Motor Parameters

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D-Q Axis and motor parameters

Motor phase resistance

The results of the motor phase resistance test is stored in motor_Rd or motor_Rq depending on the configured axis. Running the test will overwrite any value already stored.

The motor phase resistance parameters are used in current controller decoupling and to determine controller gains.

Motor phase inductance

The results of the motor phase inductance test is stored in motor_Ld or motor_Lq depending on the configured axis. Running the test will overwrite any value already stored.

The motor phase inductance parameters are used in current controller decoupling and to determine controller gains.

Motor flux linkage

Motor flux linkage is used in current controller decoupling.

Motor pole pairs

To ensure correct operation the motor pole pairs must be configured correctly for each motor.

Motor phase swap

For motors that are soldered in backwards, or motors with no identifying phase markings, motor phases A and B can be swapped by configuring parameter motor_phase_swap.

Command	Type	Required	Description
motor_Rd	float32	Optional	D axis motor winding resistance (Ohm).
motor_Rq	float32	Optional	Q axis motor winding resistance (Ohm).
motor_Ld	float32	Optional	D axis motor winding inductance (Henry).
motor_Lq	float32	Optional	Q axis motor winding inductance (Henry).
motor_Ym	float32	Optional	Flux linkage
motor_pp	uint32	Required	Number of motor pole pairs.
motor_phase_swap	bool	Optional	Swaps phase A and B. False: Motor phases NOT swapped. True: Motor phases swapped.