TMDXIDK437X: Motor control issue

orange orange

Part Number: TMDXIDK437X
Other Parts Discussed in Thread: SYSBIOS

I use the motor routines inside sysbois run motor (and the level is level2 :#define LEVEL2 2 // Verify ADC, park/clarke, calibrate the offset),The motor only turned a bit to stop, and then "motor error" lights on the light,Who can tell me why，thank you.

over 8 years ago

0 Biser Gatchev-XID over 8 years ago

TI__Guru**** 393215 points

The Industrial team have been notified. They will respond here.

0 David Zaucha over 8 years ago in reply to Biser Gatchev-XID

TI__Expert 7570 points

Hi
When this occurs the drive is sensing an overcurrent condition. What are the motor parameters for the motor you are using?
David

0 orange orange over 8 years ago in reply to David Zaucha

Intellectual 280 points

Thank you very much for your answer,David.the motor parameters: item: BLY172S-24V-4000 Rated Voltage:24(v) Rated power:53(w) Rated torque:18.0(oz-in) Rated speed:4000(rpm) torque constant:5.81(oz-in/A) back EMF voltage:3.35(V/kRPM) line-to-line resistance:0.80(ohm) line-to-line inductance:1.20(mH) rotor inertia:0.000680(oz-in-sec2) length:2.37(in) Single(shaft) weight:0.99(lbs)

0 orange orange over 8 years ago in reply to David Zaucha

Intellectual 280 points

When I external a RC circuit from J17 port used to filter, with the oscilloscope measurement Both ends of the capacitor found that their voltage is not a sine wave but a straight line.

0 orange orange over 8 years ago in reply to David Zaucha

Intellectual 280 points

david,please help me,thank you very much.

0 David Zaucha over 8 years ago in reply to orange orange

TI__Expert 7570 points

Hi
I apologize for the delay. Thank you for the information.
We used the BLY171D-24V-4000 which is a smaller 24 W motor and the ROQ 437 for in developing the motor control example.
I apologize for not also inquiring on what release and encoder you are using.

The equipment that was used to develop the motor control example is described in
In the current PRU-ICSS_industrial software release the PRU-ICSS-INDUSTRIAL-DRIVES 01_00_00_00 is available at software-dl.ti.com/.../index_FDS.html the PRU-ICSS-Industrial Drives the motor control example is described in user guideprocessors.wiki.ti.com/.../PRU_ICSS_Industrial_Drives.
This section also includes the procedure for tuning the position offset and the PI controllers.
In the older SYSBIOS Industrial SDK ver 02.01.03 at www.ti.com/.../sysbiossdk-ind-sitara this information is contained in the user Guide at processors.wiki.ti.com/.../SYSBIOS_Industrial_SDK_02.01.03_User_Guide. This section also includes the procedure for tuning the position offset and the PI controllers.

The EnDat 2.2 example and the motor drive example was developed using the ROQ437. The software is constructed so that it can be configured to support a variety of encoders with different resolutions (there is a constant that is used to adjust resolution) this is described in "endat_get_2_2_angle" in the API guide.

When PRU-ICSS-INDUSTRIAL-DRIVES is installed in the default location - C:\ti\PRU-ICSS-Industrial_Drives_01.00.00.00\interfaces\endat_master\doc contains the API guide and the EnDat design guide.
When the SYSBIOS Industrial SDK is installed in the default location - C:\ti\sysbios_ind_sdk_02.01.03.02\sdk\interfaces\endat_master\doc contains the API guide and the EnDat design guide.

There is also some reference information which may help
Single Chip Drive for Industrial Communications and Motor Control - www.ti.com/.../TIDEP0025
Isolated Current Shunt and Voltage Measurement Reference Design for Motor Drives Using AM437x - www.ti.com/.../TIDA-00209
Reference Design for an Interface to a Position Encoder with EnDat 2.2 - www.ti.com/.../TIDA-00172
EnDat 2.2 System Reference Design - www.ti.com/.../TIDEP0050

David

0 orange orange over 8 years ago in reply to David Zaucha

Intellectual 280 points

david，thank you very much,The motor has turned up

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TMDXIDK437X: Motor control issue