Driver Parameter IDs

This document describes how to read/write parameters through the ESCx driver API.

tip

This protocol is not designed for service configuration, such as motor characterization, etc. That is why only some parameters are exposed. Always use the SWTools to gain full access to the service settings.

note

Not all parameters have IDs, meaning they cannot be accessed via the driver API.

/driver

Parameter	ID	Datatype	VECTOR	BLDC
rref	1	float	X	X
pref	2	float	X	X
iref	3	float	X	X
uref	4	float	X	X
irefr	5	float	X	X
prest	6	uint8	X	X
vcf	7	uint8	X
ipeak	8	float	X	X
kf	9	float	X	X
kr	10	float	X	X

/driver/supply

Parameter	ID	Datatype	VECTOR	BLDC
/supply/pchg1	15	float	X	X
/supply/pchg2	16	float	X	X
/supply/pchgtim	17	int16	X	X

/driver/dac

Parameter	ID	Datatype	VECTOR	BLDC
/dac/fwp	20	float	X
/dac/fwc	21	float	X
/dac/fwm	22	float	X
/dac/fwr	23	float	X
/dac/fwd	24	float	X
/dac/dxc	25	float	X
/dac/mtk	26	float	X
/dac/tcc	27	float	X
/dac/tdg	28	float	X
/dac/tqf	29	float	X

/driver/rest

Parameter	ID	Datatype	VECTOR	BLDC
/rest/omega	30	float	X
/rest/hinv	31	uint8	X	X
/rest/hvar	32	uint8	X	X
/rest/roff1	33	float	X
/rest/roff2	34	float	X
/rest/rpole	35	float	X
/rest/rangle	36	float	X
/rest/esk	37	float	X
/rest/eak	38	float	X
/rest/eca	39	float	X
/rest/ect	40	float	X
/rest/edc	41	float	X
/rest/assl	45	float	X
/rest/assh	46	float	X
/rest/ppr	47	int16	X

/driver/motor

Parameter	ID	Datatype	VECTOR	BLDC
/motor/pp	50	int8	X	X
/motor/psi	51	float	X
/motor/Rt	52	float	X
/motor/Ld	53	float	X
/motor/Lq	54	float	X
/motor/Dp	55	float	X
/motor/Dt	56	float	X
/motor/Da	57	float	X
/motor/Dc	58	float	X
/motor/Dq	59	float	X

/motor/Dq exists only in firmware that includes it.

/driver/limiter

Parameter	ID	Datatype	VECTOR	BLDC
/limiter/mctim	60	int16	X	X
/limiter/mcflags	61	uint8	X	X
/limiter/ccdamp	62	float	X	X
/limiter/ccgain	63	float	X	X
/limiter/clpf	64	float[2]	X	X
/limiter/ibpos	70	float	X	X
/limiter/ibneg	71	float	X	X
/limiter/ibgain	72	float	X	X
/limiter/ubmax	73	float	X	X
/limiter/ubmin	74	float	X	X
/limiter/ubgain	75	float	X	X
/limiter/ppos	80	float	X	X
/limiter/pneg	81	float	X	X
/limiter/pgain	82	float	X	X
/limiter/rpos	90	float	X	X
/limiter/rneg	91	float	X	X
/limiter/rdec	92	float	X	X
/limiter/rgain	93	float	X	X
/limiter/mtemplo	100	float	X	X
/limiter/mtemphi	101	float	X	X
/limiter/mtempgain	102	float	X	X
/limiter/mreslo	106	float	X
/limiter/mreshi	107	float	X
/limiter/mresgain	108	float	X
/limiter/btempmaxhi	110	float	X	X
/limiter/btempmaxlo	111	float	X	X
/limiter/btempminlo	112	float	X	X
/limiter/btempminhi	113	float	X	X
/limiter/bcellmin	115	float	X	X
/limiter/bcellmax	116	float	X	X
/limiter/bcellgain	117	float	X	X

New in driver 6

The PID parameter IDs below (120 and above) are available from driver firmware 6.0. /dac/fwp (20), /rest/ppr (47) and /limiter/clpf (64) are also new in driver 6.

/driver/pid_iq

Parameter	ID	Datatype	VECTOR	BLDC
/pid_iq/P	120	float	X	X
/pid_iq/I	121	float	X	X

/driver/pid_id

Parameter	ID	Datatype	VECTOR	BLDC
/pid_id/P	122	float	X	X
/pid_id/I	123	float	X	X

/driver/pid_speed

Parameter	ID	Datatype	VECTOR	BLDC
/pid_speed/P	124	float	X	X
/pid_speed/I	125	float	X	X
/pid_speed/D	126	float	X	X
/pid_speed/Td	127	float	X	X

/driver/pid_position

Parameter	ID	Datatype	VECTOR	BLDC
/pid_position/P	128	float	X	X
/pid_position/I	129	float	X	X
/pid_position/D	130	float	X	X
/pid_position/Td	131	float	X	X