Startup time is the time taken for the motor to reach the target speed from zero speed. For applications that require quick startup time, we recommend choosing either Initial Position Detection (IPD) or Slow first cycle as the startup method.

Option 1: Initial Position Detection (IPD)

Step 1: Select IPD [MTR_STARTUP] as the motor startup method.

Step 2: Increase IPD current threshold [IPD_CURR_THR] to rated current of the motor.

Step 3: Increase IPD clock value [IPD_CLK_FREQ] to higher frequency up to a value where the device does not trigger IPD frequency fault. Check Section 7.1.3 (Step 3) for more details.

Step 4: Select IPD repeating times [IPD_REPEAT] to 1 time.

Step 5: Select Open loop current limit [OL_ILIMIT] to be the same as Current limit for Torque PI Loop [ILIMIT].

Step 6: Increase Open loop acceleration coefficient A1 [OL_ACC_A1] and Open loop acceleration coefficient A2 [OL_ACC_A2].

Step 7: Select Minimum BEMF for handoff [AUTO_HANDOFF_MIN_BEMF] to 0mV.

If the device triggers Abnormal BEMF [ABN_BEMF] fault, then recommended to increase the [AUTO_HANDOFF_MIN_BEMF].

Step 8: Keep increasing ramp rate for reducing difference between estimated theta and open loop theta to 2 deg/ms.

Step 9: Increase Closed loop acceleration rate [CL_ACC]

Option 2: Slow first cycle

Step 1: Select Slow first cycle as the motor startup method in [MTR_STARTUP].

Step 2: Select Align or slow first cycle current limit [ALIGN_OR_SLOW_CURRENT_ILIMIT] to be the same as Current limit for Torque PI loop [ILIMIT].

Step 3: Keep increasing Align or slow first cycle current ramp rate [ALIGN_SLOW_RAMP_RATE] until the open loop current reaches 100% of the rated current of the motor.

Step 4: Follow Step 5 to Step 9 in Option 1.