PFMENU DOCS MC
From DIDEAS Wiki
motor controller
- 1105 : get speed (and other info)
- 1108 : set current offsets
- 1109 : set motor mode
- 1110 : set motor torque
- 1111 : getdata
- 1112 : set qei X resolution (2x or 4x)
- 1113 : enable / disable mode zero current offset calibration (
- 1114 : set ctrl param vQ and vD
- 1115 : set ctrl param vQ and vD, and then set motor mode
- 1116 : read current offsets
- 1117 : set motor filter (both Q and D)
- 1118 : read ADCs (in_param==16 -> read all 16 channels), else thats the channel offset and read 10 channels
overload current monitor
- 1120 - reads overload config parameters
data->param[0] = OverloadMonitor.max_phase_filter_sum >> 10; data->param[1] = OverloadMonitor.max_bat_filter_sum >> 10; data->param[2] = OverloadMonitor.phase_filter_decay; data->param[3] = OverloadMonitor.bat_filter_decay;
defaults are 22400 22400 4915 4915
- 1121 <param> - to see the present intermediate values and overload flag. if param is one, will reset overload flag.
- 1122 <4x params> - use to set the overload config parameters
- The computation at 10KHZ, sums the ABS of a Q15 current and subjects the decay
- the time (in sec) to trip is
t = MAX_SUM / (I_Q15 - DECAY) / 10000
For the defaults:
- 30 amps, 80mS
- 25 amps, 100mS
- 20 amps, 132mS
- 15 amps, 195mS
- 10 amps, 373mS