Parameters

Complete listing of YOS registered parameters and states.

Forward mode

Driver mode for positive commands (cmd > 0).

/ctl_mode

Value	Name	Description
1	VLT	Voltage control mode. ~the command is your desired speed.
2	CRT	Current control mode. ~the command is your desired torque.
3	VLF	Voltage freewheel control mode. ~the command is your desired speed with freewheeling.

The table show only most used driver modes. For full list, see driver modes documentation.

Reverse mode

Driver mode for negative commands (cmd < 0).

tip

To recognize a negative command, the parameter /asc1/center must be set. Below this value, commands are considered negative. Or the same thing with the pwm1 if used.

/ctl_rev_mode

Value	Name	Description
4	VLB	Voltage brake. ~the command is your desired braking speed. Below that speed, the motor is freewheeling.
8	BRK	Brake mode. ~the command is your desired braking torque.

The table show only most used driver modes. For full list, see driver modes documentation.

Idle

This means, that the input is 0 and the mode is in IDLE state.

The default value 0, mean freewheeling.

There are these usecases:

• No input to the system and you want to spin the motor immediately when the controller is powered. In this case set here VLT or CRT mode and set sig_path to 0.
• You want to brake the motor when no command is given. In this case set here BRK or VLB mode. To smooth the transition, increase the /driver/limiter/mctime parameter.

/idle_mode

Value	Name	Description
0	FRW	Freewheel mode.
8	BRK	Brake mode. ~the command is your desired braking torque. To apply braking, you need to set `idle_level` to positive value.

The table show only most used driver modes. For full list, see driver modes documentation.

Delay

The delay prolong the time before the controller start. This is useful when you have a system that need some time to power up before the controller spin the motor.

tip

This is usefull with the sig_path = 0 and with the idle_mode and idle_level is nonzero. This mean situation, when you want to spin the motor right after you turn on the controller.

States

State variable	Description	Unit
cmd	Current driver command value	[-] <-1:1>
in1	Digital input 1 state	0: inactive 1: active
in2	Digital input 2 state	0: inactive 1: active
level	Analog input 1 value	[-] <-1:1>
level2	Analog input 2 value	[-] <-1:1>
mode	State machine current state	[-]