[quote userid="578806" url="~/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1424244/tms320f2800157-48v-encoder-motor-sometimes-running-in-uncontrolled-maximum-speed---alignment-issues/5618692#5618692"]1. Actually, in our custom board we have not used the snubber circuit, and this hardware is already proved one and we are testing using universal motor code.[/quote] What do you mean, statement is unclear what proved one even is. Just because Hall motor does not have issues does not mean EMI is excessive on encoder motor. Read the PDF above for clarity, typically solder a snubber cap across high side drain to low side source on each half bridge. You can never really be sure about encoder interrupt priority causing anticlockwise unless disabling the encoder interrupt test FOC mode into closed loop even stops runaway speed. [quote userid="578806" url="~/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1424244/tms320f2800157-48v-encoder-motor-sometimes-running-in-uncontrolled-maximum-speed---alignment-issues/5618692#5618692"] if motor makes one clockwise movement ( even 5-degree rotor rotation ) and then it will try to rotate in anticlockwise ( mentioned direction ) and suddenly it is going to uncontrolled speed. [/quote] Perhaps adjust the alignment/force delta currents (user_motor1.h) for the encoder motor. If it set a bit to high odd startup behavior can be expected. Yet I would suspect the fast estimator is not always getting encoder data during the initial startup time due to interrupt priory. You could try to disable the encoder interrupt until the motor enters closed loop and stable (warmed up), >5Hz acceleration then enable the encoder interrupt. #define USER_MOTOR1_FORCE_DELTA_A (0.032f) // A 15% ALC (0.05f) #define USER_MOTOR1_ALIGN_DELTA_A (0.015f) // A 5% ALC (0.01f) [quote userid="578806" url="~/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1424244/tms320f2800157-48v-encoder-motor-sometimes-running-in-uncontrolled-maximum-speed---alignment-issues/5617377#5617377"]6. Can you please mention in detail, how to disable this encoder interrupt during motor identification.[/quote] You have to check C code, perhaps (hal.c/h) or wherever the encoder is being configured or enable flag set enable. Search for TI Wiki C2000 ePIE interrupt nesting priority ordering to give more information on priory orders and refer to interrupt tables shown in TRM for x157 MCU. C28x Interrupt Nesting
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