EVSPIN32F06Q1S1 + MCSDK: "CMD_NOK" when starting motor from Motor Pilot

[Jahnavi]

Hi everyone,

I am using an EVSPIN32F06Q1S1 board to drive a turbomolecular pump motor. Since the exact motor was not available in Motor Control Workbench, I imported a different motor and manually updated the parameters.

The project was generated using MCSDK with FOC + Sensorless Observer (STO+PLL) and flashed successfully. Motor Pilot connects correctly, and VBUS is reported as approximately 316 VDC with a 220 VAC input.

However, when I press Start in Motor Pilot, the motor does not start and I receive:

MotorControlProtocol: ASPEP_RESP ERROR: CMD_NOK

The state eventually changes to FAULT_NOW, but no detailed fault information is shown. Motor Pilot also reports several register access warnings such as:

Accessing register [...] resulted in error[5]

although communication with the board remains active.

At present, no motor is connected to the inverter. We are trying to verify the controller operation before connecting the actual turbomolecular pump.

My questions are:

1. Is it expected for an MCSDK sensorless FOC project to enter FAULT_NOW or return CMD_NOK with no motor connected, and how can inverter operation be verified without the motor?
2. Are there any specific registers or diagnostics that should be checked to identify the actual reason behind the CMD_NOK response?
3. My final goal is to drive a turbomolecular pump motor and control the voltage and frequency applied to it. In MCSDK with FOC control:
   • How can the output voltage and frequency be adjusted or limited?
   • Is the output voltage automatically determined by the FOC algorithm based on speed/current references?
   • If I require a specific voltage and frequency at the motor, what is the recommended way to implement this in MCSDK?

Any suggestions would be greatly appreciated.

Thank you.

 

[GMA]

Hello ​@Jahnavi,

1. Errors are not all related to the motor. Refer to the "FOC firmware errors" chapter in the user manual, available in Workbench tool > About > Documentations > Documentation.

2. By default, Reduce the number of registers accessible with MC Pilot to fit in 32 KB flash is selected in the Application Configuration tab of MC Workbench. As a result, not all motor commands are available.
   To identify the missing command, refer to the Logs tab in MC Pilot. A project can be generated with Reduce the number of registers accessible with MC Pilot to fit in 32 KB flash cleared.
   CMD_NOK can also be returned if the microcontroller (MCU) does not have enough time to respond. Decreasing the PWN frequency can help.

3. Motor constraints are set in the Motor tab of MC Workbench.