CONF #
None
Pins #
- r: phase resistance [ohm]
- l: phase inductance [H]
- j: motor inertia [kg*m^2]
- d: motor damping [Nm/rad/s]
- f: motor friction [Nm]
- o: motor offset [Nm]
- j_sys: system inertia [kg*m^2]
- j_lpf: motor to load bandwidth [Hz]
- psi: electrical torque constant [V*s/rad]
- polecount: #motor pole pairs
- out_rev: motor direction
- high_mot_temp: lower motor overtemperature limit [°C]
- max_mot_temp: upper motor overtemperature limit [°C]
- phase_time: autophasing time [s]
- phase_cur: autophasing current [A]
- max_vel: max. velocity [rad/s]
- max_acc: max. acceleration [rad/s^2]
- max_force: max. toruqe [Nm]
- max_dc_cur: max. dc current [A]
- max_ac_cur: max. phase current [A]
- mot_fb_polecount: #motor feedback pole pairs
- mot_fb_offset: motor feedback commutation offset [rad]
- mot_fb_rev: motor feedback direction
- mot_fb_res: motor feedback resolution [1/rev]
- joint_fb_polecount: #joint feedback pole pairs
- joint_fb_offset: joint feedback commutation offset [rad]
- joint_fb_rev: joint feedback direction
- joint_fb_res: joint feedback resolution [1/rev]
- com_fb_polecount: #commutation feedback pole pairs
- com_fb_offset: commutation feedback commutation offset [rad]
- com_fb_rev: commutation feedback direction
- com_fb_res: commutation feedback resolution [1/rev]
- cmd_rev: command direction
- cmd_res: command resolution [1/rev]
- max_dc_volt: upper dc link overvoltage limit [V]
- max_hv_temp: upper driver overtemperature limit [°C]
- max_pos_error: max position error [rad], 0 = disabled
- high_dc_volt: lower dc link overvoltage limit [V]
- low_dc_volt: dc link undervoltage limit [V]
- high_hv_temp: lower driver overtemperature limit [°C]
- fan_hv_temp: driver fan threshold [°C]
- fan_mot_temp: motor fan threshold [°C]
- g: motor model limit scaling
- pos_bw: position loop bandwidth [rad/s/rad]
- vel_bw: velocity loop bandwidth [rad/s^2/(rad/s)]
- vel_d: velocity loop damping
- vel_g: velocity loop proportional limit scaling
- torque_g: torque loop proportional limit scaling
- cur_bw: current loop bandwidth [V/A]
- cur_ff: current loop resistance feedforward gain
- cur_ind: current loop BEMF feedforward gain
- max_sat: max velocity, acceleration and torque saturation time [s]
Source: .c File