BIST Motor Test Module¶
Overview¶
The Motor test module verifies the functionality of KD240 starter kit.
Tests¶
The module contains seven self-validating functional tests. It uses py_foc_motor_ctrl library to create the motor control instance for calling member functions, such as getSpeed(), setOperationMode(), and so on.
run_qei_gate_drive_test() - In this test, QEI interface and motor gate drive is validated. The motor is spun in ‘Speed’ mode with rpm set to 1000 and the set speed is then compared with an average of 10 measured motor speed readings obtained by getSpeed() motor control function. The measured motor speed is expected to be within the error margin of 20% of the set speed to pass the test.
The config parameters for the test are described below:
label: The test label
speed: Motor speed to be set
run_motor_vlt_adc_fb_modeoff_test() - In this test, the ADC voltages are validated to read back near 0V when the motor is in the ‘Off’ mode. The ADC voltage feedback values of channels PhaseA, PhaseB, and PhaseC are measured using getVoltage() motor control function and verified to be below the predefined threshold value of 1V to pass the test.
The config parameter for the test is described below:
label: The test label
run_motor_vlt_adc_fb_modeopenloop_test() - In this test, the ADC voltages are validated to read back the voltage values in the predefined range in ‘Open Loop’ mode. The ADC voltage feedback values of channels PhaseA, PhaseB, and PhaseC are measured using getVoltage() motor control function. The measured voltages are averaged out of 100 samples of readings and verified to be in the range of 8V - 15V for each channel to pass the test.
The config parameters for the test are described below:
label: The test label
speed: Motor speed to be set
run_motor_curr_adc_fb_modeoff_test() - In this test, the ADC currents are validated to read back near 0A when the motor is in ‘Off’ mode. The ADC current feedback values of channels PhaseA, PhaseB, and PhaseC are measured using getCurrent() motor control function. The measured currents are averaged out of 100 samples of readings for each channel and verified to be below predefined threshold value of 0.05A for the test to pass.
The config parameter for the test is described below:
label: The test label
run_motor_curr_adc_fb_modeopenloop_test() - In this test, the ADC currents are validated to read back the current values in the predefined range in the ‘Open Loop’ mode. The ADC current feedback values of channels PhaseA, PhaseB, and PhaseC are measured using getCurrent() motor control function. The measured currents are averaged out of 100 samples of readings for each channel and verified to be in the range of 0.01A - 0.5A for the test to pass.
The config parameters for the test are described below:
label: The test label
speed: Motor speed to be set
run_motor_dc_link_volt_adc_fb_test() - In this test, the DC link voltage is validated to be near 24V when the power supply is plugged in the motor ‘Off’ mode. The DC link voltage is measured using getVoltage() motor control function. The measured voltage is averaged out of 10 samples of readings and verified to be in the range of 22.8V - 25.2V for the test to pass.
The config parameter for the test is described below:
label: The test label
run_motor_dc_link_curr_adc_fb_test() - In this test, the DC link current is validated to be near 0A in the ‘Off’ mode. The DC link current is measured using getCurrent() motor control function. The measured current is averaged out of 10 samples of readings and verified to be below predefined threshold value of 0.6A for the test to pass.
The config parameter for the test is described below:
label: The test label
Test Dependencies¶
Some of the above tests include dependency tests that are run prior to the main test. The test dependencies are summarized in the following table. The dependency tests must pass before the main test is run to ensure the results from the main test are accurate. If a dependency test fails, the main test is aborted.
| Test | Dependency |
|---|---|
| qei_gate_drive_test | dc_link_volt_adc_fb_test |
| volt_adc_fb_modeopenloop_test | dc_link_volt_adc_fb_test, qei_gate_drive_test |
| curr_adc_fb_modeopenloop_test | dc_link_volt_adc_fb_test, qei_gate_drive_test |
Test Execution¶
The example commands for this module are provided below (KD240):
pytest-3 --board kd240 -m motor // Run all tests in this module
pytest-3 --board kd240 -k qei_gate_drive_test // Run QEI interface test in 'Speed' mode
pytest-3 --board kd240 -k volt_adc_fb_modeoff_test // Run motor voltage ADC feedback test in 'Off' mode
pytest-3 --board kd240 -k volt_adc_fb_modeopenloop_test // Run motor voltage ADC feedback test in 'Open Loop' mode
pytest-3 --board kd240 -k curr_adc_fb_modeoff_test // Run motor current ADC feedback test in 'Off' mode
pytest-3 --board kd240 -k curr_adc_fb_modeopenloop_test // Run motor current ADC feedback test in 'Open Loop' mode
pytest-3 --board kd240 -k dc_link_volt_adc_fb_test // Run DC link voltage ADC feedback test in 'Off' mode
pytest-3 --board kd240 -k dc_link_curr_adc_fb_test // Run DC link current ADC feedback test in 'Off' mode
The test prints out the messages indicating the motor mode and readings of the motor object for each test.
Test Debug¶
Make sure to load the BIST firmware before running the motor tests as motor hls_foc_periodic device is not detected otherwise.
Known Issues and Limitations¶
The motor test is limited to verifying the functionalities specified in the configuration file on loading the BIST firmware only.
The established threshold values or ranges are based on the outputs observed during experimentation. The values might differ slightly from board to board.