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- {
- "config":{
- "enable_uart":true,
- "uart_baudrate":115200,
- "enable_i2c_instead_of_can":false,
- "enable_ascii_protocol_on_usb":true,
- "max_regen_current":0.0,
- "brake_resistance":0.4699999988079071,
- "dc_bus_undervoltage_trip_level":8.0,
- "dc_bus_overvoltage_trip_level":25.68000030517578,
- "enable_dc_bus_overvoltage_ramp":false,
- "dc_bus_overvoltage_ramp_start":25.68000030517578,
- "dc_bus_overvoltage_ramp_end":25.68000030517578,
- "dc_max_positive_current":"Infinity",
- "dc_max_negative_current":-9.999999974752427e-07
- },
- "axis0":{
- "config":{
- "startup_motor_calibration":false,
- "startup_encoder_index_search":false,
- "startup_encoder_offset_calibration":false,
- "startup_closed_loop_control":false,
- "startup_sensorless_control":false,
- "startup_homing":false,
- "enable_step_dir":false,
- "step_dir_always_on":false,
- "turns_per_step":0.0009765625,
- "watchdog_timeout":0.0,
- "enable_watchdog":false,
- "step_gpio_pin":1,
- "dir_gpio_pin":2,
- "can_node_id":0,
- "can_node_id_extended":false,
- "can_heartbeat_rate_ms":100
- },
- "fet_thermistor":{
- "config":{
- "temp_limit_lower":100.0,
- "temp_limit_upper":120.0,
- "enabled":true
- }
- },
- "motor_thermistor":{
- "config":{
- "gpio_pin":4,
- "poly_coefficient_0":0.0,
- "poly_coefficient_1":0.0,
- "poly_coefficient_2":0.0,
- "poly_coefficient_3":0.0,
- "temp_limit_lower":100.0,
- "temp_limit_upper":120.0,
- "enabled":false
- }
- },
- "motor":{
- "config":{
- "pre_calibrated":true,
- "pole_pairs":7,
- "calibration_current":5.0,
- "resistance_calib_max_voltage":2.0,
- "phase_inductance":1.14606609713519e-05,
- "phase_resistance":0.04614740610122681,
- "torque_constant":0.03999999910593033,
- "direction":-1,
- "motor_type":0,
- "current_lim":5.0,
- "current_lim_margin":8.0,
- "torque_lim":"Infinity",
- "inverter_temp_limit_lower":100.0,
- "inverter_temp_limit_upper":120.0,
- "requested_current_range":60.0,
- "current_control_bandwidth":1000.0,
- "acim_slip_velocity":14.706000328063965,
- "acim_gain_min_flux":10.0,
- "acim_autoflux_min_Id":10.0,
- "acim_autoflux_enable":false,
- "acim_autoflux_attack_gain":10.0,
- "acim_autoflux_decay_gain":1.0
- }
- },
- "controller":{
- "config":{
- "gain_scheduling_width":10.0,
- "enable_vel_limit":true,
- "enable_current_mode_vel_limit":true,
- "enable_gain_scheduling":false,
- "enable_overspeed_error":true,
- "control_mode":3,
- "input_mode":5,
- "pos_gain":20.0,
- "vel_gain":0.1666666716337204,
- "vel_integrator_gain":0.3333333432674408,
- "vel_limit":80.0,
- "vel_limit_tolerance":1.2000000476837158,
- "vel_ramp_rate":1.0,
- "torque_ramp_rate":0.009999999776482582,
- "circular_setpoints":false,
- "circular_setpoint_range":1.0,
- "homing_speed":0.25,
- "inertia":0.0,
- "axis_to_mirror":255,
- "mirror_ratio":1.0,
- "load_encoder_axis":0,
- "input_filter_bandwidth":2.0
- }
- },
- "encoder":{
- "config":{
- "mode":0,
- "use_index":true,
- "find_idx_on_lockin_only":false,
- "abs_spi_cs_gpio_pin":1,
- "zero_count_on_find_idx":true,
- "cpr":8192,
- "offset":-4326,
- "pre_calibrated":true,
- "offset_float":0.1397968828678131,
- "enable_phase_interpolation":true,
- "bandwidth":1000.0,
- "calib_range":0.019999999552965164,
- "calib_scan_distance":50.26548385620117,
- "calib_scan_omega":12.566370964050293,
- "idx_search_unidirectional":false,
- "ignore_illegal_hall_state":false,
- "sincos_gpio_pin_sin":3,
- "sincos_gpio_pin_cos":4
- }
- },
- "sensorless_estimator":{
- "config":{
- "observer_gain":1000.0,
- "pll_bandwidth":1000.0,
- "pm_flux_linkage":0.0015800000401213765
- }
- },
- "trap_traj":{
- "config":{
- "vel_limit":30.0,
- "accel_limit":120.0,
- "decel_limit":120.0
- }
- },
- "min_endstop":{
- "config":{
- "gpio_num":0,
- "enabled":false,
- "offset":0.0,
- "is_active_high":false,
- "pullup":true,
- "debounce_ms":50
- }
- },
- "max_endstop":{
- "config":{
- "gpio_num":0,
- "enabled":false,
- "offset":0.0,
- "is_active_high":false,
- "pullup":true,
- "debounce_ms":50
- }
- }
- },
- "axis1":{
- "config":{
- "startup_motor_calibration":false,
- "startup_encoder_index_search":false,
- "startup_encoder_offset_calibration":false,
- "startup_closed_loop_control":false,
- "startup_sensorless_control":false,
- "startup_homing":false,
- "enable_step_dir":false,
- "step_dir_always_on":false,
- "turns_per_step":0.0009765625,
- "watchdog_timeout":0.0,
- "enable_watchdog":false,
- "step_gpio_pin":7,
- "dir_gpio_pin":8,
- "can_node_id":1,
- "can_node_id_extended":false,
- "can_heartbeat_rate_ms":100
- },
- "fet_thermistor":{
- "config":{
- "temp_limit_lower":100.0,
- "temp_limit_upper":120.0,
- "enabled":true
- }
- },
- "motor_thermistor":{
- "config":{
- "gpio_pin":4,
- "poly_coefficient_0":0.0,
- "poly_coefficient_1":0.0,
- "poly_coefficient_2":0.0,
- "poly_coefficient_3":0.0,
- "temp_limit_lower":100.0,
- "temp_limit_upper":120.0,
- "enabled":false
- }
- },
- "motor":{
- "config":{
- "pre_calibrated":true,
- "pole_pairs":7,
- "calibration_current":10.0,
- "resistance_calib_max_voltage":2.0,
- "phase_inductance":1.035777404467808e-05,
- "phase_resistance":0.031788941472768784,
- "torque_constant":0.03999999910593033,
- "direction":1,
- "motor_type":0,
- "current_lim":20.0,
- "current_lim_margin":8.0,
- "torque_lim":"Infinity",
- "inverter_temp_limit_lower":100.0,
- "inverter_temp_limit_upper":120.0,
- "requested_current_range":60.0,
- "current_control_bandwidth":1000.0,
- "acim_slip_velocity":14.706000328063965,
- "acim_gain_min_flux":10.0,
- "acim_autoflux_min_Id":10.0,
- "acim_autoflux_enable":false,
- "acim_autoflux_attack_gain":10.0,
- "acim_autoflux_decay_gain":1.0
- }
- },
- "controller":{
- "config":{
- "gain_scheduling_width":10.0,
- "enable_vel_limit":true,
- "enable_current_mode_vel_limit":true,
- "enable_gain_scheduling":false,
- "enable_overspeed_error":true,
- "control_mode":3,
- "input_mode":5,
- "pos_gain":20.0,
- "vel_gain":0.1666666716337204,
- "vel_integrator_gain":0.3333333432674408,
- "vel_limit":80.0,
- "vel_limit_tolerance":1.2000000476837158,
- "vel_ramp_rate":1.0,
- "torque_ramp_rate":0.009999999776482582,
- "circular_setpoints":false,
- "circular_setpoint_range":1.0,
- "homing_speed":0.25,
- "inertia":0.0,
- "axis_to_mirror":255,
- "mirror_ratio":1.0,
- "load_encoder_axis":1,
- "input_filter_bandwidth":2.0
- }
- },
- "encoder":{
- "config":{
- "mode":0,
- "use_index":true,
- "find_idx_on_lockin_only":false,
- "abs_spi_cs_gpio_pin":1,
- "zero_count_on_find_idx":true,
- "cpr":8192,
- "offset":5265,
- "pre_calibrated":true,
- "offset_float":0.9642968773841858,
- "enable_phase_interpolation":true,
- "bandwidth":1000.0,
- "calib_range":0.019999999552965164,
- "calib_scan_distance":50.26548385620117,
- "calib_scan_omega":12.566370964050293,
- "idx_search_unidirectional":false,
- "ignore_illegal_hall_state":false,
- "sincos_gpio_pin_sin":3,
- "sincos_gpio_pin_cos":4
- }
- },
- "sensorless_estimator":{
- "config":{
- "observer_gain":1000.0,
- "pll_bandwidth":1000.0,
- "pm_flux_linkage":0.0015800000401213765
- }
- },
- "trap_traj":{
- "config":{
- "vel_limit":30.0,
- "accel_limit":120.0,
- "decel_limit":120.0
- }
- },
- "min_endstop":{
- "config":{
- "gpio_num":0,
- "enabled":false,
- "offset":0.0,
- "is_active_high":false,
- "pullup":true,
- "debounce_ms":50
- }
- },
- "max_endstop":{
- "config":{
- "gpio_num":0,
- "enabled":false,
- "offset":0.0,
- "is_active_high":false,
- "pullup":true,
- "debounce_ms":50
- }
- }
- },
- "can":{
- "config":{
- "baud_rate":250000,
- "protocol":0
- }
- }
- }
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