Drive command

State variables

info

The following variables are located in the /driver/ folder.

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

• cmd the actual, normalized level of motor drive request. Usually, the range is from (-1 - +1)/
• mode the actual drive 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)

enable [-]

info

ESCx controllers always attempt to disengage the power stage when the active control is not necessary, e.g. when mode 0 (freewheel) is requested and no flux weakening is required at the moment, even when the motor is spinning. Seamless engagement/disengagement of control is guaranteed with a spinning motor. Moreover, ESCx driver can also be initialized when the motor is spinning (under nominal speed at given DC voltage).

Indicates the actual state of the power stage. The values can be any of:

Value	Description
0	Transistors in the power stage are off
1	Initialization 1
2	Initialization 2
3	Motor is driven
4	Motor is generating sound