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Version: 4.3.x {testing}

Mode/cmd change limiters

These limiters are used to smoothen the transitions in case of step (or rapid) change of motor command. It also smooths transitions from one motor mode to another.

info

Next variables are located in the folder /driver/limiter.

Parameters​

Sweep rate limiter​

Sweep rate limiter is a special limiter that reacts to some changes in the motor command or the motor mode. It aims to smoothen the transitions in case of step (or rapid) change of motor command. It also smooths transitions from one motor mode to another. If this limiter is turned off, command steps and transitions between modes could cause shocks and vibrations.

Sweep rate limiter reaction:

Limiter

Influence of ccgain on limitation (ccdamp = 0,001):

Limiter

ccdamp [lpf]​

Command Change damping limiter. Phase current is limited during the transition when there is a change in the command. This parameter defines for how long the limiter is active. The lower the value is, the longer the limitation is (the response is slower).

ccgain [-]​

Command Change damping gain. Phase current is limited during the transition if there is a change in the command. This parameter defines the starting value of the limitation percentage.

Mode change limiter​

mctim [ms]​

Mode change limiter. Smoothens the motor torque during a motor mode change.

  • After a mode change request, current limitation is ramped up to 100% for the mctim milliseconds
  • Then, the mode is changed (e.g. current mode -> voltage mode)
  • Then, current limitation is ramped back down to 0% (limitation released) for the mctim milliseconds

mctim

mcflags [-]​

Reserved for future use.