Motorola M68HC08 manual Designer Reference Manual DRM028 Rev 142 User Guide

Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc.

User Guide

9.If CURR_PIREG_P_GAIN is set to 128, do further proportional gain increase CURR_PIREG_P_GAINSCALELEFT with PC master software, steps 0, 1, 2...8, otherwise leave CURR_PIREG_P_GAINSCALELEFT as 0

10.Increase, step by step, the integral gain CURR_PIREG_I_GAIN with PC master software, up to current oscillation or noise, or up to 128

11.If CURR_PIREG_I_GAIN is set to 128, do further integral gain increases to CURR_PIREG_I_GAINSCALELEFT with PC master software, steps 0, 1, 2...8; otherwise, leave CURR_PIREG_I_GAINSCALELEFT as 0

12.You can further evaluate the setting of the regulator parameters in order to get a smoother current waveform, or until the regulation seems to be performing well

13.Open const_cust_x.h and modify the regulator parameters with the final variable values evaluated with PC master software

14.Change the software back to normal: in code_start.c file, label

TUNING_1 remove goto (modify as comment): /* goto Align */ (it will allow finishing Alignment state when alignment period ends)

15.Build the code (see Software Execution, Build)

16.You can also tune regulator dynamic characteristics of current transients (steps 17. to 26.) or finish the regulators tuning

17.Run the code (see Software Execution and Execute from Evaluation Board)

18.Start the PC master software tuning project

19.Select Current Parameters Tuning subproject (see Software Parameters Tuning with PC Master Software Project File) in order to be able to modify the current regulator

20.You can see the actual current (and required alignment current) on the Current Parameters Tuning\New Scope, or measure the powered motor coil current on real oscilloscope

21.Set PC master software control mode and start motor (see Application Control and PC Master Software (Remote) Operating Mode)

Designer Reference Manual		DRM028 — Rev 0
142	User Guide	MOTOROLA
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