SPRUHJ1I January 2013 – October 2021 TMS320F2802-Q1 , TMS320F28026-Q1 , TMS320F28026F , TMS320F28027-Q1 , TMS320F28027F , TMS320F28027F-Q1 , TMS320F28052-Q1 , TMS320F28052F , TMS320F28052F-Q1 , TMS320F28052M , TMS320F28052M-Q1 , TMS320F28054-Q1 , TMS320F28054F , TMS320F28054F-Q1 , TMS320F28054M , TMS320F28054M-Q1 , TMS320F2806-Q1 , TMS320F28062-Q1 , TMS320F28062F , TMS320F28062F-Q1 , TMS320F28068F , TMS320F28068M , TMS320F28069-Q1 , TMS320F28069F , TMS320F28069F-Q1 , TMS320F28069M , TMS320F28069M-Q1
The Rs state is reached exiting the EST Idle state with the motor identified and Rs recalibration enabled (see Figure 7-48). Note that when the controller is Offline (motor is at standstill) and Offset Recalibration is enabled, offset recalibration will occur before entering the Rs state. Once the estimator state machine is in Rs state (EST_State_Rs), stator resistance recalibration is started.
Rs recalibration when the motor is at stand still is also known as Offline Stator Resistance Recalibration. A second Rs recalibration when the motor is spinning is covered in Section 16.
Even though the enable Rs flag is checked internally by the state machine, users can use the following code example to check that flag:
if(EST_getFlag_enableRsRecalc(obj->estHandle) == TRUE)
Although Rs recalibration is enabled by default, the following code example can be used to enable it before enabling the controller:
EST_ setFlag_enableRsRecalc(obj->estHandle, TRUE);
And the following code example can be used to disable Rs recalibration before enabling the controller:
EST_ setFlag_enableRsRecalc(obj->estHandle, FALSE);