In [322]: odrv0.axis0.motor.config
Out[322]:
pre_calibrated = False (bool)
pole_pairs = 7 (int)
calibration_current = 10.0 (float)
resistance_calib_max_voltage = 2.0 (float)
phase_inductance = 3.2659514545230195e-05 (float)
phase_resistance = 0.07460606098175049 (float)
torque_constant = 0.02500000037252903 (float)
direction = 1 (int)
motor_type = 0 (int)
current_lim = 90.0 (float)
current_lim_margin = 40.0 (float)
torque_lim = inf (float)
inverter_temp_limit_lower = 100.0 (float)
inverter_temp_limit_upper = 120.0 (float)
requested_current_range = 90.0 (float)
current_control_bandwidth = 3141.0 (float)
acim_slip_velocity = 14.706000328063965 (float)
acim_gain_min_flux = 10.0 (float)
acim_autoflux_min_Id = 10.0 (float)
acim_autoflux_enable = False (bool)
acim_autoflux_attack_gain = 10.0 (float)
acim_autoflux_decay_gain = 1.0 (float)

In [323]:

In [323]:

In [323]: odrv0.axis0.encoder.config
Out[323]:
mode = 257 (int)
use_index = False (bool)
find_idx_on_lockin_only = False (bool)
abs_spi_cs_gpio_pin = 4 (int)
zero_count_on_find_idx = True (bool)
cpr = 16384 (int)
offset = 20528 (int)
pre_calibrated = False (bool)
offset_float = 1.402250051498413 (float)
enable_phase_interpolation = True (bool)
bandwidth = 3141.0 (float)
calib_range = 0.019999999552965164 (float)
calib_scan_distance = 50.26548385620117 (float)
calib_scan_omega = 12.566370964050293 (float)
idx_search_unidirectional = False (bool)
ignore_illegal_hall_state = False (bool)
sincos_gpio_pin_sin = 3 (int)
sincos_gpio_pin_cos = 4 (int)

In [324]:

In [324]:

In [324]: odrv0.axis0.controller.config
Out[324]:
gain_scheduling_width = 10.0 (float)
enable_vel_limit = True (bool)
enable_current_mode_vel_limit = True (bool)
enable_gain_scheduling = False (bool)
enable_overspeed_error = True (bool)
control_mode = 3 (int)
input_mode = 5 (int)
pos_gain = 20.0 (float)
vel_gain = 0.1666666716337204 (float)
vel_integrator_gain = 0.0 (float)
vel_limit = 35.0 (float)
vel_limit_tolerance = 1.2000000476837158 (float)
vel_ramp_rate = 1.0 (float)
torque_ramp_rate = 0.009999999776482582 (float)
circular_setpoints = False (bool)
circular_setpoint_range = 1.0 (float)
homing_speed = 0.25 (float)
inertia = 0.0 (float)
axis_to_mirror = 255 (int)
mirror_ratio = 1.0 (float)
load_encoder_axis = 0 (int)
input_filter_bandwidth = 2.0 (float)
anticogging:
  index = 0 (int)
  pre_calibrated = False (bool)
  calib_anticogging = False (bool)
  calib_pos_threshold = 1.0 (float)
  calib_vel_threshold = 1.0 (float)
  cogging_ratio = 1.0 (float)
  anticogging_enabled = True (bool)

In [325]: odrv0.axis0.trap_traj.config
Out[325]:
vel_limit = 20.0 (float)
accel_limit = 10000.0 (float)
decel_limit = 10000.0 (float)