Actions

Configurations

Device Address*
Current Limit [A]*
PWM Frequency [kHz]*
Number of Poles*
Encoder Lines*
Motor type*
UART Line baud-rate[bits/s]*
CANopen baud-rate[kbits/s]*

Identifications

Current Controller Kp*
Current Controller Ki*
Motor Inductance [Henry]*
Motor Resistance[Ohm]*
Normal Brushless Observer Gain*
Normal Brushless Filter Gain*
Fast Brushless Observer Gain*
Fast Brushless Filter Gain*
DC Motor Observer Gain*

Sensors Calibration


Encoder/Hall C.C.W Offset*
Encoder/Hall C.W Offset*

Controls

Command Mode
Feedback Control Mode*
Control type*
Motor Direction
Speed Controller Kp
Speed Controller Ki
Position Controller Kp
Position Controller Ki
Torque Reference_Iq [A]
Speed Reference [RPM]
Speed Limit [RPM]
Desired Position [Quad_Pulses]
Magnetizing Current_Id [A]
Power Reference [%]
Speed Acceleration[rev/s^2]*
Speed Deceleration [rev/s^2]*

Information

Supply Voltage [V]
Temperature [°C]
Error Register
Firmware Version
Speed [RPM]
Torque_Iq [A]
Magnetizing Current_Id [A]
Position [Quad_Pulses]
Hardware Version

Monitors

Performance Mode (500Hz)


Generic Mode (200Hz)