Calibration and motor parameters¶
| Command | Kind | Argument | What it does | Response |
|---|---|---|---|---|
#R |
Set/Get | float: resistance in Ω | The phase resistance of the motor, measured by Cal; it can also be set by hand. | the current value |
#L |
Set/Get | float: inductance in H | The phase inductance of the motor, measured by Cal; it can also be set by hand. | 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 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 | |
#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 and the commutation check of Cal, 300 mA by default. Not saved. | the current value |
#Magnet |
Get | Reads the encoder's magnet status. | Magnet Good or Magnet Bad |
|
#Dir |
Set/Get | int: 0 or 1 | The counting direction of the encoder, set by calibration (0 after #Default). |
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 the resistance test of Cal starts at; it rises until the power reaches Calpwr. Not saved. | the current value |
#Calpwr |
Set/Get | float: power in W | The power the resistance and inductance tests of Cal may dissipate in the motor. Not saved. | the current value |
#Openv |
Set/Get | int: voltage in mV | The voltage of the open-loop spin, in calibration and with Openloop. Not saved. | the current value |
#Opens |
Set/Get | float: electrical speed in rad/s | The speed of the open-loop spin in calibration; the same setting as the speed of #Openloop. |
the current value |
#Vp |
Set/Get | int: voltage in mV | The voltage of the phase-order search in calibration. Not saved. | 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, found by Cal; they can also be set by hand. | the current value |
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