Driver setup¶
The driver commands a self-built gripper is configured with; Driver configuration is the procedure.
| Command | Kind | Argument | What it does | Response |
|---|---|---|---|---|
#Kpiq |
Set/Get | float: gain | Kp of the Iq current loop; also sets Kpid. | the current value |
#Kiiq |
Set/Get | float: gain | Ki of the Iq current loop; also sets Kiid. | the current value |
#R |
Set/Get | float: resistance in Ω | The phase resistance of the motor (one coil). STEPFOC does not measure it; enter the datasheet value before Cal. | the current value |
#L |
Set/Get | float: inductance in H | The phase inductance of the motor (one coil); enter the datasheet value before Cal. | the current value |
#Kt |
Set/Get | float: Nm/A | The torque constant, found by calibration. | the current value |
#Cal |
Action | Runs the driver's motor calibration (see Driver configuration): enter PP, R and L first, with the pinion not yet in the rack. | the calibration log | |
#Save |
Action | Writes the configuration to the EEPROM. Do it after calibration and after tuning. | Save |
|
#Ilim |
Set/Get | int: current in mA | The driver's Iq current limit outside gripper mode; the firmware clamps it to 2800 mA. Gripper moves use Gripcur instead. | the current limit |
#Tlim |
Set/Get | int: temperature in °C | The temperature at which the temperature error is raised; 75 by default. | Temp limit N |
#Default |
Action | Writes the factory defaults to the EEPROM, including the serial number, hardware version and batch date, and clears the gripper flag, heartbeat and watchdog. Back those up first. | Loaded default config! |
|
#Term |
Set/Get | int: 0 or 1 | Enables the thermistor measurement and the temperature error (off by default). | the setting |
#Cbw |
Set/Get | float: bandwidth in Hz | The current loop bandwidth calibration uses to compute Kpiq and Kiiq. | the bandwidth |
#CANID |
Set/Get | int: 0 to 13 | The CAN node ID. Use 0 to 13: the firmware accepts 14 and 15, but the bootloader reserves them and a driver on one of those cannot be updated over CAN. Save keeps it over a power cycle and also writes it into the bootloader's board ID. | the ID, or Invalid CAN ID |
#PP |
Set/Get | int: pole pairs | The motor's pole pairs: 50 for a 1.8° stepper, 75 for 1.2°, 100 for 0.9°, 125 for 0.72°. Calibration accepts only these values. | the current value |
Comments
Found a mistake on this page? Edit it on GitHub · Report it · Get help · This page as Markdown · llms.txt · The whole manual as PDF