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 |
#Kt |
Set/Get | float: Nm/A | The torque constant, found by calibration. | the current value |
#Cal |
Action | Runs the calibration routine (see Calibration): it measures R and L, finds the pole pairs, the phase order and the angle offset, and measures Kt, KV and the flux linkage. | 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 |
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