MCF8316A: Rotate the motor at a fixed speed

Hi Team,

Could you fix the speed of the motor rotation? At present I found that once the load is added, the speed suddenly becomes larger (sometimes the speed becomes larger, the current also becomes higher, and the ABnormal BEMF error will be reported). This is my one of the parameters json. Could you provide some advice troublesomely. Thank you very much.

{"signature": "oneui-register-data","data": [
    [
      {"idx": 0,"id": "isd_config","value": "0x40000000"
      },
      {"idx": 1,"id": "rev_drive_config","value": "0x2835917F"
      },
      {"idx": 2,"id": "motor_startup1","value": "0x0B6A07D0"
      },
      {"idx": 3,"id": "motor_startup2","value": "0x2B066A90"
      },
      {"idx": 4,"id": "closed_loop1","value": "0x0C318134"
      },
      {"idx": 5,"id": "closed_loop2","value": "0x1AADA57D"
      },
      {"idx": 6,"id": "closed_loop3","value": "0x1C800003"
      },
      {"idx": 7,"id": "closed_loop4","value": "0x0EA3831E"
      },
      {"idx": 8,"id": "speed_profiles1","value": "0x00000000"
      },
      {"idx": 9,"id": "speed_profiles2","value": "0x00000000"
      },
      {"idx": 10,"id": "speed_profiles3","value": "0x00000000"
      },
      {"idx": 11,"id": "speed_profiles4","value": "0x00000000"
      },
      {"idx": 12,"id": "speed_profiles5","value": "0x00000000"
      },
      {"idx": 13,"id": "speed_profiles6","value": "0x00000000"
      }
    ],
    [
      {"idx": 0,"id": "fault_config1","value": "0x5FE80204"
      },
      {"idx": 1,"id": "fault_config2","value": "0x74000088"
      }
    ],
    [
      {"idx": 0,"id": "pin_config","value": "0x00000002"
      },
      {"idx": 1,"id": "device_config1","value": "0x00100000"
      },
      {"idx": 2,"id": "device_config2","value": "0x0000B000"
      },
      {"idx": 3,"id": "peri_config1","value": "0x40000000"
      },
      {"idx": 4,"id": "gd_config1","value": "0x00000100"
      },
      {"idx": 5,"id": "gd_config2","value": "0x00200000"
      }
    ],
    [
      {"idx": 0,"id": "ana_trim3","value": "0x48004800"
      },
      {"idx": 1,"id": "ana_trim4","value": "0x00000000"
      },
      {"idx": 2,"id": "ana_trim5","value": "0x8000002A"
      },
      {"idx": 3,"id": "ana_trim6","value": "0x00000000"
      },
      {"idx": 4,"id": "ana_trim7","value": "0x00000000"
      },
      {"idx": 5,"id": "ana_trim8","value": "0x00001433"
      },
      {"idx": 6,"id": "ana_trim9","value": "0x0049F7E1"
      },
      {"idx": 7,"id": "ana_trim10","value": "0x5374113C"
      }
    ],
    [
      {"idx": 0,"id": "int_algo_1","value": "0x00B9407D"
      },
      {"idx": 1,"id": "int_algo_2","value": "0x000001A7"
      }
    ],
    [
      {"idx": 0,"id": "gate_driver_fault_status","value": "0x00000000"
      },
      {"idx": 1,"id": "controller_fault_status","value": "0x00000000"
      }
    ],
    [
      {"idx": 0,"id": "algo_status","value": "0x00000000"
      },
      {"idx": 1,"id": "mtr_params","value": "0x00000000"
      },
      {"idx": 2,"id": "algo_status_mpet","value": "0x06000000"
      }
    ],
    [
      {"idx": 0,"id": "dev_ctrl","value": "0x20000000"
      }
    ],
    [
      {"idx": 0,"id": "algo_ctrl1","value": "0x9E8D0000"
      },
      {"idx": 1,"id": "algo_ctrl2","value": "0x00000000"
      },
      {"idx": 2,"id": "current_pi","value": "0x00053522"
      },
      {"idx": 3,"id": "speed_pi","value": "0x00000000"
      },
      {"idx": 4,"id": "dac_1","value": "0x00000000"
      },
      {"idx": 5,"id": "dac_2","value": "0x00000000"
      }
    ],
    [
      {"idx": 0,"id": "algorithm_state","value": "0x00000000"
      },
      {"idx": 1,"id": "fg_speed_fdbk","value": "0x7FFFFFFF"
      },
      {"idx": 2,"id": "bus_current","value": "0x00000000"
      },
      {"idx": 3,"id": "phase_current_a","value": "0x00000000"
      },
      {"idx": 4,"id": "phase_current_b","value": "0x00000000"
      },
      {"idx": 5,"id": "phase_current_c","value": "0x00000000"
      },
      {"idx": 6,"id": "csa_gain_feedback","value": "0x00010003"
      },
      {"idx": 7,"id": "voltage_gain_feedback","value": "0x00000002"
      },
      {"idx": 8,"id": "vm_voltage","value": "0x01A14000"
      },
      {"idx": 9,"id": "phase_voltage_va","value": "0x00000000"
      },
      {"idx": 10,"id": "phase_voltage_vb","value": "0x00000000"
      },
      {"idx": 11,"id": "phase_voltage_vc","value": "0x00000000"
      },
      {"idx": 12,"id": "sin_commutation_angle","value": "0x00000000"
      },
      {"idx": 13,"id": "cos_commutation_angle","value": "0x00000000"
      },
      {"idx": 14,"id": "ialpha","value": "0x00000000"
      },
      {"idx": 15,"id": "ibeta","value": "0x00000000"
      },
      {"idx": 16,"id": "valpha","value": "0x00000000"
      },
      {"idx": 17,"id": "vbeta","value": "0x00000000"
      },
      {"idx": 18,"id": "id","value": "0x00000000"
      },
      {"idx": 19,"id": "iq","value": "0x00000000"
      },
      {"idx": 20,"id": "vd","value": "0x00000000"
      },
      {"idx": 21,"id": "vq","value": "0x00000000"
      },
      {"idx": 22,"id": "iq_ref_rotor_align","value": "0x00000000"
      },
      {"idx": 23,"id": "speed_ref_open_loop","value": "0x00000000"
      },
      {"idx": 24,"id": "iq_ref_open_loop","value": "0x00000000"
      },
      {"idx": 25,"id": "speed_ref_closed_loop","value": "0x00000000"
      },
      {"idx": 26,"id": "id_ref_closed_loop","value": "0x00000000"
      },
      {"idx": 27,"id": "iq_ref_closed_loop","value": "0x00000000"
      },
      {"idx": 28,"id": "isd_state","value": "0x00000000"
      },
      {"idx": 29,"id": "isd_speed","value": "0x00000000"
      },
      {"idx": 30,"id": "ipd_state","value": "0x00000000"
      },
      {"idx": 31,"id": "ipd_angle","value": "0x00000000"
      },
      {"idx": 32,"id": "ed","value": "0x00000000"
      },
      {"idx": 33,"id": "eq","value": "0x00000000"
      },
      {"idx": 34,"id": "speed_fdbk","value": "0x00000000"
      },
      {"idx": 35,"id": "theta_est","value": "0x00000000"
      }
    ]
  ]
}

Thanks,

Susan Ren