Speed Mode in MCSDK (custom board, software of B-G431B-ESC1) is not working

[SRedd.5]

Hi all,

I am using the software generated from MCSDK motor control and a custom board, I am able to successfully make it work for the torque control mode, for different Iq values the DC power supply current is varying.

But i am facing problem with speed control mode, i gave the following command in closed loopMC_ProgramSpeedRampMotor1(((int16_t)g_targetspeed_s16 * ((int16_t)SPEED_UNIT)) / (int16_t)U_RPM, 0);

Any value i give for g_targetspeed_s16 the motor settles to the same speed for example if i give 10, 50 it goes and settles to the same speed. Why? I am finding some invalid switching. Is it because of that?

[Gael A · Accepted solution]

Hello SRedd.5,


The MC_ProgramSpeedRampMotor1 function should work as intended. However I have a few remarks :

- The name g_targetspeed_s16 is startling me, as how you wrote it, this value should be in RPM unit, and not in s16 unit (it is then converted to SPEED_UNIT with the small calculus you wrote). 

- I don't know what kind of motor you are using but be aware that in closed loop the FW does not cope well with small speed values. You usually need a much bigger speed command than 10 or 50 rpm.

- Please make sure via debugging that the function is indeed called at some point by firmware, because I see no problem on the latest MCSDK version (6.1.2) when writing the function in main.c in the while(1) loop.


Hoping this will help,
Gaël A.