MCF8316A: Can't get the motor running using I2C speed control.

Hello,

I'm using the MCF8316A on our own hardware to drive the UTS-19-A-30-A-N-000 motor from celeramotion.

I'm trying for some time now but can't get the motor to rotate continuously, I think the MCF8316A is stuck in the MPET routine, even when I configure the motor driver with MOTOR_RES, MOTOR_IND and MOTOR_BEMF_CONST. I also followed the steps described in the tuning guide SLLU335A chapter 3.6.2 without success.

I want to control the motor via the I2c interface. As soon as something is written to DIGITAL_SPEED_CTRL in ALGO_CTRL1, the motor turns about 90 degrees in about half a second and then stops. I measure 50% PWM on all motor phases. ALGORITHM_STATE in register 0x210 is set to 0x14.

After a few minutes a fault is set, register 0xE2 is set to 0x8100000 (MPET_BEMF_FAULT) and a MOTOR_MPET_FAULT is set in register 0x210.

I also couldn't find out what the unit of the DIGITAL_SPEED_CTRL is?

BR

Nicolas