Servosila-Device-Reference-0xA020192

is what burns electric motors. This means that making a mistake and
setting this parameter too high might have a fatal consequences for
the motor. Setting this parameter too low would mean that the motor
is not used to its full capacity in terms of torque. In short, it is
important to set this parameter right.
Note that if a particular application does not require all the torque the
motor can produce, it would be wise to set the limit lower than a
nominal value suggested by the manufacturer. This would establish a
safety margin at the expense of torque.
2
Poles Number
(Rotor Poles)
an even
number
The Poles Number parameter should be taken from the motor's
datasheet, or it can be determined experimentally. Note that the
number of rotor poles is always an EVEN number since magnet
poles always come in pairs.
The number of poles can be determined by looking inside the motor.
Just count the number of coils in the motor, divide it by 3, and then
multiply by 2. For example, if a motor has 21 stator coils, this means
that Poles Number = (21 / 3) * 2 = 14.
If one cannot peek inside the motor, there is a simple procedure that
experimentally determines the Poles Number.
UINT16 2
The RPDO COB-ID is 0x400.
The Command Code is 0xD0.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Autoconfiguration: Brushed Motor
Use this command when commissioning a new brushed motor. The command launches an auto-configuration procedure
that automatically measures various characteristics of a brushed 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).
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
FLOAT32 4
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