Revision as of 02:21, 7 January 2009

Upd pcb

motor controller

overload current monitor

• 1120 - reads overload config parameters

     data->param[0] = OverloadMonitor.max_phase_filter_sum >> 10;
     data->param[1] = OverloadMonitor.max_bat_filter_sum >> 10;
     data->param[2] = OverloadMonitor.phase_filter_decay;
     data->param[3] = OverloadMonitor.bat_filter_decay;

defaults are 22400 22400 4915 4915

• 1121 <param> - to see the present intermediate values and overload flag. if param is one, will reset overload flag.

• 1122 <4x params> - use to set the overload config parameters

• The computation at 10KHZ, sums the ABS of a Q15 current and subjects the decay

• the time (in sec) to trip is

t = MAX_SUM / (I_Q15 - DECAY) / 10000

For the defaults:

• 30 amps, 80mS
• 25 amps, 100mS
• 20 amps, 132mS
• 15 amps, 195mS
• 10 amps, 373mS

special commands

Program test pattern

Command current sequence

A series of currents can be commanded for a fixed number of cycles. A table stores the motor currents, and time interval for the current to be commanded. The table can be filled in any order, and positions can be over written without problems. The end of the test loop is marked with a duration of 0.

• 115 0 <POSITION> <DURATION> <TORQUE VALUE>

• Position : Store at the specified row in the table. Table positions starts at 0. However the position value of -1 is used to write into position zero and ALSO re-initialize values.
• Duration is in 2mS units. A duration of zero indicates the end of the test loop sequence
• Torque value : 1 amp = 1092

Motor thermal model

• Command 117 is used to read back the model estimates of motor resistance and model temperatures. Divide by 1000 for SI units.

• Command 118 is used to set the thermal limits. When a limit is reach the test commands zero motor current until the low temperature is reached.