1. Set the AC source output to 0 V at 50/60Hz, turn on the AC power supply, slowly increase the input voltage from 0-V to 220-V AC.
2. The required motor parameters must be defined in the user_mtr1.h header file as shown in the following example code. If the motor parameters are not well know by the user, the motor identification can be used to achieve the motor parameters if the FAST estimator is implemented in the example lab.

   #define USER_MOTOR1_TYPE MOTOR_TYPE_PM
   #define USER_MOTOR1_NUM_POLE_PAIRS (4)
   #define USER_MOTOR1_Rr_Ohm (NULL)
   #define USER_MOTOR1_Rs_Ohm (0.38157931f)
   #define USER_MOTOR1_Ls_d_H (0.000188295482f)
   #define USER_MOTOR1_Ls_q_H (0.000188295482f)
   #define USER_MOTOR1_RATED_FLUX_VpHz (0.0396642499f)

3. Changes the userParams.flag_bypassMotorId value to "false"in the sys_main.c file to enable the motor identification as the following example code.

   // false->enable identification, true->disable identification
       userParams_M1.flag_bypassMotorId = false;

4. Set the right identification variables value in the user_mtr1.h file according to the motor specification.

   #define USER_MOTOR1_RES_EST_CURRENT_A       (1.5f)      // A - 10~30% of rated current of the motor
   #define USER_MOTOR1_IND_EST_CURRENT_A       (-1.0f)     // A - 10~30% of rated current of the motor, just enough to enable rotation
   #define USER_MOTOR1_MAX_CURRENT_A           (4.5f)      // A - 30~150% of rated current of the motor
   #define USER_MOTOR1_FLUX_EXC_FREQ_Hz        (40.0f)     // Hz - 10~30% of rated frequency of the motor

5. Rebuild the project and load the code into the controller, run the project by clicking on button , or click Run → Resume in the Debug tab. The systemVars.flagEnableSystem should be set to 1 after a fixed time, that means the offsets calibration have been done and the power relay for inrush is turned on. The fault flags motorVars_M1.faultMtrUse.all should be equal to '0' , if not, the user should check the current and voltage sensing circuit as described in Section 3.5.1.
6. Set the variable motorVars_M1.flagEnableRunAndIdentify to' 1 in the Expressions window as shown in Figure 3-46, the motor identification will be executed, the whole process will take about 150s. Once motorVars_M1.flagEnableRunAndIdentify is equal to 0 and the motor is stopping, the motor parameters have been identified. Copy the variables value in the watch window to replace the defined motor parameters in the user_mtr1.h file as follows:
   • USER_MOTOR1_Rs_Ohm = motorSetVars_M1.Rs_Ohm’s value
   • USER_MOTOR1_Ls_d_H = motorSetVars_M1.Ls_d_H’s value
   • USER_MOTOR1_Ls_q_H = motorSetVars_M1.Ls_q_H’s value
   • USER_MOTOR1_RATED_FLUX_VpHz = motorSetVars_M1.flux_VpHz’s value
7. Set userParams_M1.flag_bypassMotorId value to 'true' to disable identification after successfully identify the motors parameters, rebuild the project and load the code into the controller.
8. The example can support online identify the motor without reloading the code as the following steps.
   1. Set the motorVars_M1.flagEnableRunAndIdentify to' 0' to stop run the motor.
   2. Set the motorVars_M1.flagEnableMotorIdentify to '1' to enable identification.
   3. Set the motorVars_M1.flagEnableRunAndIdentify to' 1' to start identify motor parameters. The motorVars_M1.flagEnableMotorIdentify will be set to '0' automatically that means the identification is in processing.
   4. As described in the step 6 above, the new motor parameters will be identified.
9. Once complete motor parameters identification or set the correct the motor parameters in the user_mtr1.h file. To start run the motor as the following steps.
   1. Set the variables motorVars_M1.flagEnableRunAndIdentify equal to 1 again to start run the motor.
   2. Set the target speed value to the variable motorVars_M1.speedRef_Hz and watch how the motor shaft speed will follow the setting speed.
   3. To change the acceleration, enter a different acceleration value for the variable motorVars_M1.accelerationMax_Hzps.
   4. Use PWMDAC or DAC128S module to display the monitoring variables as described in Section 3.4.2 or Section 3.4.3. The motor angle and current waveforms are shown in Figure 3-47.
10. The default proportional gain (Kp) and integral gain (Ki) for the current controllers of the FOC system are calculated in the function setupControllers(). After setupControllers() is called, the global variables motorSetVars_M1.Kp_Id, motorSetVars_M1.Ki_Id, motorSetVars_M1.Kp_Iq, and motorSetVars_M1.Ki_Iq are initialized with the newly calculated Kp and Ki gains. Tune the Kp and Ki value of these four variables in Expressions Watch Window as shown in Figure 3-46 for the current controllers to achieve the expected current control bandwidth and response. The Kp gain creates a zero that cancels the pole of the motor’s stator and can easily be calculated. The Ki gain adjusts the bandwidth of the current controller-motor system. When a speed controlled system is needed for a certain damping, the Kp gain of the current controller will relate to the time constant of the speed controlled system.
11. The default proportional gain (Kp) and integral gain (Ki) for the speed controllers of the FOC system are also calculated in the function setupControllers(). After setupControllers() is called, the global variables motorSetVars_M1.Kp_spd and motorSetVars_M1.Ki_spd are initialized with the newly calculated Kp and Ki gains. Tune the Kp and Ki value of these two variables in Expressions Watch Window as shown in Figure 3-46 for the speed controllers to achieve the expected current control bandwidth and response. Tuning the speed controller has more unknowns than when tuning a current controller, the default calculated Kp and Ki is just a reference value as a starting point.
12. Set the variables motorVars_M1.flagEnableRunAndIdentify to '0' to stop run the motor.
13. Once complete, the controller can now be halted and the debug connection terminated. Fully halting the controller by first clicking the Halt button on the toolbar or by clicking Target → Halt. Finally, reset the controller by clicking on or clicking Run → Reset.
14. Close CCS debug session by clicking on Terminate Debug Session or clicking Run → Terminate.

Use DAC128S085EVM with an oscilloscope to monitor rotor angle of the motor from the FAST estimator, feedback speed of the motor, and a phase current of the motor as shown in Figure 3-47 when the motor is running at forward rotation by setting motorVars_M1.speedRef_Hz to a positive reference value.

As illustrated in Section 3.3.2, multiple FOC algorithms can be supported in the example lab. The user can use one or two algorithm for motor control in the lab project as shown in Table 3-7.

The user can implement FAST and eSMO estimators in the project simultaneously by adding the pre-define name 'MOTOR1_FAST' and 'MOTOR1_ESMO' in project properties as described in Section 3.3.1. Rebuild, load and run the project as the operation steps above. The settings will be as shown in Figure 3-46.

• The systemVars.estType value equals to EST_TYPE_FAST_ESMO that means FAST and eSMO estimators are enabled in this project.
• The motorVars_M1.estimatorMode equals to ESTIMATOR_MODE_FAST that means the FAST estimator is using for sensorless-FOC, equals to ESTIMATOR_MODE_ESMO that means the eSMO estimator is using for sensorless-FOC.
• The estimated rotor angles from FAST and eSMO are shown in Figure 3-48. The motor is running with FAST at forward rotation by setting motorVars_M1.speedRef_Hz to a positive value.
• The estimated rotor angles from FAST and eSMO are shown in Figure 3-52. The motor is running with FAST at reversal rotation by setting motorVars_M1.speedRef_Hz to a negative value.
• The user can change the value to ESTIMATOR_MODE_ESMO to select the eSMO estimator for sensorless-FOC. And also the user can change the value to switch the using estimator on the fly.

Use DAC128S085EVM with an oscilloscope to monitor rotor angle of the motor from the FAST and eSMO estimator, and a phase current of the motor as shown in Figure 3-48 when the motor is running at forward rotation by setting motorVars_M1.speedRef_Hz to a positive reference value.

Use DAC128S085EVM with an oscilloscope to monitor rotor angle of the motor from the FAST and eSMO estimator, and a phase current of the motor as shown in Figure 3-49 when the motor is running at reversal rotation by setting motorVars_M1.speedRef_Hz to a negative reference value.

The user can implement FAST and Encoder estimators in the project simultaneously by adding the pre-define name 'MOTOR1_FAST' and 'MOTOR1_ENC' in project properties as described in Section 3.3.1. Rebuild, load and run the project as the operation steps above.

• The systemVars.estType value equals to EST_TYPE_FAST_ENC that means FAST and Encoder estimators are enabled in this project.
• The motorVars_M1.estimatorMode equals to ESTIMATOR_MODE_FAST that means the FAST estimator is using for sensorless-FOC, equals to ESTIMATOR_MODE_ENC that means the encoder estimator is using for sensored-FOC.
• The estimated rotor angles from FAST and Encoder are shown in Figure 3-50. The motor is running with FAST at forward rotation by setting motorVars_M1.speedRef_Hz to a positive value.
• The user can change the value to ESTIMATOR_MODE_ENC to select the Encoder estimator for sensored-FOC. And also the user can change the value to switch the using estimator on the fly.

Use DAC128S085EVM with an oscilloscope to monitor rotor angle of the motor from the FAST estimator and encoder, and a phase current of the motor as shown in Figure 3-50 when the motor is running at forward rotation by setting motorVars_M1.speedRef_Hz to a positive reference value.

The user can implement FAST and Hall sensor estimators in the project simultaneously by adding the pre-define name 'MOTOR1_FAST' and 'MOTOR1_HALL' in project properties as described in Section 3.3.1. Rebuild, load and run the project as the operation steps above.

• The systemVars.estType value equals to EST_TYPE_FAST_HALL that means FAST and Hall sensor estimators are enabled in this project.
• The motorVars_M1.estimatorMode equals to ESTIMATOR_MODE_FAST that means the FAST estimator is using for sensorless-FOC, equals to ESTIMATOR_MODE_HALL that means the Hall sensor estimator is using for sensored-FOC.
• The estimated rotor angles from FAST and Hall sensor are shown in Figure 3-51. The motor is running with FAST at forward rotation by setting motorVars_M1.speedRef_Hz to a positive value.
• The estimated rotor angles from FAST and Hall sensor are shown in Figure 3-51. The motor is running with Hall sensor at reversal rotation by setting motorVars_M1.speedRef_Hz to a negative value.
• The user can change the value to ESTIMATOR_MODE_HALL to select the Hall sensor estimator for sensored-FOC. And also the user can change the value to switch the using estimator on the fly.

Use DAC128S085EVM with an oscilloscope to monitor rotor angle of the motor from the FAST estimator and Hall sensor, and a phase current of the motor as shown in Figure 3-51 when the motor is running at forward rotation by setting motorVars_M1.speedRef_Hz to a positive reference value.

Use DAC128S085EVM with an oscilloscope to monitor rotor angle of the motor from the FAST estimator and Hall sensor, and a phase current of the motor as shown in Figure 3-52 when the motor is running at reversal rotation by setting motorVars_M1.speedRef_Hz to a negative reference value.

The user can implement eSMO and Encoder estimators in the project simultaneously by adding the pre-define name 'MOTOR1_ESMO' and 'MOTOR1_ENC' in project properties as described in Section 3.3.1. Rebuild, load and run the project as the operation steps above.

• The systemVars.estType value equals to EST_TYPE_ESMO_ENC that means eSMO and Encoder estimators are enabled in this project.
• The motorVars_M1.estimatorMode equals to ESTIMATOR_MODE_ESMO that means the eSMO estimator is using for sensorless-FOC, equals to ESTIMATOR_MODE_ENC that means the encoder estimator is using for sensored-FOC.
• The estimated rotor angles from eSMO and Encoder are shown in Figure 3-53. The motor is running with eSMO at forward rotation by setting motorVars_M1.speedRef_Hz to a positive value.
• The user can change the value to ESTIMATOR_MODE_ENC to select the Encoder estimator for sensored-FOC. And also the user can change the value to switch the using estimator on the fly.

Use DAC128S085EVM with an oscilloscope to monitor rotor angle of the motor from the eSMO estimator and encoder, and a phase current of the motor as shown in Figure 3-53 when the motor is running at forward rotation by setting motorVars_M1.speedRef_Hz to a positive reference value.