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 multiplierirefr
(in voltage modes only)