SINCOFS SETTINGS blocked through PRECHARGE warning

[DIETZENBACH]

When trying to set SINCOFS settings , I am receiving in the Plot-Window the message PRECHARGE,and the motor motion get blocked.
At inital start there is no Precharge message and the motor is slowly turning in jittering mode. When halted an restarted again ,the Precharge message pop up and the motor rest silent.
What kind of resistor or device should I use to elminate the precharge and let the motor run.

[manny]

The error is because your voltage is below (udcsw) setting. So the precharge is not "finished"

If you are using a power supply for testing you can set the (udcsw) to 0. If you are using a battery and contactors set is to a reasonable value.

[DIETZENBACH]

Hi Manny,
Thanks for the advice.I am setting always the udcsw to the proper voltage I`m using-battery and power supply. Will retry it again

[manny]

Do you have UDC in the web interface?

[DIETZENBACH]

some test performed as follows :
1 test with brake and start reles/contactor off:
UDC = 0 or 200V
manual run
lasterr-none,
status -none
different manualID -values set,but motor do not move.
2.Test -- Inverter HALTED
angel graf ON
motor cliks but no run
opmode - =RUN

3. Test INVERTER ON
no angel graf available
no more motor clicks
opmode -= run
UDCSW - =0 or 200v
manual ID different -values set,but motor do not move.
lasterr -none
status -none

[manny]

What motor and inverter are you using?

[DIETZENBACH]

SEIKOSH

SEIKOSHA motor

MOTORA japanes motor and PRIUS GEN 2 inverter.

[manny]

When the inverter is in Run mode. With Id and Iq 0A. Can you graf the motor angle while spinning the motor by hand?

Can you post the output from http://192.168.4.1/cmd?cmd=json on the inverter

[DIETZENBACH]

The graf angle in run mode is going by itself.turning the motor by hand is not changing the graf pattern.
Here is the JSON file for refference.{
"curkp": {"unit":"","value":32.00,"isparam":true,"minimum":0.00,"maximum":20000.00,"default":32.00,"category":"Motor","i":0},
"curki": {"unit":"","value":20000.00,"isparam":true,"minimum":0.00,"maximum":100000.00,"default":20000.00,"category":"Motor","i":1},
"curkifrqgain": {"unit":"dig/Hz","value":50.00,"isparam":true,"minimum":0.00,"maximum":1000.00,"default":50.00,"category":"Motor","i":2},
"fwkp": {"unit":"","value":-100.00,"isparam":true,"minimum":-10000.00,"maximum":0.00,"default":-100.00,"category":"Motor","i":3},
"dmargin": {"unit":"Hz","value":-2000.00,"isparam":true,"minimum":-10000.00,"maximum":0.00,"default":-2000.00,"category":"Motor","i":4},
"syncofs": {"unit":"dig","value":0.00,"isparam":true,"minimum":0.00,"maximum":65535.00,"default":0.00,"category":"Motor","i":5},
"polepairs": {"unit":"","value":4.00,"isparam":true,"minimum":1.00,"maximum":16.00,"default":2.00,"category":"Motor","i":6},
"respolepairs": {"unit":"","value":2.00,"isparam":true,"minimum":1.00,"maximum":16.00,"default":1.00,"category":"Motor","i":7},
"encmode": {"unit":"0=Single, 1=AB, 2=ABZ, 3=SPI, 4=Resolver, 5=SinCos","value":4.00,"isparam":true,"minimum":0.00,"maximum":5.00,"default":0.00,"category":"Motor","i":8},
"fmax": {"unit":"Hz","value":200.00,"isparam":true,"minimum":21.00,"maximum":1000.00,"default":200.00,"category":"Motor","i":9},
"numimp": {"unit":"ppr","value":64.00,"isparam":true,"minimum":8.00,"maximum":8192.00,"default":60.00,"category":"Motor","i":10},
"dirchrpm": {"unit":"rpm","value":100.00,"isparam":true,"minimum":0.00,"maximum":20000.00,"default":100.00,"category":"Motor","i":11},
"dirmode": {"unit":"0=Button, 1=Switch, 2=ButtonReversed, 3=SwitchReversed, 4=DefaultForward","value":4.00,"isparam":true,"minimum":0.00,"maximum":4.00,"default":1.00,"category":"Motor","i":12},
"snsm": {"unit":"12=KTY83-110, 13=KTY84-130, 14=Leaf, 15=KTY81-110, 16=Toyota","value":13.00,"isparam":true,"minimum":12.00,"maximum":16.00,"default":12.00,"category":"Motor","i":13},
"pwmfrq": {"unit":"0=17.6kHz, 1=8.8kHz, 2=4.4KHz","value":2.00,"isparam":true,"minimum":0.00,"maximum":2.00,"default":1.00,"category":"Inverter","i":14},
"il1gain": {"unit":"dig/A","value":3.18,"isparam":true,"minimum":-100.00,"maximum":100.00,"default":4.68,"category":"Inverter","i":18},
"il2gain": {"unit":"dig/A","value":3.18,"isparam":true,"minimum":-100.00,"maximum":100.00,"default":4.68,"category":"Inverter","i":19},
"udcgain": {"unit":"dig/V","value":3.78,"isparam":true,"minimum":0.00,"maximum":4095.00,"default":6.15,"category":"Inverter","i":20},
"udcofs": {"unit":"dig","value":327.00,"isparam":true,"minimum":0.00,"maximum":4095.00,"default":0.00,"category":"Inverter","i":21},
"udclim": {"unit":"V","value":540.00,"isparam":true,"minimum":0.00,"maximum":1000.00,"default":540.00,"category":"Inverter","i":22},
"snshs": {"unit":"0=JCurve, 1=Semikron, 2=MBB600, 3=KTY81, 4=PT1000, 5=NTCK45_2k2, 6=Leaf","value":0.00,"isparam":true,"minimum":0.00,"maximum":6.00,"default":0.00,"category":"Inverter","i":23},
"pinswap": {"unit":"0=None, 1=Currents12, 2=SinCos, 4=PWMOutput13, 8=PWMOutput23","value":4.00,"isparam":true,"minimum":0.00,"maximum":15.00,"default":0.00,"category":"Inverter","i":24},
"bmslimhigh": {"unit":"%","value":50.00,"isparam":true,"minimum":0.00,"maximum":100.00,"default":50.00,"category":"Derating","i":25},
"bmslimlow": {"unit":"%","value":-1.00,"isparam":true,"minimum":-100.00,"maximum":0.00,"default":-1.00,"category":"Derating","i":26},
"udcmin": {"unit":"V","value":45.00,"isparam":true,"minimum":0.00,"maximum":1000.00,"default":450.00,"category":"Derating","i":27},
"udcmax": {"unit":"V","value":520.00,"isparam":true,"minimum":0.00,"maximum":1000.00,"default":520.00,"category":"Derating","i":28},
"idcmax": {"unit":"A","value":5000.00,"isparam":true,"minimum":0.00,"maximum":5000.00,"default":5000.00,"category":"Derating","i":29},
"idcmin": {"unit":"A","value":-5000.00,"isparam":true,"minimum":-5000.00,"maximum":0.00,"default":-5000.00,"category":"Derating","i":30},
"tmphsmax": {"unit":"°C","value":150.00,"isparam":true,"minimum":50.00,"maximum":150.00,"default":85.00,"category":"Derating","i":31},
"tmpmmax": {"unit":"°C","value":300.00,"isparam":true,"minimum":70.00,"maximum":300.00,"default":300.00,"category":"Derating","i":32},
"throtmax": {"unit":"%","value":100.00,"isparam":true,"minimum":0.00,"maximum":100.00,"default":100.00,"category":"Derating","i":33},
"throtmin": {"unit":"%","value":-100.00,"isparam":true,"minimum":-100.00,"maximum":0.00,"default":-100.00,"category":"Derating","i":34},
"chargemode": {"unit":"0=Off, 3=Boost, 4=Buck","value":0.00,"isparam":true,"minimum":0.00,"maximum":4.00,"default":0.00,"category":"Charger","i":35},
"chargecur": {"unit":"A","value":0.00,"isparam":true,"minimum":0.00,"maximum":50.00,"default":0.00,"category":"Charger","i":36},
"chargekp": {"unit":"dig","value":80.00,"isparam":true,"minimum":0.00,"maximum":100.00,"default":80.00,"category":"Charger","i":37},
"chargeki": {"unit":"dig","value":10.00,"isparam":true,"minimum":0.00,"maximum":100.00,"default":10.00,"category":"Charger","i":38},
"chargeflt": {"unit":"dig","value":8.00,"isparam":true,"minimum":0.00,"maximum":10.00,"default":8.00,"category":"Charger","i":39},
"chargepwmin": {"unit":"%","value":0.00,"isparam":true,"minimum":0.00,"maximum":99.00,"default":0.00,"category":"Charger","i":40},
"chargepwmax": {"unit":"%","value":90.00,"isparam":true,"minimum":0.00,"maximum":99.00,"default":90.00,"category":"Charger","i":41},
"potmin": {"unit":"dig","value":0.00,"isparam":true,"minimum":0.00,"maximum":4095.00,"default":0.00,"category":"Throttle","i":42},
"potmax": {"unit":"dig","value":4095.00,"isparam":true,"minimum":0.00,"maximum":4095.00,"default":4095.00,"category":"Throttle","i":43},
"pot2min": {"unit":"dig","value":4095.00,"isparam":true,"minimum":0.00,"maximum":4095.00,"default":4095.00,"category":"Throttle","i":44},
"pot2max": {"unit":"dig","value":4095.00,"isparam":true,"minimum":0.00,"maximum":4095.00,"default":4095.00,"category":"Throttle","i":45},
"potmode": {"unit":"0=SingleRegen, 1=DualChannel, 2=CAN","value":0.00,"isparam":true,"minimum":0.00,"maximum":2.00,"default":0.00,"category":"Throttle","i":46},
"throtramp": {"unit":"%/10ms","value":100.00,"isparam":true,"minimum":0.09,"maximum":100.00,"default":100.00,"category":"Throttle","i":47},
"throtramprpm": {"unit":"rpm","value":20000.00,"isparam":true,"minimum":0.00,"maximum":20000.00,"default":20000.00,"category":"Throttle","i":48},
"throtcur": {"unit":"A/%","value":1.00,"isparam":true,"minimum":0.00,"maximum":10.00,"default":1.00,"category":"Throttle","i":49},
"brknompedal": {"unit":"%","value":-50.00,"isparam":true,"minimum":-100.00,"maximum":0.00,"default":-50.00,"category":"Regen","i":50},
"regenramp": {"unit":"%/10ms","value":100.00,"isparam":true,"minimum":0.09,"maximum":100.00,"default":100.00,"category":"Regen","i":51},
"brknom": {"unit":"%","value":30.00,"isparam":true,"minimum":0.00,"maximum":100.00,"default":30.00,"category":"Regen","i":52},
"brkmax": {"unit":"%","value":-30.00,"isparam":true,"minimum":-100.00,"maximum":0.00,"default":-30.00,"category":"Regen","i":53},
"brkcruise": {"unit":"%","value":-30.00,"isparam":true,"minimum":-100.00,"maximum":0.00,"default":-30.00,"category":"Regen","i":54},
"brkrampstr": {"unit":"Hz","value":10.00,"isparam":true,"minimum":0.00,"maximum":400.00,"default":10.00,"category":"Regen","i":55},
"brkout": {"unit":"%","value":-50.00,"isparam":true,"minimum":-100.00,"maximum":-1.00,"default":-50.00,"category":"Regen","i":56},
"idlespeed": {"unit":"rpm","value":-100.00,"isparam":true,"minimum":-100.00,"maximum":10000.00,"default":-100.00,"category":"Automation","i":57},
"idlethrotlim": {"unit":"%","value":50.00,"isparam":true,"minimum":0.00,"maximum":100.00,"default":50.00,"category":"Automation","i":58},
"idlemode": {"unit":"0=always, 1=nobrake, 2=cruise, 3=off","value":0.00,"isparam":true,"minimum":0.00,"maximum":3.00,"default":0.00,"category":"Automation","i":59},
"speedkp": {"unit":"","value":0.25,"isparam":true,"minimum":0.00,"maximum":100.00,"default":0.25,"category":"Automation","i":60},
"speedflt": {"unit":"","value":5.00,"isparam":true,"minimum":0.00,"maximum":16.00,"default":5.00,"category":"Automation","i":61},
"cruisemode": {"unit":"0=Button, 1=Switch, 2=CAN","value":0.00,"isparam":true,"minimum":0.00,"maximum":2.00,"default":0.00,"category":"Automation","i":62},
"udcsw": {"unit":"V","value":24.00,"isparam":true,"minimum":0.00,"maximum":1000.00,"default":330.00,"category":"Contactor Control","i":63},
"udcswbuck": {"unit":"V","value":540.00,"isparam":true,"minimum":0.00,"maximum":1000.00,"default":540.00,"category":"Contactor Control","i":64},
"tripmode": {"unit":"0=AllOff, 1=DcSwOn, 2=PrechargeOn, 3=AutoResume","value":0.00,"isparam":true,"minimum":0.00,"maximum":3.00,"default":0.00,"category":"Contactor Control","i":65},
"pwmfunc": {"unit":"0=tmpm, 1=tmphs, 2=speed, 3=speedfrq","value":0.00,"isparam":true,"minimum":0.00,"maximum":3.00,"default":0.00,"category":"Aux PWM","i":66},
"pwmgain": {"unit":"","value":100.00,"isparam":true,"minimum":-100000.00,"maximum":100000.00,"default":100.00,"category":"Aux PWM","i":67},
"pwmofs": {"unit":"dig","value":0.00,"isparam":true,"minimum":-65535.00,"maximum":65535.00,"default":0.00,"category":"Aux PWM","i":68},
"canspeed": {"unit":"0=250k, 1=500k, 2=800k, 3=1M","value":1.00,"isparam":true,"minimum":0.00,"maximum":3.00,"default":1.00,"category":"Communication","i":69},
"canperiod": {"unit":"0=100ms, 1=10ms","value":0.00,"isparam":true,"minimum":0.00,"maximum":1.00,"default":0.00,"category":"Communication","i":70},
"manualiq": {"unit":"A","value":0.00,"isparam":true,"minimum":-400.00,"maximum":400.00,"default":0.00,"category":"Testing","i":71},
"manualid": {"unit":"A","value":0.00,"isparam":true,"minimum":-400.00,"maximum":400.00,"default":0.00,"category":"Testing","i":72},
"version": {"unit":"4=4.97.R-foc","value":4.00,"isparam":false},
"hwver": {"unit":"0=Rev1, 1=Rev2, 2=Rev3, 3=Tesla, 4=TeslaM3, 5=BluePill, 6=Prius, 7=PriusMG1","value":6.00,"isparam":false},
"opmode": {"unit":"0=Off, 1=Run, 2=ManualRun, 3=Boost, 4=Buck, 5=Sine, 6=AcHeat","value":0.00,"isparam":false},
"lasterr": {"unit":"0=NONE, 1=OVERCURRENT, 2=THROTTLE1, 3=THROTTLE2, 4=CANTIMEOUT, 5=EMCYSTOP, 6=MPROT, 7=DESAT, 8=OVERVOLTAGE, 9=ENCODER, 10=PRECHARGE, 11=TMPHSMAX, 12=CURRENTLIMIT, 13=PWMSTUCK, 14=HICUROFS1, 15=HICUROFS2, 16=HIRESOFS, 17=LORESAMP, 18=TMPMMAX,","value":10.00,"isparam":false},
"status": {"unit":"0=None, 1=UdcLow, 2=UdcHigh, 4=UdcBelowUdcSw, 8=UdcLim, 16=EmcyStop, 32=MProt, 64=PotPressed, 128=TmpHs, 256=WaitStart","value":4.00,"isparam":false},
"udc": {"unit":"V","value":-2.37,"isparam":false},
"idc": {"unit":"A","value":0.00,"isparam":false},
"il1": {"unit":"A","value":0.00,"isparam":false},
"il2": {"unit":"A","value":0.00,"isparam":false},
"id": {"unit":"A","value":0.00,"isparam":false},
"iq": {"unit":"A","value":0.00,"isparam":false},
"ud": {"unit":"dig","value":0.00,"isparam":false},
"uq": {"unit":"dig","value":0.00,"isparam":false},
"heatcur": {"unit":"A","value":0.00,"isparam":false},
"fstat": {"unit":"Hz","value":0.00,"isparam":false},
"speed": {"unit":"rpm","value":0.00,"isparam":false},
"cruisespeed": {"unit":"rpm","value":-1.00,"isparam":false},
"turns": {"unit":"","value":0.00,"isparam":false},
"amp": {"unit":"dig","value":0.00,"isparam":false},
"angle": {"unit":"°","value":0.00,"isparam":false},
"pot": {"unit":"dig","value":1069.00,"isparam":false},
"pot2": {"unit":"dig","value":39.00,"isparam":false},
"potnom": {"unit":"%","value":0.00,"isparam":false},
"dir": {"unit":"-1=Reverse, 0=Neutral, 1=Forward","value":1.00,"isparam":false},
"tmphs": {"unit":"°C","value":31.53,"isparam":false},
"tmpm": {"unit":"°C","value":300.00,"isparam":false},
"uaux": {"unit":"V","value":12.15,"isparam":false},
"pwmio": {"unit":"","value":40960.00,"isparam":false},
"canio": {"unit":"1=Cruise, 2=Start, 4=Brake, 8=Fwd, 16=Rev, 32=Bms","value":0.00,"isparam":false},
"din_cruise": {"unit":"0=Off, 1=On, 2=na","value":0.00,"isparam":false},
"din_start": {"unit":"0=Off, 1=On, 2=na","value":1.00,"isparam":false},
"din_brake": {"unit":"0=Off, 1=On, 2=na","value":0.00,"isparam":false},
"din_mprot": {"unit":"0=Error, 1=Ok, 2=na","value":1.00,"isparam":false},
"din_forward": {"unit":"0=Off, 1=On, 2=na","value":0.00,"isparam":false},
"din_reverse": {"unit":"0=Off, 1=On, 2=na","value":0.00,"isparam":false},
"din_emcystop": {"unit":"0=Error, 1=Ok, 2=na","value":1.00,"isparam":false},
"din_ocur": {"unit":"0=Error, 1=Ok, 2=na","value":1.00,"isparam":false},
"din_desat": {"unit":"0=Error, 1=Ok, 2=na","value":1.00,"isparam":false},
"din_bms": {"unit":"0=Off, 1=On, 2=na","value":0.00,"isparam":false},
"cpuload": {"unit":"%","value":0.00,"isparam":false}
}

[manny]

if the angle graf is not responding to the motor rotating there is something wrong with the wiring of the resolver.

https://openinverter.org/wiki/Using_FOC_Software

[DIETZENBACH]

I run the motor successfuly in previous tests,and made some video clips. I think there should be some other fault,causing the problem.
Now the motor is turning very slowly in jittering motions ,but in mode : INVERTER HALTED, when pressed INVERTER STARTED the motor stops rumbling and turning.
It is somthing like reversed position of the commands.Now the reles/contactors are set to NO position, may be they cause some problem?

[uhi22]

As manny wrote: Care for the correct resolver functionality first, so that you get valid angle measurements when rotating by hand. Having random position measurement just leads to random results, even if on first look "yeah, it spins" feels good, it is not, as long as the angle measurement does not work.