Motor Driver Parameters Documentation

This document provides a detailed explanation of the parameters used for configuring the motor driver.

Parameters

Commutation Array

1. CA[1]: Digital Hall sensor A polarity (integer)

   • 1 = HIGH (default)
   • 0 = LOW

2. CA[2]: Digital Hall sensor B polarity (integer)

   • 1 = HIGH (default)
   • 0 = LOW

3. CA[3]: Digital Hall sensor C polarity (integer)

   • 1 = HIGH (default)
   • 0 = LOW

4. CA[4]: Actual Hall sensor connector to Hall A connector pin (integer)

   • 1 = A
   • 2 = B
   • 3 = C (default)

5. CA[5]: Actual Hall sensor connector to Hall B connector pin (integer)

   • 1 = A
   • 2 = B (default)
   • 3 = C

6. CA[6]: Actual Hall sensor connector to Hall C connector pin (integer)

   • 1 = A (default)
   • 2 = B
   • 3 = C

7. CA[16]: Feedback direction (integer)

   • 0 = Use feedback reading as is
   • 1 = Invert the direction of the feedback reading (default)

8. CA[17]: Commutation sensor (integer)

   • 0…4 = Reserved for compatibility
   • 8 = Digital Hall sensor commutation aided by external feedback

9. CA[18]: Feedback bits ("counts") per revolution, after resolution is multiplied by 4, in the range [6…530,000,000] (integer)

   • 4000 (default)

10. CA[19]: Number of motor pole pairs (integer)

    • 1…50
    • 4 (default)

11. CA[20]: Digital Hall sensors present (integer)

    • 0 = No digital Hall sensors connected
    • 1 = Digital Hall sensors connected (default)

12. CA[21]: Position sensor present (integer)

    • 0 = Ignore position sensor inputs
    • 1 = Position sensor will be used for commutation

13. CA[22]: Main feedback type (integer)

    • 0 = Reserved
    • 1 = Input from Resolver
    • 2 = Input for quadrature incremental encoder signals (default)
    • 3 = Input for analog sine/cosine signal
    • 4 = Input for Tachometer signal
    • 5 = Input for Tachometer signal
    • 6 = Input for digital Hall signals
    • 7 = Reserved
    • 8 = Input for Potentiometer feedback
    • 9 = Input for Analog Halls feedback
    • 10 = Input for Absolute Coarse/Fine Encoder type
    • 11 = Input for analog sine/cosine signal and absolute position value over several serial protocol formats

14. CA[25]: Motor direction (integer)

    • 0 = Reverse phase driving so that the motor direction with positive torque command is reversed
    • 1 = Keep the original motor direction, as connected by user (default)

LIMIT

1. MC: Maximum peak driver current (Read-only parameter, float)

2. PL[1]: Motor maximum peak current (float)

   • Range: 0…MC
   • 30.0f (default)

3. PL[2]: Motor maximum peak duration (float)

   • Range: 1…3

4. CL[1]: Maximum allowed continuous motor phase current (float)

   • Range: 0…MC/2
   • 10.0f (default)

5. HL[2]: High speed limit (integer)

   • Range: Velocity range
   • 3000 (default)

6. LL[2]: Low speed limit (integer)

   • Range: Velocity range
   • -3000 (default)

7. HL[3]: High position limit (integer)

   • Range: -2^31 < HL[3] < 2^31 – 1
   • 999999990 (default)

8. LL[3]: Low position limit (integer)

   • Range: -2^31 < LL[3] < 2^31 – 1
   • -999999990 (default)

9. GS[14]: Maximum speed error for which KP[N] is cleared in speed controller if no encounter count exceeds GS[0] (integer)

   • Range: 0...0…2^31 - 1
   • 6300 (default)

PI Parameter

1. KP[1]: PI current control filter (float)

   • 0.593f (default)

2. KI[1]: PI current control filter (float)

   • 828.0f (default)

3. KP[2]: PI velocity control filter (float)

   • 60.0f (default)

4. KI[2]: PI velocity control filter (float)

   • 2000.0f (default)

Mode of Operation

1. PM: Profiler Mode (integer)

   • 0 = For UM=2, AC, DC, and SF are not used (default)
   • 1 = For UM=2, AC, DC, and SF are used normally

2. SF: Smooth Factor (integer)

   • Defines the motion smoothing factor for PTP and jogging motions
   • 0 (default)

3. AC: Acceleration (integer)

   • Defines the maximum acceleration in counts/second²
   • 8307415 (default)

4. DC: Deceleration (integer)

   • Defines the maximum deceleration in counts/second²
   • 8307415 (default)