{"id":13445,"date":"2022-11-14T13:28:13","date_gmt":"2022-11-14T13:28:13","guid":{"rendered":"https:\/\/imperix.com\/doc\/?p=13445"},"modified":"2026-01-19T14:36:22","modified_gmt":"2026-01-19T14:36:22","slug":"motor-testbench-quick-start-guide","status":"publish","type":"post","link":"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide","title":{"rendered":"Motor Testbench quick start guide"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 ez-toc-wrap-right-text counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#Setting-up-the-motor-testbench\" >Setting up the motor testbench<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#Wiring-the-motor-testbench-to-the-power-stage\" >Wiring the motor testbench to the power stage<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#Wiring-of-the-control-stage\" >Wiring of the control stage<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#Commissioning-the-motor-testbench\" >Commissioning the motor testbench<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#Safety-considerations\" >Safety considerations<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#Test-1-no-load-test-in-open-loop\" >Test 1: no load test in open-loop<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#Test-2-load-test\" >Test 2: load test<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#To-go-further%E2%80%A6\" >To go further&#8230;<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#%E2%80%A6-with-the-motor-testbench\" >&#8230; with the motor testbench<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/imperix.com\/doc\/help\/motor-testbench-quick-start-guide\/#%E2%80%A6-with-the-motor-interface\" >&#8230; with the motor interface<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n\n<p>This page explains how to get started with the <a href=\"https:\/\/imperix.com\/products\/electric-motor-drive-bundle\/\">motor drive bundle<\/a> and the motor testbench. It provides a comprehensive overview of the hardware configuration and step-by-step instructions to commission the equipment.<\/p>\n\n\n\n<p>The bundle includes all the necessary equipment to operate the induction machine (IM) and the permanent magnet synchronous machine (PMSM) in a back-to-back configuration. It covers the entire motor-drive system from the digital controller to the power stage and the motors. In this type of setup, one machine can serve as the device under test (DUT), while the other one acts as a programmable mechanical load. The current page covers only the default configuration of the bundle, but a wide range of topologies can be explored thanks to the flexibility of imperix&#8217;s solutions. For more details on other possible topologies, please refer to the page <a href=\"https:\/\/imperix.com\/doc\/help\/variable-speed-drive\">How to build a variable speed drive<\/a>.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"451\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Integration-dual-drive-cabinet.png\" alt=\"Illustration of the motor drive cabinet and the motor testbench\" class=\"wp-image-13588\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Integration-dual-drive-cabinet.png 800w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Integration-dual-drive-cabinet-300x169.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Integration-dual-drive-cabinet-768x433.png 768w\" sizes=\"auto, (max-width: 800px) 100vw, 800px\" \/><figcaption class=\"wp-element-caption\">Default configuration of the motor drive bundle<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-setting-up-the-motor-testbench\"><span class=\"ez-toc-section\" id=\"Setting-up-the-motor-testbench\"><\/span>Setting up the motor testbench<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>The default content of the electric motor drive bundle is listed below:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/imperix.com\/products\/control\/rapid-prototyping-controller\/\">Programmable controller<\/a> (B-Box RCP)<\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/wp-content\/uploads\/document\/Motor_interface_Datasheet.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">Motor Interface for B-Box RCP<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/software\/acg-sdk\">ACG SDK toolbox<\/a> for automated generation of the controller code from Simulink or PLECS<\/li>\n\n\n\n<li>6x\u2009<a href=\"https:\/\/imperix.com\/products\/power\/half-bridge-module\/\">phase-leg modules<\/a> (PEB8038)<\/li>\n\n\n\n<li>Motor Testbench, including an induction machine and a permanent magnet synchronous machine (see the <a href=\"https:\/\/cdn.imperix.com\/wp-content\/uploads\/document\/Motor_testbench_Datasheet.pdf\">datasheet<\/a>)<\/li>\n\n\n\n<li>Reversible DC source (third-party)<\/li>\n\n\n\n<li>All necessary <a href=\"https:\/\/imperix.com\/products\/control\/accessories\/#cables\">RJ45 and fiber optic<\/a> cables<\/li>\n\n\n\n<li>Laboratory safety cables (similar to <a href=\"https:\/\/www.distrelec.ch\/en\/safety-test-lead-2m-black-1kv-nickel-plated-staeubli-electrical-connectors-28-0125-20021\/p\/30136329\" target=\"_blank\" rel=\"noreferrer noopener\">this one<\/a>)<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-warning\" role=\"alert\">The knowledge base provides multiple turn-key code examples for the <strong>default configuration<\/strong> of the motor drive bundle. If the user makes any modifications to the wiring schemes shown in this quick start guide, the code examples must be modified accordingly.<\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-wiring-the-motor-testbench-to-the-power-stage\"><span class=\"ez-toc-section\" id=\"Wiring-the-motor-testbench-to-the-power-stage\"><\/span>Wiring the motor testbench to the power stage<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>By default, imperix pre-wires the power stage as two inverters with a shared DC bus, as shown in the image below. With this topology, one machine operates as a motor and the other one as a generator. The power circulates in a loop through the DC bus and the shaft, and the DC source compensates for the losses of the system.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"607\" height=\"176\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Shared-DC-link.png\" alt=\"Default power stage topology\" class=\"wp-image-13589\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Shared-DC-link.png 607w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Shared-DC-link-300x87.png 300w\" sizes=\"auto, (max-width: 607px) 100vw, 607px\" \/><figcaption class=\"wp-element-caption\">Default topology of the power stage<\/figcaption><\/figure>\n<\/div>\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p>The DC bus is already connected to the DC source out of the box. However, the user must connect the machines to the cabinet themselves, as the motor testbench is shipped on a separate pallet. The image on the right illustrates how to connect the machines to their respective inverter. <em>(Note: the center point of the windings of the IM (blue connector) is left unconnected in the topology considered on this page).<\/em>  Additionally, the built-in brake of the PMSM must be connected to the brake control unit of the motor interface. Make sure to observe the polarity of the brake.<\/p>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-warning\" role=\"alert\">The cabinet and the motor testbench must be connected to the earth to ensure the electrical safety of the system and optimal EMC performance. Additionally, earthing cables should be as short as possible and connected to a common ground to avoid ground loops.<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"646\" height=\"994\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/armoire-motor-test-bench_Back-1.png\" alt=\"Wiring of the power stage to the motor testbench.\" class=\"wp-image-13601\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/armoire-motor-test-bench_Back-1.png 646w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/armoire-motor-test-bench_Back-1-195x300.png 195w\" sizes=\"auto, (max-width: 646px) 100vw, 646px\" \/><figcaption class=\"wp-element-caption\">Wiring of the power stage and earthing connection.<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">The third-party DC source included in the bundle ships with a 400V\/32A IEC60309 plug (3P+N+PE). Additionally, the auxiliary power is supplied through a 230V\/10A plug. Equivalent cables are provided depending on the destination country.<\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-wiring-of-the-control-stage\"><span class=\"ez-toc-section\" id=\"Wiring-of-the-control-stage\"><\/span>Wiring of the control stage<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>The B-Box controller generates the control signals for the converter (PWM gate signals), based on measured feedbacks (motor currents and DC bus voltage). The gate signals are transmitted to the PEB 8038 modules through optical fibers, whereas the motor currents and the DC bus voltage &#8211; measured by the sensors embedded on the PEB 8038 modules &#8211; are fed back to the controller through RJ45 cables. The following schematics indicate the assignation of the analog and PWM channels (pre-wired out of the box).<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"2458\" height=\"748\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_labelling.jpg\" alt=\"ADC and PWM channels assignations on the B-Box.\" class=\"wp-image-13514\" style=\"width:622px;height:189px\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_labelling.jpg 2458w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_labelling-300x91.jpg 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_labelling-1024x312.jpg 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_labelling-768x234.jpg 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_labelling-1536x467.jpg 1536w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_labelling-2048x623.jpg 2048w\" sizes=\"auto, (max-width: 2458px) 100vw, 2458px\" \/><figcaption class=\"wp-element-caption\">Channel assignation on the B-Box<\/figcaption><\/figure>\n<\/div>\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"2127\" height=\"1333\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Rack_labelling.jpg\" alt=\"ADC and PWM channels assignations of the converters.\" class=\"wp-image-13515\" style=\"width:559px;height:349px\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Rack_labelling.jpg 2127w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Rack_labelling-300x188.jpg 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Rack_labelling-1024x642.jpg 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Rack_labelling-768x481.jpg 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Rack_labelling-1536x963.jpg 1536w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Rack_labelling-2048x1283.jpg 2048w\" sizes=\"auto, (max-width: 2127px) 100vw, 2127px\" \/><figcaption class=\"wp-element-caption\">Channel assignation on the converter rack<\/figcaption><\/figure>\n<\/div>\n\n\n<div style=\"height:9px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<p>The figure below illustrates how to wire the measurements from the motor testbench to the motor interface box. The green cable of the PMSM, that combines the resolver and temperature measurements, goes in connector X7, and the temperature measurement of the IM (grey cable) goes to the connector X2. Finally, the torque sensor must be connected to X5.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"336\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Motor-Interface-Front-2.png\" alt=\"Connecting the measurements of the motor testbench to the motor interface.\" class=\"wp-image-13590\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Motor-Interface-Front-2.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Motor-Interface-Front-2-300x98.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/Motor-Interface-Front-2-768x252.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\"><em>Connection of the motor measurements to the Motor Interface<\/em><\/figcaption><\/figure>\n\n\n\n<p>The motor interface is connected to the B-Box through VHDCI Inputs (B) with the provided cable.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"350\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_Motor-Interface.png\" alt=\"Illustration of connection between the motor interface and the B-Box.\" class=\"wp-image-13541\" style=\"width:762px;height:259px\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_Motor-Interface.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_Motor-Interface-300x103.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/B-Box_Motor-Interface-768x263.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">Connecting the motor interface to the B-Box<\/figcaption><\/figure>\n<\/div>\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-warning\" role=\"alert\">An emergency stop button can be connected to the motor interface through its INTERLOCK input. This button is optional and not included with the interface. If not used, it must be replaced by the included dummy plug to avoid reporting a fault to the B-Box (please refer to the <a href=\"https:\/\/imperix.com\/wp-content\/uploads\/document\/Motor_interface_Datasheet.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">motor interface datasheet<\/a> for more details).<\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-commissioning-the-motor-testbench\"><span class=\"ez-toc-section\" id=\"Commissioning-the-motor-testbench\"><\/span>Commissioning the motor testbench<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>The motor testbench is a complex system to drive with multiple converters, control loops, and mechanical elements. Thus, imperix recommends proceeding step-by-step to simplify the commissioning.<\/p>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">The B-Box controller can be programmed either in C++ or with Automated Code Generation (ACG) tools from Simulink and PLECS. In this section, the code examples are implemented with Simulink. If you are not familiar with the code generation feature of Simulink, please refer to the <a href=\"https:\/\/imperix.com\/doc\/help\/getting-started-acg-sdk-simulink\">Getting started with ACG SDK on Simulink<\/a>. In any case, make sure to install the latest version of ACG SDK beforehand, available for download at <a href=\"https:\/\/imperix.com\/downloads\/\" target=\"_blank\" rel=\"noreferrer noopener\">imperix.com\/downloads\/<\/a>.<\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-safety-considerations\"><span class=\"ez-toc-section\" id=\"Safety-considerations\"><\/span>Safety considerations<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>Before starting any experiment, it is essential to take all necessary precautions to operate the system safely. Please observe the safety measures detailed in the panes below.<\/p>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n<style>.kt-accordion-id13445_af1424-45 .kt-accordion-inner-wrap{column-gap:var(--global-kb-gap-md, 2rem);row-gap:1px;}.kt-accordion-id13445_af1424-45 .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;padding-top:20px;padding-right:20px;padding-bottom:20px;padding-left:20px;}.kt-accordion-id13445_af1424-45 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;font-size:16px;line-height:24px;letter-spacing:0px;font-weight:bold;text-transform:none;color:var(--global-palette3, #1A202C);padding-top:12px;padding-right:10px;padding-bottom:8px;padding-left:16px;}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:before{background:#ffffff;}.kt-accordion-id13445_af1424-45 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_af1424-45 .kt-blocks-accordion-header:focus-visible{color:#444444;background:#ffffff;border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:before, body:not(.hide-focus-outline) .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-blocks-accordion--visible .kt-blocks-accordion-icon-trigger:after, body:not(.hide-focus-outline) .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:before{background:#444444;}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger, body:not(.hide-focus-outline) .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger{background:#444444;}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( 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.kt-blocks-accordion-header.kt-accordion-panel-active{color:var(--global-palette3, #1A202C);background:var(--global-palette9, #ffffff);border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_af1424-45:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette9, #ffffff);}@media all and (max-width: 1024px){.kt-accordion-id13445_af1424-45 .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}}@media all and (max-width: 1024px){.kt-accordion-id13445_af1424-45 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}}@media all and (max-width: 1024px){.kt-accordion-id13445_af1424-45 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_af1424-45 .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}}@media all and (max-width: 1024px){.kt-accordion-id13445_af1424-45 .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id13445_af1424-45 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}@media all and (max-width: 767px){.kt-accordion-id13445_af1424-45 .kt-accordion-inner-wrap{display:block;}.kt-accordion-id13445_af1424-45 .kt-accordion-inner-wrap .kt-accordion-pane:not(:first-child){margin-top:1px;}.kt-accordion-id13445_af1424-45 .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}.kt-accordion-id13445_af1424-45 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}.kt-accordion-id13445_af1424-45 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_af1424-45 .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id13445_af1424-45 .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id13445_af1424-45 > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}<\/style>\n<div class=\"wp-block-kadence-accordion alignnone\"><div class=\"kt-accordion-wrap kt-accordion-id13445_af1424-45 kt-accordion-has-33-panes kt-active-pane-0 kt-accordion-block kt-pane-header-alignment-left kt-accodion-icon-style-arrow kt-accodion-icon-side-left\" style=\"max-width:none\"><div class=\"kt-accordion-inner-wrap\" data-allow-multiple-open=\"true\" data-start-open=\"none\">\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-31 kt-pane13445_3fb4bf-65\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Configure the overcurrent and overvoltage protections<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<p>To ensure that the ratings of the power converter and machines are never exceeded, the hardware protection limits of the B-Box RCP need to be configured properly. A detailed explanation of how to compute these limits is given on the page <a href=\"https:\/\/imperix.com\/doc\/help\/analog-front-end-configuration-on-b-box-rcp\">Analog front-end configuration on B-Box RCP<\/a>.<\/p>\n\n\n\n<p>For the PMSM, the overcurrent protection threshold is set to 1.2 p.u. or 19 A (peak value). It leaves enough margin for the controller to regulate the currents when the machine is operated close to its nominal conditions. For the IM, the V\/f  control technique leads to a large start-up current due to the discontinuity of the V\/f profile at low speed. Thus, the overcurrent protection has to be set to 2.5 p.u. or 30 A (peak value). Additionally, the DC bus overvoltage protection is set to 830V. Please note that the lower limit is set to -20V on the DC bus to avoid tripping the protection while the bus is discharged. The table below gives the complete configuration of the analog front-end of the B-Box according to the aforementioned limits.<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><thead><tr><th><strong>Measured signal<\/strong><\/th><th><strong>Input channel number<\/strong><\/th><th><strong>Low impedance<\/strong><\/th><th>Programmable <strong>Gain<\/strong><\/th><th><strong>Filter<\/strong><\/th><th><strong>Limit high [V]<\/strong><\/th><th><strong>Limit low [V]<\/strong><\/th><th><strong>Disable safety<\/strong><\/th><\/tr><\/thead><tbody><tr><td>\\(I_{s,im}\\)<\/td><td>0,1,2<\/td><td>no<\/td><td>x4<\/td><td>no<\/td><td>6.0<\/td><td>-6.0<\/td><td>no<\/td><\/tr><tr><td>\\(I_{s,pmsm}\\)<\/td><td>3,4,5<\/td><td>no<\/td><td>x8<\/td><td>no<\/td><td>7.6<\/td><td>-7.6<\/td><td>no<\/td><\/tr><tr><td>\\(V_{dc}\\)<\/td><td>6<\/td><td>no<\/td><td>x2<\/td><td>no<\/td><td>8.2<\/td><td>-0.2<\/td><td>no<\/td><\/tr><\/tbody><\/table><figcaption class=\"wp-element-caption\">Analog inputs configuration<\/figcaption><\/figure>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">The analog input protections have a tolerance of \u00b10.2V. For example, the limit high of the DC bus voltage is 8.2V in the previous table. However, the actual protection can be tripped anywhere between 8.0V and 8.4V. Considering the programmable gain and the sensitivity of the voltage sensor (PEB8038), this translates to 810-850V on the DC bus. It is essential to take tolerance into account when setting protection limits.<\/div>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-33 kt-pane13445_9a41d3-d1\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Secure the motor testbench against unwanted movements<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<p>The motor testbench must be horizontally installed on a vibration-free and rigid structure. It must be secured against unwanted movements caused by the vibrations of the machines.<\/p>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-1 kt-pane13445_c56d93-4f\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Don&#8217;t remove the protective covers<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<p>Transparent acrylic plates surround the shaft to prevent accidental access while the machines are spinning and protect against flying parts in case of mechanical failure. Do not operate the motor testbench without the protective covers.<\/p>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-28 kt-pane13445_982ef7-53\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Release the mechanical brake<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<p>By default, the brake is active and locks the shaft. Supplying the brake&#8217;s coil with 24V releases the mechanism. Deactivating or reactivating the brake emits a very distinctive and audible sound. The motor interface has a brake control unit to supply 24V to the coil whenever needed. In Simulink, the brake can be released using the <a href=\"https:\/\/imperix.com\/doc\/software\/brake-interface\">BRK -Brake<\/a> block.<\/p>\n\n\n\n<p>It is essential to release the brake before operating the motors since the induction machine has its cooling fan attached to its rotor and may overheat when the rotor is blocked. Blocked rotor tests can be carried out with the brake applied, but this requires extra care to be taken when running the test to prevent any damage to the machine.<\/p>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-29 kt-pane13445_2090da-a1\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Limit the DC source output current<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<p>The laboratory DC source from the motor bundle can limit its output current to avoid damaging its load. In the topology considered on this page, the DC source only compensates for the losses and does not require a high output current in steady-state. However, the source needs enough margin to regulate the DC bus voltage under load. Setting the limits to \u00b15A leaves enough margin for regulation while protecting the DC bus capacitors from excessive inrush currents.<\/p>\n<\/div><\/div><\/div>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-success\" role=\"alert\">General\u00a0<strong>safety-related recommendations<\/strong>\u00a0for operating power converters in a laboratory environment are given in\u00a0<a href=\"https:\/\/imperix.com\/doc\/implementation\/safety-and-protection-in-the-lab\">TN181<\/a>.<\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-test-1-no-load-test-in-open-loop\"><span class=\"ez-toc-section\" id=\"Test-1-no-load-test-in-open-loop\"><\/span>Test 1: no load test in open-loop<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>Many control techniques rely on a position sensor to accurately estimate the position of the rotor flux. It is also possible to calculate the angular speed by computing the derivative of the position and using it for closed-loop speed regulation. For this reason, it makes sense to check the correct operation of the resolver first. The Simulink model provided below implements an open-loop V\/f control of the IM that sets its speed to a known value without relying on a speed measurement. Additionally, to avoid slowing down the rotor, the PMSM is not supplied (no load test). More details on the control can be found in <a href=\"https:\/\/imperix.com\/doc\/implementation\/vf-control-induction-machine\">V\/f control of an induction machine<\/a>.<\/p>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">The code example uses Simscape Electrical to model the motor testbench. Matlab R2023a (or later) is required to run the model in simulation mode.<\/div>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-file aligncenter\"><a id=\"wp-block-file--media-381e16e2-2cd0-4f68-92c6-9552f6910606\" href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2025\/06\/TN138_Motor_TB_no_load_test_powerlib.zip\">TN138_Motor_TB_no_load_test_powerlib<\/a><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2025\/06\/TN138_Motor_TB_no_load_test_powerlib.zip\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-381e16e2-2cd0-4f68-92c6-9552f6910606\">Download<\/a><\/div>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"341\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2023\/07\/simulink-top-view-open-loop-Vf-v2-1024x341.png\" alt=\"Overview of the Simulink control file for the open-loop V\/f test with the motor testbench.\" class=\"wp-image-15418\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2023\/07\/simulink-top-view-open-loop-Vf-v2-1024x341.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2023\/07\/simulink-top-view-open-loop-Vf-v2-300x100.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2023\/07\/simulink-top-view-open-loop-Vf-v2-768x256.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2023\/07\/simulink-top-view-open-loop-Vf-v2.png 1383w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">Overview of the Simulink control file for the open-loop V\/f test<\/figcaption><\/figure>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n<style>.kt-accordion-id13445_0dbc32-6e .kt-accordion-inner-wrap{column-gap:var(--global-kb-gap-md, 2rem);row-gap:1px;}.kt-accordion-id13445_0dbc32-6e .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;padding-top:20px;padding-right:20px;padding-bottom:20px;padding-left:20px;}.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;font-size:16px;line-height:24px;letter-spacing:0px;font-weight:bold;text-transform:none;color:var(--global-palette3, #1A202C);padding-top:12px;padding-right:10px;padding-bottom:8px;padding-left:16px;}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:before{background:#ffffff;}.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_0dbc32-6e .kt-blocks-accordion-header:focus-visible{color:#444444;background:#ffffff;border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:before, body:not(.hide-focus-outline) .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-blocks-accordion--visible .kt-blocks-accordion-icon-trigger:after, body:not(.hide-focus-outline) .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:before{background:#444444;}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger, body:not(.hide-focus-outline) .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger{background:#444444;}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:before, body:not(.hide-focus-outline) .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:after, body:not(.hide-focus-outline) .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible .kt-blocks-accordion-icon-trigger:before{background:#ffffff;}.kt-accordion-id13445_0dbc32-6e .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{color:var(--global-palette3, #1A202C);background:var(--global-palette9, #ffffff);border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_0dbc32-6e:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette9, #ffffff);}@media all and (max-width: 1024px){.kt-accordion-id13445_0dbc32-6e .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}}@media all and (max-width: 1024px){.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}}@media all and (max-width: 1024px){.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_0dbc32-6e .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}}@media all and (max-width: 1024px){.kt-accordion-id13445_0dbc32-6e .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}@media all and (max-width: 767px){.kt-accordion-id13445_0dbc32-6e .kt-accordion-inner-wrap{display:block;}.kt-accordion-id13445_0dbc32-6e .kt-accordion-inner-wrap .kt-accordion-pane:not(:first-child){margin-top:1px;}.kt-accordion-id13445_0dbc32-6e .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_0dbc32-6e .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id13445_0dbc32-6e .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id13445_0dbc32-6e > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}<\/style>\n<div class=\"wp-block-kadence-accordion alignnone\"><div class=\"kt-accordion-wrap kt-accordion-id13445_0dbc32-6e kt-accordion-has-30-panes kt-active-pane-0 kt-accordion-block kt-pane-header-alignment-left kt-accodion-icon-style-arrow kt-accodion-icon-side-left\" style=\"max-width:none\"><div class=\"kt-accordion-inner-wrap\" data-allow-multiple-open=\"true\" data-start-open=\"none\">\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-1 kt-pane13445_2372c8-68\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Loading the code and setting up the workspace in Cockpit<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<ol class=\"wp-block-list\">\n<li>Open the Simulink model and set the mode to <em>Automated Code Generation<\/em> in the <em>CONFIG<\/em> block.<\/li>\n\n\n\n<li>Build the model (Ctrl + B). It will automatically launch <em>Cockpit<\/em>.<\/li>\n\n\n\n<li>Set the target IP in Cockpit and click on <em>Create<\/em> to generate a new project.<\/li>\n\n\n\n<li>Add a new <strong>rolling plot<\/strong> module and drag-&amp;-drop the <em>Vdc<\/em> variable to monitor the DC bus voltage.<\/li>\n\n\n\n<li>Add a subplot to the rolling plot, and drag and drop the <em>rpm_im<\/em> variable. Using a rolling plot rather than a scope allows for monitoring the speed over a long period of time.<\/li>\n\n\n\n<li>Add a new <strong>scope<\/strong> module and drag-&amp;-drop the <em>Is_a_im<\/em>, <em>Is_b_im<\/em>, and <em>Is_c_im<\/em> variables. The scope can display each and every sample made available to the control.<\/li>\n\n\n\n<li>Add a new <strong>variables<\/strong> module and drag-&amp;-drop the <em>desired_speed<\/em> and <em>speed_rate<\/em> variables. This way, the main parameters of the speed control are easy to find.<\/li>\n<\/ol>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-28 kt-pane13445_dea819-ed\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Step-by-step test procedure<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<ol class=\"wp-block-list\">\n<li>Turn on the laboratory DC source and gradually increase the DC bus voltage from 0 to 300V. Check with Cockpit that <em>Vdc<\/em> matches the voltage of the source.<\/li>\n\n\n\n<li>Check that the <em>release_brake<\/em> variable is set to &#8216;1&#8217; (= brake released). The brake LED should turn orange on the motor interface when the brake is released.<\/li>\n\n\n\n<li>Check that <em>desired_speed<\/em> = 500 rpm and <em>speed_rate<\/em> = 1000 rpm\/s.<\/li>\n\n\n\n<li>Enable the PWM outputs from Cockpit and observe the rotation of the shafts. The use of flexible couplings allows a small misalignment of the shafts. As a result, the torque sensor has some backlash by design and can vibrate a little bit.<\/li>\n\n\n\n<li>Compare the speed measurement <em>rpm_im<\/em> with the speed reference <em>desired_speed<\/em>. The actual speed should be close to the reference due to the absence of load.<\/li>\n\n\n\n<li>Disable the PWM outputs and increase the DC bus voltage to 800V.<\/li>\n\n\n\n<li>Enable the PWM outputs again and gradually increase <em>desired_speed <\/em>to 1464 rpm (nominal speed). Again, compare <em>rpm_im<\/em> with <em>desired_speed<\/em>.<\/li>\n\n\n\n<li>Try rotating the machine in the reverse direction, by setting <em>desired_speed<\/em> down to -1464 rpm. Check that the speed measurement also works for negative speeds.<\/li>\n\n\n\n<li>At the end of the experiment, disable the PWM outputs first, and then reduce the output of the DC source to 0 V. Double-check in Cockpit that the DC bus is fully discharged.<\/li>\n<\/ol>\n<\/div><\/div><\/div>\n<\/div><\/div><\/div>\n\n\n\n<p>The screenshot below shows how the workspace could look in the end, while running the test procedure.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"2560\" height=\"1390\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-open-loop-big.png\" alt=\"Screenshot of Cockpit while running the no-load test.\" class=\"wp-image-13526\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-open-loop-big.png 2560w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-open-loop-big-300x163.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-open-loop-big-1024x556.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-open-loop-big-768x417.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-open-loop-big-1536x834.png 1536w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-open-loop-big-2048x1112.png 2048w\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\" \/><figcaption class=\"wp-element-caption\">Running the no-load test using Cockpit<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-test-2-load-test\"><span class=\"ez-toc-section\" id=\"Test-2-load-test\"><\/span>Test 2: load test<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>After validating the correct functioning of the resolver, the position measurement can be used by the control. For example, the Simulink model below implements a Field-Oriented Control (FOC) of the PMSM (see&nbsp;<a target=\"_blank\" href=\"https:\/\/imperix.com\/doc\/implementation\/field-oriented-control-of-pmsm\" rel=\"noreferrer noopener\">TN111<\/a>&nbsp;for more details). The goal is to load the IM and operate the motor testbench under nominal conditions. Additionally, the V\/f control has been upgraded with a closed-loop speed controller for improved disturbance rejection. Operating the machines under load also gives the opportunity to check the torque and temperature sensors.<\/p>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">The code example uses Simscape Electrical to model the motor testbench. Matlab R2023a (or later) is required to run the model in simulation mode.<\/div>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-file aligncenter\"><a id=\"wp-block-file--media-813c8fe4-f603-4700-b684-c19568814d8a\" href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2025\/06\/TN138_Motor_TB_load_test_param.zip\">TN138_Motor_TB_load_test<\/a><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2025\/06\/TN138_Motor_TB_load_test_param.zip\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-813c8fe4-f603-4700-b684-c19568814d8a\">Download<\/a><\/div>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1577\" height=\"1044\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/simulink-top-view-closed-loop-Vf.png\" alt=\"Overview of the Simulink control file. Closed-loop V\/f under load with the motor testbench.\" class=\"wp-image-13519\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/simulink-top-view-closed-loop-Vf.png 1577w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/simulink-top-view-closed-loop-Vf-300x199.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/simulink-top-view-closed-loop-Vf-1024x678.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/simulink-top-view-closed-loop-Vf-768x508.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/simulink-top-view-closed-loop-Vf-1536x1017.png 1536w\" sizes=\"auto, (max-width: 1577px) 100vw, 1577px\" \/><figcaption class=\"wp-element-caption\">Overview of the Simulink control file for the closed-loop V\/f under load test<\/figcaption><\/figure>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n<style>.kt-accordion-id13445_4d3db4-df .kt-accordion-inner-wrap{column-gap:var(--global-kb-gap-md, 2rem);row-gap:1px;}.kt-accordion-id13445_4d3db4-df .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;padding-top:20px;padding-right:20px;padding-bottom:20px;padding-left:20px;}.kt-accordion-id13445_4d3db4-df > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;border-top-left-radius:2px;border-top-right-radius:2px;border-bottom-right-radius:2px;border-bottom-left-radius:2px;background:#ffffff;font-size:16px;line-height:24px;letter-spacing:0px;font-weight:bold;text-transform:none;color:var(--global-palette3, #1A202C);padding-top:12px;padding-right:10px;padding-bottom:8px;padding-left:16px;}.kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-icon-trigger:before{background:#ffffff;}.kt-accordion-id13445_4d3db4-df > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_4d3db4-df .kt-blocks-accordion-header:focus-visible{color:#444444;background:#ffffff;border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle ) .kt-accordion-header-wrap .kt-blocks-accordion-header:hover .kt-blocks-accordion-icon-trigger:after, 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var(--global-palette6, #718096);}.kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basiccircle ):not( .kt-accodion-icon-style-xclosecircle ):not( .kt-accodion-icon-style-arrowcircle )  > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger{background:var(--global-palette3, #1A202C);}.kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:after, .kt-accordion-id13445_4d3db4-df:not( .kt-accodion-icon-style-basic ):not( .kt-accodion-icon-style-xclose ):not( .kt-accodion-icon-style-arrow ) .kt-blocks-accordion-header.kt-accordion-panel-active .kt-blocks-accordion-icon-trigger:before{background:var(--global-palette9, #ffffff);}@media all and (max-width: 1024px){.kt-accordion-id13445_4d3db4-df .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}}@media all and (max-width: 1024px){.kt-accordion-id13445_4d3db4-df > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}}@media all and (max-width: 1024px){.kt-accordion-id13445_4d3db4-df > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_4d3db4-df .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}}@media all and (max-width: 1024px){.kt-accordion-id13445_4d3db4-df .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id13445_4d3db4-df > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}@media all and (max-width: 767px){.kt-accordion-id13445_4d3db4-df .kt-accordion-inner-wrap{display:block;}.kt-accordion-id13445_4d3db4-df .kt-accordion-inner-wrap .kt-accordion-pane:not(:first-child){margin-top:1px;}.kt-accordion-id13445_4d3db4-df .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}.kt-accordion-id13445_4d3db4-df > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}.kt-accordion-id13445_4d3db4-df > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id13445_4d3db4-df .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id13445_4d3db4-df .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id13445_4d3db4-df > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}<\/style>\n<div class=\"wp-block-kadence-accordion alignnone\"><div class=\"kt-accordion-wrap kt-accordion-id13445_4d3db4-df kt-accordion-has-34-panes kt-active-pane-0 kt-accordion-block kt-pane-header-alignment-left kt-accodion-icon-style-arrow kt-accodion-icon-side-left\" style=\"max-width:none\"><div class=\"kt-accordion-inner-wrap\" data-allow-multiple-open=\"true\" data-start-open=\"none\">\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-1 kt-pane13445_38c2de-97\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Loading the code and setting up the workspace in Cockpit<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<ol class=\"wp-block-list\">\n<li>Open the Simulink model and set the mode to <em>Automated Code Generation<\/em> in the <em>CONFIG<\/em> block.<\/li>\n\n\n\n<li>Build the model (Ctrl + B). This will automatically launch <em>Cockpit<\/em>.<\/li>\n\n\n\n<li>Set the target IP in <em>Cockpit<\/em> and click on <em>Create<\/em> to generate a new project.<\/li>\n\n\n\n<li>Add a new <strong>rolling plot<\/strong> module and drag-&amp;-drop the <em>Vdc<\/em> variable to monitor the DC bus voltage.<\/li>\n\n\n\n<li>Add a subplot to the rolling plot, and drag and drop the <em>rpm_im<\/em> and <em>rpm_ref_im<\/em> variables.<\/li>\n\n\n\n<li>Add another subplot to the rolling plot, and drag and drop the <em>Tem_pmsm<\/em>, <em>Tem_ref_pmsm<\/em>, and <em>measured_torque_raw<\/em> variables.<\/li>\n\n\n\n<li>Add another subplot to the rolling plot, and drag and drop <em>temperature_im<\/em> and <em>temperature_pmsm<\/em>.<\/li>\n\n\n\n<li>Add a new <strong>scope<\/strong> module and drag-&amp;-drop the <em>Is_a_im<\/em>, <em>Is_b_im<\/em>, and <em>Is_c_im<\/em> variables.<\/li>\n\n\n\n<li>Add a subplot to the scope and drag-&amp;-drop the <em>Is_a_pmsm<\/em>, <em>Is_b_<\/em>pmsm, and <em>Is_c_<\/em>pmsm variables.<\/li>\n\n\n\n<li>Add a new <strong>variables<\/strong> module and drag-&amp;-drop the following variables: <em>desired_speed<\/em>, <em>speed_rate,<\/em> <em>desired_torque<\/em>, <em>torque_rate, block_rotor<\/em>, <em>mechanical_angle<\/em>, and <em>angle_offset<\/em>.<\/li>\n<\/ol>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-34 kt-pane13445_0b4f99-35\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Torque and temperature measurements<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<p>The code example uses the theoretical sensitivity and offset of the torque sensor (53.3 mV\/Nm and 5V, respectively). For optimal results, the sensor should be calibrated. Additionally, the backlash given to the sensor by the flexible couplings results in little vibrations that appear in the torque measurement as small oscillations at the mechanical frequency of the rotor. A low-pass filter might prove helpful to filter out the vibrations. To this end, the code example includes the raw value&nbsp;<em>measured_torque_raw<\/em>&nbsp;and its filtered version&nbsp;<em>measured_torque_filtered<\/em>.<\/p>\n\n\n\n<p>In addition to the torque, the temperature of the stator windings is available through the <em>temperature_im<\/em> and <em>temperature_pmsm<\/em> probes.<\/p>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-31 kt-pane13445_8986c0-e2\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Calibration of the PMSM&#8217;s rotor position<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<p>The built-in resolver of the PMSM measures the absolute position of the rotor. However, there is no guarantee that the sensor is aligned with the poles of the machine. Calibrating the rotor angle is essential to orient the field with a FOC control.<\/p>\n\n\n\n<p>The Simulink model includes a calibration procedure that applies a DC current in phase A of the machine to force the alignment of the rotor and stator fluxes. The offset on the angle measurement can then be compensated.<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Turn on the laboratory DC source and gradually increase the DC bus voltage from 0 to <strong>50V<\/strong>. Check with Cockpit that <em>Vdc<\/em> matches the voltage of the source.<\/li>\n\n\n\n<li>Check that the <em>release_brake<\/em> variable is set to &#8216;1&#8217; (= brake released). The brake LED should turn orange on the motor interface when the brake is released.<\/li>\n\n\n\n<li>Set <em>block_rotor<\/em> to &#8216;1&#8217; and enable the PWM outputs. The control code will apply a DC current in phase A of the PMSM. As a result, the rotor aligns itself on phase A.<\/li>\n\n\n\n<li>At that moment, the value of <em>mechanical_angle<\/em> corresponds to the offset between the position measurement and the actual location of \\(\\theta _r = 0 \\,\\text{rad}\\), the absolute rotor angle.<\/li>\n\n\n\n<li>Set the <strong>initial value<\/strong> of <em>angle_offset<\/em> equal to <em>mechanical_angl<\/em>e directly in the Simulink model. Disable the PWM outputs and regenerate the code (Ctrl + B). After this manipulation, the control code keeps compensating the offset permanently.<\/li>\n<\/ol>\n\n\n\n<p>Since the PMSM has four pairs of poles, four mechanical positions correspond to \\(\\theta _r = 0 \\, \\text{rad}\\). Any of these positions can be used as the angle offset. Additionally, the angle offset is a constant value. Thus, the calibration procedure needs to be performed only once.<\/p>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-28 kt-pane13445_dd7355-51\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\" type=\"button\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\">Step-by-step test procedure<\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\">\n<ol class=\"wp-block-list\">\n<li>Turn on the laboratory DC source and gradually increase the DC bus voltage from 0 to 300V. Check with Cockpit that <em>Vdc<\/em> matches the voltage of the source.<\/li>\n\n\n\n<li>Check that the <em>release_brake<\/em> variable is set to &#8216;1&#8217; (= brake released). The brake LED should turn orange on the motor interface when the brake is released.<\/li>\n\n\n\n<li>Check that <em>desired_speed<\/em> = 500 rpm and <em>speed_rate<\/em> = 1000 rpm\/s.<\/li>\n\n\n\n<li>Enable the PWM outputs from Cockpit and check that <em>rpm_im <\/em>and <em>Tem_pmsm<\/em> follow their respective references.<\/li>\n\n\n\n<li>Check the reading <em>measured_torque_raw<\/em> from the torque sensor. It should be non-zero even after calibration since the weight of the shaft elements and the friction at the bearings&#8217; level act as a passive mechanical load.<\/li>\n\n\n\n<li>Set <em>desired_torque<\/em> to 5 Nm and verify that <em>Tem_pmsm<\/em> follows the new reference. Check that <em>measured_torque_raw<\/em> increases from 5 Nm.<\/li>\n\n\n\n<li>Disable the PWM outputs and increase the DC bus voltage to 800V. Set <em>desired_torque<\/em> back to 0 Nm.<\/li>\n\n\n\n<li>Enable the PWM outputs again and gradually increase the <em>desired_speed to<\/em> 1464 rpm.<\/li>\n\n\n\n<li>Gradually increase <em>desired_torque<\/em> to 22.8 Nm. Check that <em>measured_torque_raw<\/em> increases accordingly. At this point, the motor testbench is operating at its nominal power of 3.5 kW.<\/li>\n\n\n\n<li>Memorize the values of <em>temperature_im<\/em> and <em>temperature_pmsm<\/em>. Then, let the motor testbench run at nominal power for 5 to 10 minutes. You should observe the temperature of the machines increasing from several degrees.<\/li>\n\n\n\n<li>At the end of the experiment, disable the PWM outputs first, and then reduce the output of the DC source to 0 V. Double-check in Cockpit that the DC bus is fully discharged.<\/li>\n<\/ol>\n<\/div><\/div><\/div>\n<\/div><\/div><\/div>\n\n\n\n<p>The screenshot below shows how the workspace could look in the end, while running the test procedure.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"2560\" height=\"1390\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-closed-loop-big-extra-measurements.png\" alt=\"Screenshot of Cockpit while running the load test.\" class=\"wp-image-13570\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-closed-loop-big-extra-measurements.png 2560w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-closed-loop-big-extra-measurements-300x163.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-closed-loop-big-extra-measurements-1024x556.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-closed-loop-big-extra-measurements-768x417.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-closed-loop-big-extra-measurements-1536x834.png 1536w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/11\/cockpit-workspace-closed-loop-big-extra-measurements-2048x1112.png 2048w\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\" \/><figcaption class=\"wp-element-caption\">Running the load test using Cockpit<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-to-go-further\"><span class=\"ez-toc-section\" id=\"To-go-further%E2%80%A6\"><\/span>To go further&#8230;<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-with-the-motor-testbench\"><span class=\"ez-toc-section\" id=\"%E2%80%A6-with-the-motor-testbench\"><\/span>&#8230; with the motor testbench<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>The knowledge base presents standard control techniques for both the IM and the PMSM, such as:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/imperix.com\/doc\/implementation\/vf-control-induction-machine\">V\/f Control of an induction machine<\/a> (with turn-key code example)<\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/implementation\/rotor-field-oriented-control\">Rotor Field-Oriented Control of an induction machine<\/a> (with turn-key code example)<\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/implementation\/field-oriented-control-of-pmsm\">Field-Oriented Control of a PMSM<\/a> (with turn-key code example)<\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/example\/direct-torque-control\">Direct Torque Control of a PMSM<\/a><\/li>\n<\/ul>\n\n\n\n<p>Testing various control techniques is not the only purpose of the motor testbench. It can also serve as a reduced-scale prototype, functionally equivalent to a real-life system. The following articles present two examples of such applications:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/imperix.com\/doc\/example\/electric-car-motor-control\">Electric car motor control<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/example\/wind-turbine-generator-control-using-a-sensorless-algorithm\">Wind turbine generator control<\/a><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-with-the-motor-interface\"><span class=\"ez-toc-section\" id=\"%E2%80%A6-with-the-motor-interface\"><\/span>&#8230; with the motor interface<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>The motor interface supports different position sensors, allowing the option to replace the motor testbench with another set of machines. The functionalities of the motor interface are available through the&nbsp;<a target=\"_blank\" href=\"https:\/\/imperix.com\/software\/acg-sdk\/\" rel=\"noreferrer noopener\">ACG<\/a> and&nbsp;<a target=\"_blank\" href=\"https:\/\/imperix.com\/software\/cpp-sdk\/\" rel=\"noreferrer noopener\">CPP<\/a>&nbsp;SDKs. Since they are part of the imperix library, they do not require any additional installation procedure.<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p>When using the Simulink or PLECS blocksets, the blocks specific to the Motor Interface are used like any other blocks. They mostly hide the hardware layer and provide only information relevant to the control, such as decoded angle of a machine, temperature measurements in \u00b0C, etc. More details can be found in the software documentation:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/imperix.com\/doc\/software\/incremental-encoder-interface\">INC \u2013 Incremental encoder<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/software\/motor-resolver-interface\">RES \u2013 Resolver<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/software\/hall-sensor-motor-interface\">HAL \u2013 Hall sensor<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/software\/sin-cos-encoder-interface\">S\/C \u2013 Sin\/cos encoder<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/software\/temperature-sensor\">TMP \u2013 Temperature sensor<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface\">TRQ \u2013 Torque sensor<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/imperix.com\/doc\/software\/brake-interface\">BRK \u2013 Brake<\/a><\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>This page explains how to get started with the motor drive bundle and the motor testbench. It provides a comprehensive overview of the hardware configuration&#8230;<\/p>\n","protected":false},"author":8,"featured_media":13539,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_kad_post_transparent":"","_kad_post_title":"","_kad_post_layout":"","_kad_post_sidebar_id":"","_kad_post_content_style":"","_kad_post_vertical_padding":"","_kad_post_feature":"","_kad_post_feature_position":"","_kad_post_header":false,"_kad_post_footer":false,"_kad_post_classname":"","footnotes":""},"categories":[3],"tags":[18],"software-environments":[103],"provided-results":[108],"related-products":[50,32,166,114,111],"guidedreadings":[60],"tutorials":[131,124],"user-manuals":[147],"coauthors":[62],"class_list":["post-13445","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-help","tag-motor-drives","software-environments-matlab","provided-results-experimental","related-products-acg-sdk","related-products-b-box-rcp","related-products-b-box-rcp-3-0","related-products-motor","related-products-pm","guidedreadings-electric-car-motor-control","tutorials-direct-torque-control-of-a-permanent-magnet-synchronous-motor","tutorials-field-oriented-control","user-manuals-motor-testbench"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Motor Testbench quick start guide - imperix power electronics<\/title>\n<meta name=\"description\" content=\"This page explains how to get started with the motor testbench. 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