Servosila-Device-Reference-0xA020192

Command - Autoconfiguration: Brushless Motor
Use this command when commissioning a new brushless motor. The command launches an auto-configuration
procedure that automatically measures various characteristics of a brushless motor, computes optimal parameters for
relevant control laws, and updates stored configuration of the controller. The updated configuration is saved to a
persistent storage of the controller (Flash).
ATTENTION: The brushless motor makes various moves while the procedure is ongoing, including a rapid
acceleration. The beginning and an end of the procedure are indicated by "beep" sounds produced by the motor.
Note that in order to launch the auto-configuration procedure, the user needs to have prior knowledge of "Maximum
Continuous Current" and "Poles Number" characteristics of the brushless motor. Those characteristics has to be taken
from the motor's datasheet or determined experimentally prior to launching the auto-configuration procedure. Read
descriptions of the parameters "Maximum Continuous Current" and "Poles Number" in the "Datasheet" section for
details about the parameters.
The auto-configuration procedure does the following:
1. Measures "Phase Resistance (Line-to-Line)" of the brushless motor
2. Measures "Phase Inductance (Line-to-Line)" of the brushless motor
3. Measures "Back-Emf Constant (Ke)" of the brushless motor
4. Measures "Moment of Inertia of Rotor and Payload"
5. Detects if Hall sensors are properly wired to the controller, and updates the "Hall Sensors" configuration
parameter in the "Datasheet" section accordingly. If Hall sensors have been detected, the procedure
automatically configures the section "Peripheral: Hall Sensors"
6. Writes all the measured parameters to the "Datasheet" section
7. Computes optimal parameters for various control laws, and writes the parameters to "Control Laws" section
8. Save to Flash: all the updated configuration parameters are automatically saved to a persistent storage of the
controller
NOTE: The parameter "Moment of Inertia of Rotor and Payload" is automatically measured by the controller during
the auto-configuration procedure. However, the procedure assumes that Viscous Damping is not present. If that turns
out to be not the case, the auto-configuration procedure overestimates the moment of inertia which might lead to
vibrations or noise in the drive whenever the drive is operated under Electronic Speed Control (ESC).
Parameter Units Description Data type
Position
in
Payload
1 Maximum
Continuous
Current (Line-
to-Line)
A The "Maximum Continuous Current" is one of the most critical
performance and safety parameters in the "Datasheet" section. This
parameter should be found in the motor's datasheet.
On one hand, the parameter defines the maximum torque the electric
drive can produce. The higher this limit is set, the more electric
current is allowed to be driven through the motor by the controller,
the more torque the motor produces, the better the dynamics of the
electric drive is. On the other hand, driving more current through the
motor means generating more heat in the motor's winding. The heat
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