CONF #
Pins #
| Name | Description |
|---|---|
| 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] |
References #
Source: .c File