Command

State varibles

info

Next variables are located in the folder /driver/.

These state variables hold the command that was last received by the driver.

• cmd the actual, normalized level of motor request. Usually, the range is from (-1 - +1)/
• mode the actual motor control mode request.
• uqmult [.uref] (umult [.uref] (for BLDC)) Q-axis voltage multiplier.
• iqmult [.iref] (imult [.iref] (for BLDC)) Q-axis current multiplier.
• iqmultr [.iref] (imultr [.iref] (for BLDC)) Q-axis brake current multiplier irefr (in voltage modes only)