| Variable and firmware comment | Start value | After `#Default` | Kept by `#Save` | |---|---|---|---| | `SERIAL_NUMBER` | 1 | 1111 in the EEPROM, not read back | written, not read back | | `HARDWARE_VERSION`
Version of the Spectral BLDC driver PCB | 1 | 1 | yes | | `BATCH_DATE`
Date the batch was produced | 1 | 24092024 | yes | | `SOFTWARE_VERSION`
Software release | 1 | 110 | no: set by the firmware | | `I_AM_GRIPPER`
Is motor controller gripper (1) or not (0) | 1 | 0 | yes | | `LED_ON_OFF`
Use LED for status indication | 1 | 1 | yes | | `theta_offset`
will be determined at calibration | 0.0f | 0 | yes | | `pole_pairs`
Number of pole pairs of your BLDC motor | 11 | 7 | yes | | `current_control_bandwidth`
Hz: the current PI gains come from R, L | 160 (CURRENT_BANDWIDTH_DEFAULT) | — | no | | `DIR_`
When looking at the magnetic encoder counter-clockwise is POSITIVE rotation. | 1 | 0 | yes | | `Phase_order` | 2 | 0 | yes | | `commutation_dir`
+1 or -1, auto-detected at calibration so +Iq/+velocity/+rotation map to +encoder rotation | 1 | 1 | yes | | `Thermistor_on_off`
Are we taking termistor mesurements? 0 is off, 1 is on | 0 | 0 | yes | | `brake_coast`
Idle-mode (Controller_mode == 0) phase behavior: 0 = coast (driver disabled, Hi-Z), 1 = brake (driver stays enabled, zero-voltage PWM vector shorts the phases together) | 0 | 0 (BRAKE_COAST_DEFAULT) | yes | | `Resistance`
Resistance of SINGLE PHASE of your BLDC motor | 0 | 0 | yes | | `Total_Resistance`
= 2 * Resistance + 2 * R_sense + 2 *Rdson | 0 | 0 | yes | | `Inductance`
Inductance of SINGLE PHASE of your BLDC motor | 0 | 0 | yes | | `Kt`
Torque constant of your BLDC motor | 0 | 0 | yes | | `flux_linkage`
Flux linkage of your BLDC motor | 0 | 0 | yes | | `KV` | 0 | 0 | yes | | `Max_temperature`
Max temperature in degrees | 75 | 75 | yes | | `Min_temperature`
Min temperature in degrees | -20 | — | no | | `Max_Vbus`
Max vbus voltage in mV | 29500 | 29000 | yes | | `Min_Vbus`
Min vbus voltage in mV | 9000 | — | no | | `watchdog_time_ms` | 0 | 0 | yes | | `watchdog_action`
0 legacy, 1 hold, 2 brake, 3 coast, 4 descend (watchdog_action.h) | 0 | 0 | yes | | `wd_fallback_time_ms`
how long hold/descend may run before the after-action | 2000 | 2000 | yes | | `wd_fallback_current`
mA, descend: the current applied (signed) | 0 | 0 | yes | | `wd_fallback_speed`
ticks/s, descend: the speed cap in either direction | 1000 | 1000 | yes | | `wd_after_action`
after hold/descend: 0 legacy, 2 brake, 3 coast | 0 | 0 (WD_ACTION_LEGACY) | yes | | `calibration_id`
parameter 87: new at every successful calibration | 0 | 0 in the EEPROM, not read back | written, not read back | | `tool_id`
what the drive is built into: 0 none, 1 SSG-48, 11-33 MSG, 200-254 custom | 0 | 0 | yes | | `board_product`
product lock stamp in block 2: 1 STEPFOC, 2 Spectral, 0 none | 0 | 0 | yes | | `sense1_offset`
current-sense zero of channel 1, ADC counts from 2048 (start-up) | 0 | — | no | | `sense2_offset`
current-sense zero of channel 2 | 0 | — | no | | `comm_delay_us`
parameter 64: commutation delay compensation, us (0 = off) | 234 (COMM_DELAY_DEFAULT_US) | — | no | | `input_filter_hz`
parameter 74: the position input filter, Hz (0 = off) | 0 | — | no | | `vel_int_deadband`
parameter 75: the velocity integral's deadband, ticks (0 = off) | 0 | — | no | | `sound_limit_mv`
parameter 81: the sound's voltage at most (batch 22) | 2000 (SOUND_LIMIT_DEFAULT_MV) | — | no | | `sound_axis`
parameter 82: 1 the q axis (default: much louder on the bench), 0 the d axis | 1 | — | no | | `fast_trig`
parameter 65: 1 the transforms' sin/cos from the integer table (it was | 0 | — | no | | `speed_estimator`
parameter 50 | 2 (SPEED_ESTIMATOR_DEFAULT) | — | no | | `speed_pll_bandwidth`
parameter 51, Hz | 100 (SPEED_PLL_BANDWIDTH_DEFAULT) | — | no | | `Heartbeat_rate_ms`
Motor controller will send data every Heartbeat_rate_ms | 0 | 0 | yes | | `Calibrated`
0 if motor is not calibrated, 1 if it is calibrated | 0 | 0 | yes | | `Resistance_calc_voltage`
Voltage used to calculate resistance //1000 | 1000 | — | no | | `Calibration_power`
Max power that can dissipate during inductance test. | 12 | — | no | | `Open_loop_voltage`
Voltage to use when spinning the motor open loop. In mV | 5000 | — | no | | `Open_loop_speed`
Speed to be used when spinning the motor open loop. In RAD/s | 20.0 | — | no | | `Phase_voltage`
Max voltage to be used during Kv calculation | 5000 | — | no | | `cyclic_period`
We send messages every cyclic_period | 0 | — | no | | `CAN_ID`
CAN id of THIS motor driver! No 2 motor drivers can share the same ID. | 0 | existing_id | yes | | `calibration_offset_current` | 300 | — | no | | `Voltage_limit`
Voltage limit for Ud and Uq voltages. If 0 value of controller.VBUS_mV will be used | 0 | 0 | yes | | `Reset_integral_accumulator` | 0 | 0 | yes | | `Kp_p` | 11 | 11 | yes | | `Position_setpoint` | 0 | — | no | | `Kp_v`
0.006 basic values that work for most motors but not optimal | 0.03 | 0.03 | yes | | `Ki_v`
0.0001 basic values that work for most motors but not optimal | 0.0003 | 0.0003 | yes | | `Velocity_setpoint`
-1.5 | 0 | — | no | | `Velocity_limit`
Clamp integrals to this [TICKS/s] | 800000 | 800000 | yes | | `Velocity_limit_error`
[TICKS/s] ; Velocity when we will report error | 20000000 | — | no | | `Kp_id` | 3 | 3 | yes | | `Ki_id` | 1.5 | 1.5 | yes | | `Id_setpoint` | 0 | — | no | | `Kp_iq` | 3 | 3 | yes | | `Ki_iq` | 1.5 | 1.5 | yes | | `Iq_current_limit` | 1000 | 1000 | yes | | `Id_current_limit` | 0 | 0 | yes | | `Feedforward_current` | 0 | — | no | | `KD`
[Nm*s/rad] KD 0.002800 | 0.002800 | 0.0028 | yes | | `KP`
[Nm/rad] KP 0.14000 | 0.14000 | 0.1400 | yes | | `Uq_setpoint` | 0 | — | no | | `Ud_setpoint` | 0 | — | no | | `position_setpoint` | 0 | — | no | | `speed_setpoint` | 20 | — | no | | `current_setpoint` | 200 | — | no | | `action_status`
-0 Stopped(or performing activation /automatic release). | 0 | — | no | | `activated` | 0 | — | no | | `release_direction` | 0 | — | no | | `estop_status` | 0 | — | no |