Below are the steps to tune the motor to achieve faster startup time using IPD as the motor startup method:

1. Select IPD [MTR_STARTUP] as the motor startup method.
2. Increase IPD current threshold [IPD_CURR_THR] to rated current of the motor. Use equation 4 to choose the correct IPD_CURR_THR.
3. Increase IPD clock value [IPD_CLK_FREQ] to higher frequency up to a value where the device does not trigger IPD frequency fault.
4. Select IPD repeating times [IPD_REPEAT] to 1 time.
5. Configure IPD release mode [IPD_RLS_MODE] to Tri state.
6. Select Open loop current limit [OL_ILIMIT] to be the same as cycle by cycle current limit [ILIMIT].
   Note: If the device triggers cycle by cycle current limit [CBC_ILIMIT], it is recommended to increase [ILIMIT] upto the stall current of the motor. Configuring this to a value higher than motor stall current might overheat or damage the motor.
7. Increase Open loop acceleration coefficient A1 [OL_ACC_A1] and Open loop acceleration coefficient A2 [OL_ACC_A2].
   Note: A1 and A2 can be increased until open loop current reaches Lock detection current threshold [LOCK_ILIMIT]. Open loop current can be measured using oscilloscope.

   Increasing Open loop acceleration coefficient A1 [OL_ACC_A1] and Open loop acceleration coefficient A2 [OL_ACC_A2] might trigger LOCK_LIMIT or CBC_ILIMIT. If this happens, reduce A1 and A2 until LOCK_LIMIT no longer triggers.

For ultra-fast startup time (less than 100 ms) it is recommended to follow below steps:

1. Disable auto-handoff [AUTO_HANDOFF].
2. Configure Open loop handoff cycles [OL_HANDOFF_CYCLES] to 3.
3. Configure INTEG_ZC_METHOD to Integration.
4. Enable Dynamic degauss [DYN_DEGAUSS_EN].
5. Configure open to closed loop handoff threshold [OPN_CL_HANDOFF_THR] to a value lesser than or equal to 20 Hz.

For startup times above 100 ms, it is recommended to follow below steps:

1. Enable auto-handoff [AUTO_HANDOFF].
2. Configure Open loop handoff cycles [OL_HANDOFF_CYCLES] to 6.
3. Enable Dynamic degauss [DYN_DEGAUSS_EN].
   Note: If Abnormal speed fault [ABN_SPEED] gets triggered, it is recommended to decrease open loop acceleration constants [OL_ACC_A1] and [OL_ACC_A2] and also retune IPD by increasing the IPD current threshold [IPD_CURR_THR] and IPD repeat times [IPD_REPEAT].
4. Increase Closed loop acceleration rate [CL_ACC].
   Note: Closed loop acceleration rate [CL_ACC] can be increased until closed loop current reaches Lock detection current threshold [LOCK_ILIMIT]. Closed loop current can be measured using oscilloscope. Increasing closed loop acceleration rate [CL_ACC] might trigger LOCK_LIMIT. If this happens, reduce closed loop acceleration rate [CL_ACC] until no longer triggers.

Figure 2-2 shows the phase current, FG and Speed curve when the motor is started using IPD as the startup method. Time taken for the motor to accelerate to 100% duty cycle is around 35 ms.

Figure 2-2 Startup Time Using IPD as Motor Startup Method