Gains and limits¶
The commands that set the loop gains and the limits. None of them is answered; save with Send_Save_config.
Send_PD_Gains¶
ID 16host → driver8 bytesPython: Send_PD_Gains()
Sets KP and KD, the gains of the impedance (PD) loop. Keep them with Send_Save_config.
8 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | KP | float 32 | |
| 4-7 | KD | float 32 |
The driver does not answer this command.
Send_Current_Gains¶
ID 17host → driver8 bytesPython: Send_Current_Gains()
Sets Kp and Ki of the PI current loop of Iq. The Id loop keeps its gains; over UART, #Kpiq and #Kiiq set both loops, and so do parameters 11 and 12.
8 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Kp_iq | float 32 | |
| 4-7 | Ki_iq | float 32 |
The driver does not answer this command.
Send_Velocity_Gains¶
ID 18host → driver8 bytesPython: Send_Velocity_Gains()
Sets Kp and Ki of the PI velocity loop.
8 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Kpv | float 32 | |
| 4-7 | Kiv | float 32 |
The driver does not answer this command.
Send_Position_Gains¶
ID 19host → driver4 bytesPython: Send_Position_Gains()
Sets Kp of the P position loop.
4 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Kpp | float 32 |
The driver does not answer this command.
Send_Limits¶
ID 20host → driver8 bytesPython: Send_Limits()
Sets the speed limit and the current limit the loops may reach. From firmware 109 a negative value, or one that is not a number, is ignored, and the current limit stops at the driver's 2800 mA, as with #Ilim. Firmware 107 and older stored the current limit as it arrived. Never send more than the motor's rating.
8 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Speed limit | float 32 | encoder ticks/s |
| 4-7 | Current limit | float 32 | mA |
The driver does not answer this command.
Send_Kt¶
ID 22host → driver4 bytesPython: Send_Kt()
Sets the motor's torque constant Kt, which the driver uses to estimate torque from current.
4 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Kt | float 32 | Nm/A |
The driver does not answer this command.
Send_Voltage_Limit¶
ID 34host → driver4 bytesPython: Send_Voltage_Limit()
Sets the voltage limit of the current loops (the same value as #Vlim), in mV. 0 means use the supply voltage. In the 104 release image (the source at tag V104 does not have it yet) and in every release from 105. From firmware 109 it takes 0 to 60000 mV, as parameter 17 does; a value outside is ignored.
4 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Voltage limit | signed 32-bit | mV; 0 = Vbus |
The driver does not answer this command.
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