ZHCUBU7C March 2024 – March 2025 MSPM0G3507
表 5-26 展示了用于配置电机启动设置 1 的寄存器。
| 位 | 字段 | 类型 | 复位 | 说明 |
|---|---|---|---|---|
| 31-30 | MTR_STARTUP_OPTION | R/W | 00b | 电机启动方法 0h = 对齐 1h = 双对齐 2h = IPD 3h = 慢速首循环 |
| 29-26 | ALIGN_SLOW_RAMP_RATE | R/W | 0h | 对齐、慢速首循环和开环电流升降速率 0h = 0.1A/s 1h = 1A/s 2h = 5A/s 3h = 10A/s 4h = 15A/s 5h = 25A/s 6h = 50A/s 7h = 100A/s 8h = 150A/s 9h = 200A/s Ah = 250A/s Bh = 500A/s Ch = 1000A/s Dh = 2000A/s Eh = 5000A/s Fh = 无限值 A/s |
| 25-22 | ALIGN_TIME | R/W | 0h | 对齐时间 0h = 10ms 1h = 50ms 2h = 100ms 3h = 200ms 4h = 300ms 5h = 400ms 6h = 500ms 7h = 750ms 8h = 1s 9h = 1.5s Ah = 2s Bh = 3s Ch = 4s Dh = 5s Eh = 7.5s Fh = 10s |
| 21-17 | ALIGN_OR_SLOW_CURRENT_ILIMIT | R/W | 00h | 对齐/慢速首循环期间的电流限制（占 CURRENT_BASE 的百分比） 0h = 7.5% 1h = 8.0% 2h = 8.5% 3h = 9.0% 4h = 9.5% 5h = 10% 6h = 11% 7h = 12% 8h = 13% 9h = 14% Ah = 15% Bh = 16% Ch = 17% Dh = 18% Eh = 20% Fh = 22.5% 10h = 25% 11h = 27.5% 12h = 30% 13h = 35% 14h = 40% 15h = 45% 16h = 50% 17h = 55% 18h = 60% 19h = 70% 1Ah = 75% 1Bh = 80% 1Ch = 85% 1Dh = 90% 1Eh = 95% 1Fh = 100% |
| 16-14 | IPD_CLK_FREQ | R/W | 000b | IPD 时钟频率 0h = 50Hz 1h = 100Hz 2h = 250Hz 3h = 500Hz 4h = 1000Hz 5h = 2000Hz 6h = 5000Hz 7h = 10000Hz |
| 13-7 | IPD_CURR_THR | R/W | 0h | IPD 电流限制 × CURRENT_BASE / 27 的 7 位值 |
| 6 | RESERVED | R/W | 0b | 保留 |
| 5-4 | IPD_ADV_ANGLE | R/W | 00b | IPD 超前角度 0h = 0° 1h = 30° 2h = 60° 3h = 90° |
| 3-2 | IPD_REPEAT | R/W | 00b | IPD 执行次数 0h = 1 次 1h = 平均 2 次 2h = 平均 3 次 3h = 平均 4 次 |
| 1 | OL_ILIMIT_CONFIG | R/W | 0b | 开环电流限值配置 0h = 由 OL_ILIMIT 定义的开环电流限值 1h = 由 ILIMIT 定义的开环电流限值 |
| 0 | IQ_RAMP_EN | R/W | 0b | Iq 在转换至闭环之前下降 0h = 禁用 Iq 下降 1h = 启用 Iq 下降 |