Motorola M68HC08 Set PC master software control mode and start motor see, Remote Operating Mode

Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc.

User Guide

Tuning for Customer Motor

9.	Set PC master software control mode and start motor (see
	Application Control and PC Master Software (Remote)
	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 Application Control and PC Master Software
	(Remote) Operating Mode)
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 Application Control and PC Master Software
	(Remote) Operating Mode)
DRM028 — Rev 0	Designer Reference Manual
MOTOROLA	User Guide	155
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