Motorola M68HC08 Reference Manual page 155

DRM028 — Rev 0
MOTOROLA
Freescale Semiconductor, Inc.
9. Set PC master software control mode and start motor (see
Application Control
Operating Mode)
10. Set the speed to the middle of minimal and maximal speed
11. Increase, step by step, the proportional gain
SPEED_PIREG_P_GAIN with PC master software, until speed
noise or oscillation appears, or up to 128
12. If SPEED_PIREG_P_GAIN is set to 128, increase proportional
gains in SPEED_PIREG_P_GAINSCALELEFT further with PC
master software, steps 0, 1, 2 ... 8 otherwise leave
SPEED_PIREG_P_GAINSCALELEFT as 0
13. Increase, step by step, the integral gain SPEED_PIREG_I_GAIN
with PC master software, up to current oscillation or noise, or up
to 128
14. If SPEED_PIREG_I_GAIN is set to 128, do further integral gain
increases to SPEED_PIREG_I_GAINSCALELEFT with PC
master software, steps 6, 5, 4...0; otherwise, leave
SPEED_PIREG_I_GAINSCALELEFT as 7
15. You can further evaluate the setting of the regulator parameters in
order to get a smoother current waveform until the regulation
seems to be performing well
16. Open const_cust_x.h and modify the regulator parameters with
the final variable values evaluated with PC master software
17. Start motor (see
(Remote) Operating
18. Set minimal desired speed
19. If the displayed real speed is not able to go down to the desired
minimal speed, it is necessary to decrease minimal PWM duty
cycle DUTY_PWM_MIN in const_cust_x.h!
20. Then, you can tune dynamic characteristics of speed regulators
(steps 22. to 29.) or finish tuning the regulators
21. Start motor (see
(Remote) Operating
User Guide
For More Information On This Product,
Go to: www.freescale.com
and PC Master Software (Remote)
Application Control
Mode)
Application Control
Mode)
User Guide
Tuning for Customer Motor
and PC Master Software
and PC Master Software
Designer Reference Manual
155