x03460000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x02CD11AB",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x02CC33F7",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x02CC33F7",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0x00000000",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x000202CC",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0xFFF6FD0D",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0xFFFFF393",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x00047FF6",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D0"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060A"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060C"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000005",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x015C7AEB",
"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x0000071A"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000774"
}
]
]
}

How do i evaluate the performance by the numbers?

How can I tell this is a good parameters?

Another issue is sometime when I rotate the knob to start , it shows error . is this linked with the starting setting?

When can I find more documentation for this?

Hi,

Does your motor support position sensor? we need the actual theta to compare the MCF8329A's sensor-less observer performance. we can also compare the motor rated power consumption with the actual measurement.

For startup failure, please try the lower open loop acceleration rate MOTOR_STARTUP2->OL_ACC_A1 = 25hz/s^2.

Thanks,

Dhinesh