How to set the value of hFinaltorque?

[Vincent7]

Hello Everybody,

MCSDK:6.3.0

CubeMX: 6.3.0

Workbench : 6.3.0

Motor Pilot : 1.2.9

Power Board : IHM08M1(Rshunt=0.01Ω)

Control Board : NUCLEO-G431RB

Motor : BLDC 26w 24v/8 pole pairs / rpm=4k / rated current=1.8A/hall sensor

I am currently testing torque control, and I am a bit confused about the hFinalTorque setting in the MC_ProgramTorqueRampMotor1 API.

I would like to set the Target Torque to 0.02.

According to the formula provided in the API:
current(digit) = (0.02 * 65536 * 0.01Ω * 5.18) / 3.3 = 20.57 (rounded to 21)

Should hFinalTorque be set to 21 or 210?

Additionally, do I need to manually enable the timer and PWM? (I have already used the Workbench to generate code and CubeMX to generate the project.)

[Vincent7 · Accepted solution]

Hello Everybody,

The issue has been resolved, and the motor can now run continuously.

The root cause was that the torque value set during the initialization call to MC_ProgramTorqueRampMotor1_F() was too close to the torque value set inside the while loop.

As a result, the power supply showed that it was still drawing a small load (about 0.015A), and when holding the motor by hand, I could feel slight vibrations, but the motor was not rotating.

After increasing the torque value in the MC_ProgramTorqueRampMotor1_F() or MC_SetCurrentReferenceMotor1_F() call inside the while loop, the motor was finally able to run continuously.

For someone like me who is new to FOC and even motor control, this has been a valuable hands-on experience.

This issue might seem like a basic mistake, but I still want to share the cause behind it. Hopefully, it can help others who are in the same situation as I was!

[GMA]

Hello @Vincent7,

Thank you for your feedback.