User Guide

9.2 Parameter
The Operation can be adopted by a variety of parameters listed below. These
parameters can be set using the 0x02 command, see section before. An exemplary
command can be to set the maximal current is: 0x02 0x32 0x70 sets the allowed
current to 127.
The parameter are set for the board. A two motor board does have only one set of
parameter.
Some parameter changes require a reboot of the board to take place.
Parameter
CAN Command
Standard
Value
Comment
maxMissedCom
0x02 0x30 data-H data-L
1000
maxLag
0x02 0x31 data-H data-L
1200
Distance in encoder
tics
maxCurrent
0x02 0x32 data
0x80
0-255
Position control –
proportional
0x02 0x40 pos-H pos-L
1.0
Position control – integral
0x02 0x41 data-H data-L
0.0
Position control –
differential
0x02 0x42 data-H data-L
0.0
Position control – anti-
windUp
0x02 0x43 data
50.0
Velocity control –
proportional
0x02 0x44 pos-H pos-L
0.5
Velocity control –
integral
0x02 0x45 data-H data-L
0.0
Velocity control –
differential
0x02 0x46 data-H data-L
0.0
Velocity control – anti-
windUp
0x02 0x47 data
20