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Apr 1st, 2021
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  1. In [322]: odrv0.axis0.motor.config
  2. Out[322]:
  3. pre_calibrated = False (bool)
  4. pole_pairs = 7 (int)
  5. calibration_current = 10.0 (float)
  6. resistance_calib_max_voltage = 2.0 (float)
  7. phase_inductance = 3.2659514545230195e-05 (float)
  8. phase_resistance = 0.07460606098175049 (float)
  9. torque_constant = 0.02500000037252903 (float)
  10. direction = 1 (int)
  11. motor_type = 0 (int)
  12. current_lim = 90.0 (float)
  13. current_lim_margin = 40.0 (float)
  14. torque_lim = inf (float)
  15. inverter_temp_limit_lower = 100.0 (float)
  16. inverter_temp_limit_upper = 120.0 (float)
  17. requested_current_range = 90.0 (float)
  18. current_control_bandwidth = 3141.0 (float)
  19. acim_slip_velocity = 14.706000328063965 (float)
  20. acim_gain_min_flux = 10.0 (float)
  21. acim_autoflux_min_Id = 10.0 (float)
  22. acim_autoflux_enable = False (bool)
  23. acim_autoflux_attack_gain = 10.0 (float)
  24. acim_autoflux_decay_gain = 1.0 (float)
  25.  
  26. In [323]:
  27.  
  28. In [323]:
  29.  
  30. In [323]: odrv0.axis0.encoder.config
  31. Out[323]:
  32. mode = 257 (int)
  33. use_index = False (bool)
  34. find_idx_on_lockin_only = False (bool)
  35. abs_spi_cs_gpio_pin = 4 (int)
  36. zero_count_on_find_idx = True (bool)
  37. cpr = 16384 (int)
  38. offset = 20528 (int)
  39. pre_calibrated = False (bool)
  40. offset_float = 1.402250051498413 (float)
  41. enable_phase_interpolation = True (bool)
  42. bandwidth = 3141.0 (float)
  43. calib_range = 0.019999999552965164 (float)
  44. calib_scan_distance = 50.26548385620117 (float)
  45. calib_scan_omega = 12.566370964050293 (float)
  46. idx_search_unidirectional = False (bool)
  47. ignore_illegal_hall_state = False (bool)
  48. sincos_gpio_pin_sin = 3 (int)
  49. sincos_gpio_pin_cos = 4 (int)
  50.  
  51. In [324]:
  52.  
  53. In [324]:
  54.  
  55. In [324]: odrv0.axis0.controller.config
  56. Out[324]:
  57. gain_scheduling_width = 10.0 (float)
  58. enable_vel_limit = True (bool)
  59. enable_current_mode_vel_limit = True (bool)
  60. enable_gain_scheduling = False (bool)
  61. enable_overspeed_error = True (bool)
  62. control_mode = 3 (int)
  63. input_mode = 5 (int)
  64. pos_gain = 20.0 (float)
  65. vel_gain = 0.1666666716337204 (float)
  66. vel_integrator_gain = 0.0 (float)
  67. vel_limit = 35.0 (float)
  68. vel_limit_tolerance = 1.2000000476837158 (float)
  69. vel_ramp_rate = 1.0 (float)
  70. torque_ramp_rate = 0.009999999776482582 (float)
  71. circular_setpoints = False (bool)
  72. circular_setpoint_range = 1.0 (float)
  73. homing_speed = 0.25 (float)
  74. inertia = 0.0 (float)
  75. axis_to_mirror = 255 (int)
  76. mirror_ratio = 1.0 (float)
  77. load_encoder_axis = 0 (int)
  78. input_filter_bandwidth = 2.0 (float)
  79. anticogging:
  80. index = 0 (int)
  81. pre_calibrated = False (bool)
  82. calib_anticogging = False (bool)
  83. calib_pos_threshold = 1.0 (float)
  84. calib_vel_threshold = 1.0 (float)
  85. cogging_ratio = 1.0 (float)
  86. anticogging_enabled = True (bool)
  87.  
  88. In [325]: odrv0.axis0.trap_traj.config
  89. Out[325]:
  90. vel_limit = 20.0 (float)
  91. accel_limit = 10000.0 (float)
  92. decel_limit = 10000.0 (float)
  93.  
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