PFMENU DOCS

UPD PCB

special commands

Program test pattern

Command current sequence

A series of currents can be commanded for a fixed number of cycles. A table stores the motor currents, and time interval for the current to be commanded. The table can be filled in any order, and positions can be over written without problems. The end of the test loop is marked with a duration of 0.

• 115 0 <POSITION> <DURATION> <TORQUE VALUE>

• Position : Store at the specified row in the table. Table positions starts at 0. However the position value of -1 is used to write into position zero and ALSO re-initialize values.
• Duration is in 2mS units. A duration of zero indicates the end of the test loop sequence
• Torque value : 1 amp = 1092

Motor thermal model

• Command 117 is used to read back the model estimates of motor resistance and model temperatures. Divide by 1000 for SI units.

• Command 118 is used to set the thermal limits. When a limit is reach the test commands zero motor current until the low temperature is reached.