PFMENU DOCS MC

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