SPRUJ26A September 2021 – April 2024
The Universal Motor Control Lab has numerous defined parameters that impact system performance. The parameters available for user manipulation in the user_mtr1.h file are listed below. Some of these parameters are described as derived and generally should not be manipulated- the values for these parameters are dependent on one or more other parameters.
This parameter defines the nominal DC bus voltage in Volts (V).
The value of this parameter must be greater than the rated motor voltage and less than the maximum sensing DC bus voltage of the hardware.
This parameter defines the maximum voltage at the input to the ADC in Volts (V). This value is represented by the maximum ADC reading.
This parameter is used to scale the ADC readings, and should be set to the maximum expected voltage at the input to the ADC.
This parameter defines the maximum current at the input to the ADC in Amps (A). This value is represented by the maximum ADC reading.
This parameter is used to scale the ADC readings, and should be set to the maximum expected current at the input to the ADC.
This parameter defines the analog filter pole location, in Hz.
This parameter must be set to match the filter pole location of the hardware voltage feedback filter.
This derived parameter is a radians per second conversion of USER_M1_VOLTAGE_FILTER_POLE_Hz.
This parameter defines the sign (positive or negative) of the current scale factor derived from USER_M1_ADC_FULL_SCALE_CURRENT_A.
If the noninverting (+) pin of the op-amp is grounded in the current feedback circuit, the value of this parameter is -1.0f. If the inverting pin (-) is grounded, the value is +1.0f.
This parameter defines the number of current sensors present in the hardware.
The calculations in this lab assume that there are either 2 or 3 current sensors. A higher or lower value will therefore cause a compilation error.
This parameter defines the number of voltage phase sensors present in the hardware.
The calculations in this lab assume that there are 3 voltage sensors. A higher or lower value will therefore cause a compilation error.
The USER_M1_Ix_OFFSET_AD parameter, where 'x' is A, B, or C, represents the ADC current offset for each respective phase, as defined by the hardware.
This value should be close to 2048.
The lab is capable of automatic offset calibration via the 'flagEnableOffsetCalc' flag. If set, the new value for this parameter is loaded into motorVars_M1.adcData.offset_I_ad.value[2:0] after the calibration process completes. The value in user_mtr1.h must be manually updated.
USER_M1_IA_OFFSET_AD; USER_M1_IB_OFFSET_AD; USER_M1_IC_OFFSET_AD
The USER_M1_Vx_OFFSET_SF parameter, where 'x' is A, B, or C, represents the ADC voltage offset for each respective phase, as defined by the hardware. These parameters are used only for InstaSPIN-FOC FAST and InstaSPIN-BLDC.
This value should be close to 0.5.
The lab is capable of automatic offset calibration via the 'flagEnableOffsetCalc' flag. If set, the new value for this parameter is loaded into motorVars_M1.adcData.offset_V_sf.value[2:0] after the calibration process completes. The value in user_mtr1.h must be manually updated.
USER_M1_VA_OFFSET_SF; USER_M1_VB_OFFSET_SF; USER_M1_VC_OFFSET_SF
This parameter defines the ADC current offsets for single-shunt hardware.
As with USER_M1_Ix_OFFSET_AD, this value can be calibrated via the 'flagEnableOffsetCalc' flag. The new value is loaded into motorVars_M1.adcData.offset_Idc_ad.
This derived parameter (found in user_common.h) is a floating point conversion of the device SysClk frequency DEVICE_SYSCLK_FREQ in Hz. DEVICE_SYSCLK_FREQ is found in the device.h file.
This parameter defines the frequency of the ePWM in kHz. Changing this value alters the control interrupt frequency.
This derived parameter is the period of the ePWM frequency USER_M1_PWM_FREQ_kHz in microseconds.
This derived parameter defines the control interrupt frequency in Hz.
This parameter is derived from the PWM frequency USER_M1_PWM_FREQ_kHz.
This derived parameter is the period of the control interrupt frequency USER_M1_ISR_FREQ_Hz in microseconds.
This parameter defines the number of PWM periods per interrupt. This value divides the control interrupt frequency.
This lab assumes this value is between 1 and 3, inclusive.
This parameter defines the number of interrupt ticks per speed controller ticks. This value divides the speed controller trigger rate. This contributes to system response time.
This derived parameter calculates the scale of the ADC result bits for current readings, relative to the actual current value in Amps (A). This calculation assumes a 12-bit ADC.
This parameter is derived from the ADC full scale current USER_M1_ADC_FULL_SCALE_CURRENT_A.
This derived parameter calculates the scale of the ADC result bits for voltage readings, relative to the actual voltage value in Volts (V). This calculation assumes a 12-bit ADC. This parameter is used only by the InstaSPIN-FOC FAST and eSMO estimators.
This parameter is derived from the ADC full scale voltage USER_M1_ADC_FULL_SCALE_VOLTAGE_V.
This derived parameter is equivalent to 1 / USER_M1_CURRENT_SF for a 12-bit ADC.
This parameter is derived from the ADC full scale current USER_M1_ADC_FULL_SCALE_CURRENT_A.
This parameter defines the minimum duration in clock cycles for the single-shunt ADC readings.
Calculations for the value of this parameter are described in the motor1_drive.c file.
This parameter defines the delay in clock cycles before the single-shunt ADC readings to account for signal propagation.
Calculations for the value of this parameter are described in the motor1_drive.c file.
This parameter defines the motor type.
The two valid values for this parameter are MOTOR_TYPE_PM (for BLDC, PMSM, SMPM, or IPM motors) and MOTOR_TYPE_INDUCTION (for Asynchronous ACI motors)
This parameter defines the number of pole pairs in the motor. This value is utilized to calculate motor output power when utilizing the InstaSPIN-FOC FAST estimator.
This parameter defines the rotor resistance of the motor in Ohms for induction motors. For non-induction motors, set to NULL. This parameter is used only by InstaSPIN-FOC FAST.
This parameter defines the stator resistance of the motor in Ohms.
This parameter defines the stator inductance of the motor in the direct direction in henries (H). For PM, this is average stator inductance.
This parameter defines the stator inductance of the motor in the quadrature direction in henries (H). For PM, this is average stator inductance.
This parameter defines the rated flux of the motor in V/Hz (or V*s, Webers).
This parameter defines the rated current value of the motor in the direct direction in Amps for induction motors only. For other motors, set to NULL. This parameter is used only by InstaSPIN-FOC FAST.
This parameter defines the maximum current of the motor in A. This contributes to overcurrent handling.
This parameter defines the moment of inertia of the mass rigidly coupled with the motor in kg · m2. This contributes to the speed controller gain constant calculation.
This parameter defines the initial maximum value for Vd for the Id current controller. See USER_M1_MAX_VS_MAG_PU for more detail.
This value must be between 0.1 and 0.95.
This parameter defines the maximum magnitude for the Voltage vector Vs in V per-unit.
By the definition of a vector, the relationship between the magnitude of the Voltage vector Vs and the Vd and Vq axis components is as follows;
Vs = √(Vd2 + Vq2)
Vd is determined by the end application- for some motors, a value of 0 is a valid option. For this example, this is defined differently depending on whether closed or open-loop control is being used. In either case, the calculations for Vs and Vd are provided below.
In open-loop control, Vd is set to 0.3 in the voltage-frequency characterization profile.
In closed-loop control, Vd is dynamically determined by a PI controller. The maximum magnitude of |Vd| is initially set to USER_M1_VD_SF * USER_MOTOR1_RATED_VOLTAGE_V. During motor operation, it is instead set to USER_MOTOR1_RATED_VOLTAGE_V.
In open-loop control, Vs is set to USER_M1_MAX_VS_MAG_PU. All operations are in per-unit.
In closed-loop control, Vs is set to USER_M1_MAX_VS_MAG_PU * obj->adcData.VdcBus_V (the DC Bus Voltage). All operations are in Volts.
This parameter defines the maximum acceleration magnitude for the estimation speed profiles in Hz per second. Used only during InstaSPIN Motor ID.
This value should typically be left at the default.
This parameter defines the maximum current value to be used for stator resistance estimation, in Amps.
This value should be set to 10% to 40% of the rated phase current of the motor. If the motor does not spin during the ramp-up process, increase in 5% increments until the motor is in motion during the entire ramp-up process.
This parameter defines the maximum current value to use for stator inductance estimation, in Amps.
This value should be set to 10%-20% of the rated phase current of the motor, just enough to enable rotation.
This parameter defines the flux excitation frequency used to estimate the stator inductance and flux during motor identification, in Hz.
Typically, 5%-20% of the motor rated frequency is high enough for estimation for PMSM motors with ~10-20 microHenries stator inductance or higher. If the inductance is in the single digits of microHenries, then a higher frequency is recommended, up to 60Hz for very low inductances.
This parameter defines the R/L excitation frequency in Hz, used during motor identification to estimate initial values for the stator resistance and inductance. This is used to calculate current controller gains.
By default, this parameter is set to 300 Hz.
This parameter defines the fraction of the rated Id to use during inductance estimation.
This parameter should not be changed from the default value of 0.5.
This parameter defines the fraction of the max speed to use during inductance estimation.
This parameter should not be changed from the default value of 1.0.
This parameter defines the scale factor for Kp in the FOC current controllers.
This parameter should not be changed from the default value of 0.02.
This parameter defines the Id delta current to use during estimation, in A.
This parameter should not be changed from the default value of 0.0001.
If the force angle startup option is enabled, this parameter defines the force angle startup frequency in Hz. This value is used during motor startup.
Typical force angle startup speed is +-1 Hz.
If the force angle startup option is enabled, this parameter defines the speed range within which the force-angle startup process is used.
For most applications, the default value of 5Hz is sufficient.
This parameter defines the PowerWarp gain for computing the Id reference value for induction motors.
This parameter should not be changed from the default value of 1.0.
This parameter defines the pole location for the software DC bus filter in radians/second.
This parameter should not be changed from the default value of 100.
This parameter defines the pole location for the software frequency estimator filter in radians/second.
For most applications, the default value of 100rps is sufficient. For high-speed motors, performance may be improved by increasing this value up to 500rps.
This parameter defines the scale factor for flux estimation.
This parameter can range from 0.1 to 1.25. For most PMSM motors, a value of 1.0 is sufficient. For higher frequency lower inductance motors, a lower value may be used.
This parameter defines the scale factor for Back-EMF (BEMF) estimation.
If using the InstaSPIN-FOC FAST estimator, this parameter should not be chagned from the default value of 1.
Otherwise, this parameter can range from from 0.5 to 1.25. For most PMSM motors, a value of 1.0 is sufficient. For higher frequency lower inductance motors, a lower value may be used.
This parameter defines the Ls d-axis compensation coefficient. Motor inductance decreases with respect to the amplitude of the applied stator current. To simplify calculations, a linear relationship is assumed.
Where Ls is the motor stator inductance Ld and Ls1 is the motor stator inductance after compensation,
Ls1 = Ls * (1 -(Ls Compensation Coefficient))
This parameter should be set according to the inductance vs current model provided by the motor manufacturer.
This parameter is identical to USER_MOTOR1_Ls_d_COMP_COEF, except it refers to Lq instead of Ld.
This parameter defines the minimum inductance of the motor.
This parameter should be set according to the inductance vs current model provided by the motor manufacturer.
Rs online calibration is used to recalibrate the stator resistance Rs while the motor is running in closed-loop. However, given that Rs changes slowly over time, and the Rs online calibration process injects d-axis current that does not generate torque, the process is only enabled intermittently.
This parameter defines the wait time between Rs Online calibration cycles in 5ms periods.
This parameter's default value is typically sufficient.
This parameter defines the duration of the Rs Online calibration cycle in 5ms periods.
This parameter's default value is typically sufficient.
This parameter defines the low frequency boundary of the open-loop Voltage/Frequency profile in Hz.
This value defines the lower limits of the linear region of the Voltage/Frequency profile of the motor. Within the linear region, to calculate the applied voltage necessary to achieve a chosen motor speed is incredibly simple. Beyond the lower limit, this relationship is no longer linear.
This parameter should be set to approximately 10% of the rated motor frequency.
This parameter defines the high frequency boundary of the open-loop Voltage/Frequency profile in Hz.
This value defines the upper limits of the linear region of the Voltage/Frequency profile of the motor. Within the linear region, to calculate the applied voltage necessary to achieve a chosen motor speed is incredibly simple. Voltage should not increase beyond the rated motor voltage.
This parameter should be set to the rated motor frequency.
This parameter defines the voltage value that generates a speed of USER_MOTOR1_FREQ_LOW_Hz in the motor, in V.
This parameter should be set to approximately 15% of the rated motor voltage.
This parameter defines the voltage value that generates a speed of USER_MOTOR1_FREQ_HIGH_Hz in the motor, in V.
This parameter should be set to the rated motor voltage.
This parameter defines the number of encoder slots in the motor quadrature encoder.
This parameter should be set according to the encoder used.
This derived parameter defines the maximum value of the position counter for the eQEP module.
This parameter is derived from the number of encoder slots (USER_MOTOR1_NUM_ENC_SLOTS).
This parameter defines the offset number of the encoder at position zero.
This parameter defines the maximum value of the time-dependent eSMO Kslide gain variable.
This parameter must be set greater than the maximum back-EMF at the maximum motor frequency, in per-unit. The default value is sufficient for most applications. This parameter may vary between 0.1 and 10.
This parameter defines the initial value of the time-dependent eSMO Kslide gain variable.
This parameter must be set greater than the maximum back-EMF at the maximum motor frequency, in per-unit. The default value is sufficient for most applications. This parameter may vary between 0.1 and 10.
This parameter defines the maximum gain for the eSMO PLL.
This parameter must be set greater than the maximum back-EMF at the maximum motor frequency, in per-unit. The default value is sufficient for most applications. This parameter may vary between 0.1 and 10.
This parameter defines the minimum gain for the eSMO PLL.
This parameter must be set greater than the maximum back-EMF at the maximum motor frequency, in per-unit. The default value is sufficient for most applications. This parameter may vary between 0.1 and 5.
This parameter defines the scale factor applied to the per-unit motor speed. This controls the gain of the eSMO PLL.
This parameter should be set to (USER_MOTOR1_PLL_KP_MAX - USER_MOTOR1_PLL_KP_MIN) / (fscale * fmax). In most cases, the default value is sufficient.
This parameter defines the threshold of estimated current error for the eSMO sliding mode controller.
This parameter should be equal to the maximum motor Back-EMF (BEMF) divided by the motor's rated voltage, and should range between 0.3 and 0.5. In most cases, the default value of 0.5 is sufficient.
This parameter defines the cutoff frequency of the low pass filter for the eSMO estimated back-EMF.
This parameter is equal to the cutoff frequency * 2 * PI() * Ts (timescale). In most cases, the default value is sufficient.
This parameter defines the coefficient applied to the back-EMF filter compensation factor.
This parameter should be set between 0.5 to 1.5, inclusive. The default value of 1 is sufficient in most cases.
This parameter sets the cutoff frequency of the low-pass filter used to calculate speed. Given that this filter is applied to per-unit values, this parameter only influences the eSMO output in very high noise scenarios.
The default value of 200Hz is sufficient in most cases. Otherwise, this parameter should be set between 100 and 400.
This parameter defines the minimum speed when the motor runs in open-loop, in Hz.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be 0.5%-1% of the rated motor speed.
This parameter defines when the BEMF zero-cross point for commutation begins to be considered, in Hz.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be 10%-20% of the rated motor speed.
This parameter defines how long the system runs the motor in open-loop, in seconds.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be between 5-20s.
This parameter defines the maximum threshold of integration voltage for commutation point detection, percent of the nominal.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be between 0.01-0.15.
This parameter defines the minimum threshold of integration voltage for commutation point detection, percent of the nominal.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be between 0.005-0.1.
This parameter defines the current to start the motor in open-loop, in A.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be between 5%-20% of the rated current.
This parameter defines the PWM duty to start the motor in open-loop, in percent.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be between 5%-20% duty.
This parameter defines the Kp gain of the PI regulator for FWC.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be between 0.01-0.1.
This parameter defines the Ki gain of the PI regulator for FWC.
The specific value for this parameter should be based on motor or system test on performance requirements. This value could be between 0.01-0.1.
This parameter defines the maximum vector angle for FWC, in degrees.
This parameter should be defined between 0 and -45 degrees. A large negative value will set a higher negative current on the d-axis for FWC.
This parameter defines the minimum vector angle for FWC, in degrees.
This parameter should not be changed from its default value of 0.
This parameter defines the rated voltage of the motor, in V.
This parameter could be set to USER_M1_NOMINAL_DC_BUS_VOLTAGE_V / sqrt(2).
This parameter defines the maximum rotational speed of the motor in Hz.
This parameter is system-dependent, and may be higher than the rated speed of the motor. A value of 100% to 150% of the rated speed of the motor is typical. Specific values should be decided according to system performance requirements.
This parameter defines the current used to run motor rotor alignment, in A.
This parameter should be set to 5%-50% of the rated current of the motor. Specific values should be decided according to system performance requirements.
This parameter defines the current used to run the motor in forced open-loop, in A.
This parameter should be set to 5%-50% of the rated current of the motor. Specific values should be decided according to system performance requirements.
This parameter defines the current, in A, used to run the motor in closed-loop when the speed is below the defined startup speed (USER_MOTOR1_SPEED_START_Hz).
This parameter should be set to 10%-100% of the rated motor current.
This parameter defines the initially assigned value for motor startup current, in A.
This parameter defines the startup speed threshold of the motor, in Hz.
This parameter should be set higher than the minimum rotation speed of the motor, and typically falls between 10%-50% of the rated motor speed.
This parameter defines the force open-loop speed threshold of the motor, in Hz.
This parameter should be set higher than the minimum rotation speed of the motor, and typically falls between 5%-30% of the rated motor speed.
This parameter defines the motor acceleration during startup.
This parameter should be set less than the maximum acceleration of the motor (USER_MOTOR1_ACCEL_MAX_Hzps), and otherwise should be set according to system performance requirements.
This parameter defines the maximum acceleration of the motor.
This parameter should be set according to system performance requirements and motor hardware limitations.
This parameter defines the flying-start speed threshold of the motor, in Hz.
This parameter should be set higher than the minimum rotation speed of the motor, and typically falls between 0.1%-5% of the rated motor speed.
When braking is enabled, this parameter defines the motor current during the braking state.
This parameter should be set between 10%-50% of the rated motor current, according to system performance requirements.
This parameter defines the delay of the motor braking state in 5ms periods.
This parameter should be set according to system performance requirements, and typically falls between 1-300s, converted to 5ms periods.
This parameter defines the minimum waiting time to start the motor from a stopped state, in 5ms periods.
This parameter should be set higher than 0.1s, converted to 5ms periods.
This parameter defines the minimum waiting time to start the motor from a fault state, in 5ms periods.
This parameter should be set higher than 0.1s, converted to 5ms periods.
This parameter defines the duration of the motor rotor alignment state, in 5ms periods.
This parameter should be set between 1s-30s, converted to 5ms periods.
This parameter defines the error threshold for the ADC offset for the phase currents. If offset calibration is enabled, the system checks to ensure that all ADC offset values for current measurement circuits are within this delta from the initially defined parameters (USER_M1_Ix_OFFSET_AD). If the calculated ADC offset is beyond this delta from the initially defined parameter, this indicates a software error or hardware fault, and the system enters a fault handling state. This parameter is not used when utilizing single-shunt measurement.
This parameter should be set between 0 to 200, inclusive, to allow sufficient range while still catching errors. To achieve a lower error delta, a higher accuracy sensing circuit may be required.
This parameter defines the error threshold for the ADC offset for the phase voltages. If offset calibration is enabled, the system checks to ensure that all ADC offset values for voltage measurement circuits are within this delta from the initially defined parameters (USER_M1_Vx_OFFSET_SF). If the calculated ADC offset is beyond this delta from the initially defined parameter, this indicates a software error or hardware fault, and the system enters a fault handling state. This parameter is only used for InstaSPIN-FOC FAST and InstaSPIN-BLDC.
This parameter should be set between 0 to 200, inclusive, to allow sufficient range while still catching errors. To achieve a lower error delta, a higher accuracy sensing circuit may be required.
This parameter defines the over-voltage threshold for the motor and inverter hardware, in Volts. A DC bus voltage greater than this value indicates a software error or hardware fault has resulted in the calculated DC bus voltage going above the user-defined safe or expected range, and the system enters a fault handling state.
This parameter should be set to a hardware-dependent value less than the full scale ADC voltage (USER_M1_ADC_FULL_SCALE_VOLTAGE_V).
This parameter defines the lower threshold that indicates that a DC bus over-voltage fault (see USER_M1_OVER_VOLTAGE_FAULT_V) is no longer present, in V.
This parameter should be set to a hardware-dependent value less than the over-voltage fault threshold (USER_M1_OVER_VOLTAGE_FAULT_V). Typically, this is several Volts below the over-voltage fault threshold, to ensure that the system has reliably returned to a safe or expected state.
This parameter defines the under-voltage threshold for the motor and inverter hardware, in Volts. A DC bus voltage greater than this value indicates a software error or hardware fault has resulted in the calculated DC bus voltage going below the user-defined safe or expected range, and the system enters a fault handling state.
This parameter should be set to a hardware-dependent value, typically, a few Volts above the minimum required to spin the motor.
This parameter defines the upper threshold that indicates that a DC bus under-voltage fault (see USER_M1_UNDER_VOLTAGE_FAULT_V) is no longer present, in V.
This parameter should be set to a hardware-dependent value greater than the under-voltage fault threshold (USER_M1_UNDER_VOLTAGE_FAULT_V). Typically, this is a few Volts above the under-voltage fault threshold, to ensure that the system has reliably returned to a safe or expected state.
This parameter defines the current threshold for the lost phase fault, in A. Beyond the minimum speed threshold for this error (USER_M1_FAIL_SPEED_MIN_HZ), the absolute value of any phase currents being beneath this value indicates a software error or hardware fault, and the system enters a fault handling state.
This parameter should be set to a motor-dependent value according to system performance requirement. Typically, this value is between 0.1% to 10% of the rated current of the motor.
This parameter defines the ratio threshold indicating a phase unbalance fault. If the ratio between the largest to smallest RMS phase current value is beyond this ratio, this indicates a software error or hardware fault, and the system enters a fault handling state.
This parameter should be set to a motor-dependent value according to system performance requirement. Typically, this value is a percent value between 5% and 25%. The default value of 20% should typically be sufficient for this application.
This parameter defines the over-current threshold of the motor, in A. This value is used to calculate the CMPSS peripheral's DAC values, which in turn trigger the PWM's trip zone fault handling.
This parameter should be set to a motor and system-dependent value that is typically 50% to 300% of the rated motor current.
NOTE: If this value of this parameter is set greater than the maximum peak current value of the motor, defined as 47.5% of the ADC full scale current in this example, this parameter is ignored and the maximum peak current is used instead.
This parameter defines the over-power threshold for the motor and inverter hardware, in W. In the motor running state, if the calculated power of the motor is above this value, this indicates a software error or hardware fault, and the system enters a fault-handling state.
This parameter should be set to a motor-dependent value, typically 50% to 200% of the rated motor power. This value must be less than the maximum output power that the motor can produce without exceeding its thermal rating.
This parameter defines the current threshold for the RMS motor stator current, in A, when the calculated motor speed is beneath the speed threshold (USER_M1_FAIL_SPEED_MIN_HZ). When the motor current is above the fault checking threshold (see USER_M1_FAULT_CHECK_CURRENT_A), this indicates the minimum value for the motor stator current, and values beneath this parameter indicates a failed motor startup fault condition. A value above this parameter always indicates a motor stall fault condition.
This parameter should be set to a motor-dependent value, typically 50% to 300% of the motor rated current. This value should be lower than the maximum peak current of the motor, defined as 47.5% of the ADC full scale current in this example.
This parameter defines the current threshold for several motor faults, in A. When the RMS motor stator current is below this value, the unbalanced phase current fault, over-speed fault, and failed startup faults are not checked.
This parameter should be set to a motor-dependent value according to system performance requirements. This value is typically 0.1% to 20% of the rated motor current.
This parameter defines the maximum speed of the motor in Hz. If the calculated speed is above this value, this indicates a software error or hardware fault, and the system enters a fault-handling state.
This parameter should be set to a motor-dependent value according to system performance requirements. This value is typically 200% to 500% of the rated speed of the motor.
This parameter defines the minimum speed threshold of the motor, in Hz. Certain faults are only checked when the motor is above or below this value. The stall current and failed motor startup faults are only checked when the motor speed is below this value. The lost phase fault is only checked when the motor speed is above this value.
This parameter should be set to a motor-dependent value according to system performance requirements. This value is typically 1% to 10% of the rated motor speed, and must be higher than the minimum rotation speed of the motor.
This parameter defines the duration time to set or clear the over and under-voltage faults, in 5ms periods. When the fault condition is detected for longer than this period, the error flag is set. When the fault condition is not present for longer than this period, the error flag is reset.
This parameter should be set according to system performance requirements. This value is typically between 0.02 to 3.0s. The default value should be sufficient for most applications.
This parameter defines the duration time to set the over load power fault, in 5ms periods. When the fault condition is detected for longer than this period, the error flag is set.
This parameter should be set according to system performance requirements. This value is typically between 0.01 to 1.0s. The default value should be sufficient for most applications.
This parameter defines the duration time to set the motor stall current fault, in 5ms periods. When the fault condition is detected for longer than this period, the error flag is set.
This parameter should be set according to system performance requirements. This value is typically between 0.01 to 2.0s. The default value should be sufficient for most applications.
This parameter defines the duration time to set the motor unbalanced phase current fault, in 5ms periods. When the fault condition is detected for longer than this period, the error flag is set.
This parameter should be set according to system performance requirements. This value is typically between 0.05 to 5.0s. The default value should be sufficient for most applications.
This parameter defines the duration time to set the motor lost phase current fault, in 5ms periods. When the fault condition is detected for longer than this period, the error flag is set.
This parameter should be set according to system performance requirements. This value is typically between 0.05 to 5.0s. The default value should be sufficient for most applications.
This parameter defines the duration time to set the motor over-speed fault, in 5ms periods. When the fault condition is detected for longer than this period, the error flag is set.
This parameter should be set according to system performance requirements. This value is typically between 0.05 to 5.0s. The default value should be sufficient for most applications.
This parameter defines the duration time to set the failed motor startup fault, in 5ms periods. When the fault condition is detected for longer than this period, the error flag is set.
This parameter should be set according to system performance requirements. This value is typically between 1.0s to 20.0s. The default value should be sufficient for most applications.
This parameter defines the duration time to set the motor over-current fault, in 5ms periods. When the fault condition is detected for longer than this period, the error flag is set.
This parameter should be set according to system performance requirements. This value is typically between 0.01s to 0.5s. The default value should be sufficient for most applications.
Typical initial Kp and Ki of the speed and current regulators are calculated based on motor parameters. These runtime values for the gain will be changed according to the motor running speed or vector current after startup.
The gain of the PI regulator is set according to the following rules:
| Kp Gain | Ki Gain | Condition |
|---|---|---|
| Kp* = Kp * G(p_start) | Ki* = Ki * G(i_start) | Motor startup |
| Kp* = Kp * G(p_low) | Ki* = Ki * G(i_low) | After startup and condition low |
| Kp* = Kp * G(p_high) | Ki* = Ki * G(i_high) | After startup and condition high |
|
Kp* = Kp * (G(p_low) + H(p_low) * (condition state)) |
Ki* = Ki * (G(i_low) + H(i_low) * (condition state)) | No other conditions matched |
Where:
This parameter defines the low speed threshold for adjusting Kp* and Ki* of the speed PI regulator.
This parameter should be set between 10% to 30% of the rated speed of the motor, according to motor and application requirements.
This parameter defines the high speed threshold for adjusting Kp* and Ki* of the speed PI regulator.
This parameter should be set between 60% to 100% of the rated speed of the motor, according to motor and application requirements.
Where Kx is either Kp or Ki, this parameter defines the gain coefficient Gx_start to adjust the Kx* of the speed PI regulator for startup.
This parameter should be set between 0.1 to 2.0 according to motor and application requirements, and should be lower than Gx_low in most application.
USER_MOTOR1_Kp_SPD_START_SF; USER_MOTOR1_Ki_SPD_START_SF
Where Kx is either Kp or Ki, this parameter defines the gain coefficient Gx_low to adjust the Kx* of the speed PI regulator.
This parameter should be set between 0.1 to 10.0 according to motor and application requirements, and should generally be higher than Gx_high.
USER_MOTOR1_Kp_SPD_LOW_SF; USER_MOTOR1_Ki_SPD_LOW_SF
Where Kx is either Kp or Ki, this parameter defines the gain coefficient Gx_high to adjust the Kx* of the speed PI regulator.
This parameter should be set between 0.1 to 5.0 according to motor and application requirements, and should generally be lower than Gx_low.
USER_MOTOR1_Kp_SPD_HIGH_SF; USER_MOTOR1_Ki_SPD_HIGH_SF
This parameter defines the low current threshold is_low to adjust the gains of the q-axis current PI controller.
This parameter should be set to 10% to 50% of the rated current of the motor, according to system performance, motor, and application requirements.
This parameter defines the high current threshold is_high to adjust the gains of the q-axis current PI controller.
This parameter should be set to 50% to 100% of the rated current of the motor, according to system performance, motor, and application requirements.
Where Kx is either Kp or Ki, this parameter defines the gain coefficient Gx_start to adjust the gains of the q-axis current PI controller during startup.
This parameter should be set to 0.1 to 5.0 according to system performance, motor, and application requirements.
USER_MOTOR1_Kp_IQ_START_SF; USER_MOTOR1_Ki_IQ_START_SF
Where Kx is either Kp or Ki, this parameter defines the gain coefficient Gx_low to adjust the gains of the q-axis current PI controller during startup.
This parameter should be set to 0.1 to 10.0 according to system performance, motor, and application requirements, and should be higher than Gx_high.
USER_MOTOR1_Kp_IQ_LOW_SF; USER_MOTOR1_Ki_IQ_LOW_SF
Where Kx is either Kp or Ki, this parameter defines the gain coefficient Gx_high to adjust the gains of the q-axis current PI controller during startup.
This parameter should be set to 0.1 to 5.0 according to system performance, motor, and application requirements, and should be lower than Gx_low.
USER_MOTOR1_Kp_IQ_HIGH_SF; USER_MOTOR1_Ki_IQ_HIGH_SF
Where Kx is either Kp or Ki, this parameter defines the gain coefficient Gx to adjust the gains of the d-axis current PI controller.
This parameter should be set between 0.1 to 5.0 according to system performance, motor, and application requirements.
USER_MOTOR1_Kp_ID_SF; USER_MOTOR1_Ki_ID_SF
When potentiometer speed control is enabled, this parameter defines the minimum allowable ADC value for the potentiometer. If the ADC reading is below this value, the motor speed is set to 0.
This parameter should be set such that ADC noise cannot result in a value above this when the motor is intended to be disabled.
When potentiometer speed control is enabled, this parameter defines the maximum allowable ADC value for the potentiometer. If the ADC reading is above this value, the motor speed is set to the maximum.
This parameter should be set to the maximum possible ADC value ( 4096 in this example) offset by USER_M1_POT_ADC_MIN. In this example, that's 4096U-200U.
When potentiometer speed control is enabled, this derived parameter defines the exact relationship between ADC reading and motor speed.
This parameter is derived from the minimum and maximum potentiometer ADC values (USER_M1_POT_ADC_MIN and USER_M1_POT_ADC_MAX), as well as the motor maximum speed (USER_MOTOR1_FREQ_MAX_Hz).
When potentiometer speed control is enabled, this derived parameter defines the minimum frequency of the motor in Hz. When the potentiometer ADC reading results in a nonzero value that is below this speed, the motor speed is set to this value instead.
This parameter is set to 10% of the motor maximum speed (USER_MOTOR1_FREQ_MAX_Hz).
When potentiometer speed control is enabled, this derived parameter defines the maximum frequency of the motor in Hz. When the potentiometer ADC reading results in a value that is above this speed, the motor speed is set to this value instead.
This parameter is set to 50% of the motor maximum speed (USER_MOTOR1_FREQ_MAX_Hz).
When potentiometer speed control is enabled, this parameter defines the wait period between speed updates in 1ms periods.
This parameter should be set to a value which allows for rapid adjustments, while not allowing noise to excessively influence calculations. The default value of 500ms is sufficient for most applications.
When cmd pulse speed control is enabled, allowing the motor speed to be calculated from a speed pulse on an input GPIO, this parameter defines the minimum frequency of the motor in Hz. When the calculated motor speed is below this value, the motor speed is instead set to 0.
This parameter should be set according to the minimum motor rotation speed, and by default is not derived automatically.
When cmd pulse speed control is enabled, allowing the motor speed to be calculated from a speed pulse on an input GPIO, this parameter defines the maximum frequency of the motor in Hz. When the calculated motor speed is above this value, the motor speed is instead set to 0.
This parameter should be set according to the maximum rated motor speed, and by default is not derived automatically.
When cmd pulse speed control is enabled, allowing the motor speed to be calculated from a speed pulse on an input GPIO, this parameter defines the wait period between speed updates in 1ms periods.
This parameter should be set to a value which allows for rapid adjustments, while not allowing noise to excessively influence calculations. The default value of 200ms is sufficient for most applications.
When cmd switch control is enabled, allowing the motor to be enabled or disabled with a switch, this parameter defines the minimum wait period between switch state updates in 1ms periods.
This parameter should be set to a value which allows for rapid adjustments, while not allowing noise to excessively influence calculations. The default value of 50ms is sufficient for most applications.