Calibration and motor parameters¶
| Command | Kind | Argument | What it does | Response |
|---|---|---|---|---|
#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 |
#KV |
Set/Get | float: rpm/V | The velocity constant, found by calibration. | the current value |
#Flux |
Set/Get | float: Wb | The flux linkage, found by calibration. Not reachable over UART: the parser accepts #flux (lowercase) but the handler expects Flux, so neither spelling works. |
the current value |
#Cal |
Action | Runs the calibration routine (see Motor parameters and calibration), over the serial port only. Enter R, L and PP first. It leaves the current limit at 1600 mA. | the calibration log | |
#Calangle |
Action | Runs only an angle-offset search. It uses an older routine than the one in Cal, which gives up after about two minutes and keeps the offset it reached. Prints Idle at once, before the search starts. Enters angle-offset calibration mode. |
Idle, at once |
|
#Offset |
Set/Get | float: angle in rad | The angle offset between encoder zero and electrical zero, found by calibration. | the current value |
#Iqoffset |
Set/Get | int: current in mA | The current used by the angle-offset search. | the current value |
#Magnet |
Get | Reads the encoder's magnet status. | Magnet Good or Magnet Bad |
|
#Dir |
Set/Get | int: 0 or 1 | A stored flag that Info prints as Phase direction. The control code does not use it in this release; #Default writes 0. |
the current value |
#Phase |
Get | Prints the phase order found by calibration. | Phase order is: N |
|
#Resv |
Set/Get | int: voltage in mV | The voltage calibration starts the resistance test at (not used by STEPFOC, which does not measure resistance). | the current value |
#Calpwr |
Set/Get | float: power in W | The power calibration may dissipate in the resistance and inductance tests (not used by STEPFOC). | the current value |
#Openv |
Set/Get | int: voltage in mV | The voltage of the open-loop modes (Openloop, gosteps), 5000 mV at power-up. Calibration does not use it: its open-loop spin has a fixed 5000 mV. Not kept by Save. | the current value |
#Opens |
Set/Get | float: electrical speed in rad/s | The electrical speed of Openloop, the same value Openloop sets. Calibration does not use it. | the current value |
#Vp |
Set/Get | int: voltage in mV | Stored, but not used by this firmware: the phase-order check of calibration uses a fixed 3000 mV. | the current value |
#Calibrated |
Set/Get | int: 0 or 1 | The calibrated flag. #Calibrated 1 clears a calibration error without calibrating; the motor may still be uncalibrated. |
the flag |
#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 |
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