Hi, I'm using MC9S12ZVM and my motor is 6 pole pairs(12pole).
How can I calculates constant values SPEED_CALC_NUMERATOR, STALLCHECK_MIN_CMT_PERIOD, REQUIRED_RUN_SPEED ?
First of all, you would need to know motor parameters and start-up parameters from which you can calculate various speeds in Hz and rpm: nominal, max, min, electrical. Then you would need to calculate times and counts (at max speed) for one el. revolution and between two commutations. Also are needed following parameters - voltage to achieve min speed and last start period.
Using this paramaters, by mathematical operations, the constant values are calculated in integer and fractional form.
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