Here’s my JSON file. We’re using a MR075 incremental magnetic ring encoder from RLS, the encoder system has a CPR of 48000. The motor is a 40-pole-pair 48V high-torque BLDC motor with a KV of 13.75 RPM/V
{“amt21_encoder_group0”: {“config”: {“addr0”: 84, “enable”: false, “event_driven_mode”: false, “gpio”: 0, “rs485”: 0}}, “axis0”: {“commutation_mapper”: {“config”: {“approx_init_pos”: 0.0, “approx_init_pos_valid”: false, “circular_output_range”: 1.0, “circular”: true, “index_gpio”: 7, “index_offset”: 0.0, “index_offset_valid”: false, “index_search_always_on”: false, “offset”: 0.0, “offset_valid”: false, “scale”: 40.0, “use_endstop”: false, “use_index_gpio”: false}}, “config”: {“I_bus_hard_max”: Infinity, “I_bus_hard_min”: -Infinity, “calib_range”: 1.0, “calib_scan_distance”: 16.0, “calib_scan_vel”: 5.0, “commutation_encoder”: 1, “dir_gpio_pin”: 9, “enable_error_gpio”: false, “enable_step_dir”: false, “enable_watchdog”: false, “encoder_bandwidth”: 1000.0, “error_gpio_pin”: 10, “index_search_at_target_vel_only”: false, “load_encoder”: 1, “startup_closed_loop_control”: true, “startup_encoder_index_search”: false, “startup_encoder_offset_calibration”: true, “startup_homing”: false, “startup_max_wait_for_ready”: 3.0, “startup_motor_calibration”: false, “step_dir_always_on”: false, “step_gpio_pin”: 8, “torque_soft_max”: Infinity, “torque_soft_min”: -Infinity, “watchdog_timeout”: 0.0, “anticogging”: {“calib_coarse_integrator_gain”: 100.0, “calib_coarse_tuning_duration”: 60.0, “calib_end_vel”: 0.07000000029802322, “calib_fine_tuning_duration”: 120.0, “calib_start_vel”: 4.0, “enabled”: false, “max_torque”: 0.15000000596046448}, “calibration_lockin”: {“accel”: 20.0, “current”: 15.0, “ramp_distance”: 0.5, “ramp_time”: 0.10000000149011612, “vel”: 300.0}, “can”: {“bus_voltage_msg_rate_ms”: 0, “encoder_msg_rate_ms”: 10, “error_msg_rate_ms”: 0, “heartbeat_msg_rate_ms”: 300, “iq_msg_rate_ms”: 0, “is_extended”: false, “node_id”: 32, “temperature_msg_rate_ms”: 0, “torques_msg_rate_ms”: 0, “version_msg_rate_ms”: 0}, “general_lockin”: {“accel”: 20.0, “current”: 20.0, “finish_distance”: 100.0, “finish_on_distance”: false, “finish_on_vel”: false, “initial_pos”: 0.0, “ramp_distance”: 3.1415927410125732, “ramp_time”: 0.4000000059604645, “vel”: 40.0}, “motor”: {“acim_autoflux_attack_gain”: 10.0, “acim_autoflux_decay_gain”: 1.0, “acim_autoflux_enable”: false, “acim_autoflux_min_Id”: 10.0, “acim_gain_min_flux”: 10.0, “acim_nominal_slip_vel”: 2.3399999141693115, “bEMF_FF_enable”: false, “calibration_current”: 30.0, “current_control_bandwidth”: 1000.0, “current_hard_max”: 90.0, “current_slew_rate_limit”: 10000.0, “current_soft_max”: 70.0, “direction”: 1.0, “ff_pm_flux_linkage”: 0.0, “ff_pm_flux_linkage_valid”: false, “fw_enable”: false, “fw_fb_bandwidth”: 500.0, “fw_mod_setpoint”: 0.7813565135002136, “motor_model_l_d”: 0.0, “motor_model_l_dq_valid”: false, “motor_model_l_q”: 0.0, “motor_type”: 0, “phase_inductance”: 0.00019094912568107247, “phase_inductance_valid”: true, “phase_resistance”: 0.05920412391424179, “phase_resistance_valid”: true, “pole_pairs”: 40, “resistance_calib_max_voltage”: 2.0, “sensorless_observer_gain”: 1000.0, “sensorless_pll_bandwidth”: 1000.0, “sensorless_pm_flux_linkage”: 0.0, “sensorless_pm_flux_linkage_valid”: false, “torque_constant”: 13.074999809265137, “wL_FF_enable”: false}, “sensorless_ramp”: {“accel”: 31.83098793029785, “current”: 10.0, “finish_distance”: 15.915493965148926, “finish_on_distance”: false, “finish_on_vel”: true, “initial_pos”: 0.0, “ramp_distance”: 0.5, “ramp_time”: 0.4000000059604645, “vel”: 63.6619758605957}}, “controller”: {“config”: {“absolute_setpoints”: false, “circular_setpoint_range”: 1.0, “circular_setpoints”: false, “commutation_vel_scale”: 1.0, “control_mode”: 2, “enable_gain_scheduling”: false, “enable_overspeed_error”: true, “enable_torque_mode_vel_limit”: false, “enable_vel_limit”: true, “gain_scheduling_width”: 0.0010000000474974513, “homing_speed”: 0.25, “inertia”: 0.0, “input_filter_bandwidth”: 2.0, “input_mode”: 2, “pos_gain”: 6.0, “spinout_electrical_power_bandwidth”: 50.0, “spinout_electrical_power_threshold”: 25.0, “spinout_mechanical_power_bandwidth”: 20.0, “spinout_mechanical_power_threshold”: -10.0, “steps_per_circular_range”: 1024, “torque_ramp_rate”: 5.0, “use_commutation_vel”: false, “vel_gain”: 1.0, “vel_integrator_gain”: 0.009999999776482582, “vel_integrator_limit”: Infinity, “vel_limit”: 6.659999847412109, “vel_limit_tolerance”: 1.2000000476837158, “vel_ramp_rate”: 2.0}}, “interpolator”: {“config”: {“dynamic”: true}}, “max_endstop”: {“config”: {“debounce_ms”: 50, “enabled”: false, “gpio_num”: 0, “is_active_high”: false, “offset”: 0.0}}, “mechanical_brake”: {“config”: {“gpio_num”: 0, “is_active_low”: true}}, “min_endstop”: {“config”: {“debounce_ms”: 50, “enabled”: true, “gpio_num”: 8, “is_active_high”: false, “offset”: 0.0}}, “motor”: {“motor_thermistor”: {“config”: {“beta”: 0.0, “enabled”: false, “gpio_pin”: 3, “r_ref”: 0.0, “t_ref”: 25.0, “temp_limit_lower”: 100.0, “temp_limit_upper”: 120.0}}}, “pos_vel_mapper”: {“config”: {“approx_init_pos”: 0.0, “approx_init_pos_valid”: false, “circular_output_range”: 1.0, “circular”: false, “index_gpio”: 7, “index_offset”: 0.0, “index_offset_valid”: false, “index_search_always_on”: false, “offset”: 0.0, “offset_valid”: false, “scale”: 1.0, “use_endstop”: true, “use_index_gpio”: false}}, “trap_traj”: {“config”: {“accel_limit”: 2.0, “decel_limit”: 2.0, “vel_limit”: 10.0}}}, “can”: {“config”: {“baud_rate”: 250000, “protocol”: 1}}, “config”: {“dc_bus_overvoltage_trip_level”: 60.0, “dc_bus_undervoltage_trip_level”: 10.5, “dc_max_negative_current”: -13.0, “dc_max_positive_current”: 13.0, “enable_can_a”: true, “enable_uart_a”: false, “gpio0_mode”: 17, “gpio10_mode”: 17, “gpio11_mode”: 17, “gpio12_mode”: 17, “gpio13_mode”: 17, “gpio14_mode”: 17, “gpio15_mode”: 17, “gpio16_mode”: 17, “gpio17_mode”: 17, “gpio18_mode”: 17, “gpio1_mode”: 17, “gpio2_mode”: 17, “gpio3_mode”: 17, “gpio4_mode”: 17, “gpio5_mode”: 17, “gpio6_mode”: 17, “gpio7_mode”: 17, “gpio8_mode”: 1, “gpio9_mode”: 17, “max_regen_current”: 0.0, “uart0_protocol”: 3, “uart_a_baudrate”: 115200, “usb_cdc_protocol”: 3, “gpio15_analog_mapping”: {“endpoint”: null, “max”: 0.0, “min”: 0.0}, “gpio16_analog_mapping”: {“endpoint”: null, “max”: 0.0, “min”: 0.0}, “gpio8_pwm_mapping”: {“endpoint”: null, “max”: 0.0, “min”: 0.0}, “gpio9_pwm_mapping”: {“endpoint”: null, “max”: 0.0, “min”: 0.0}, “inverter0”: {“current_hard_max”: 150.0, “current_soft_max”: 100.0, “drv_config”: 9029553772700800, “shunt_conductance”: 1999.9998779296875, “temp_limit_lower”: 83.95999908447266, “temp_limit_upper”: 103.11000061035156}, “motor_fan”: {“enabled”: false, “lower”: 70.0, “upper”: 80.0}, “odrv_fan”: {“enabled”: false, “lower”: 70.0, “upper”: 80.0}}, “hall_encoder0”: {“config”: {“enabled”: false, “hall_polarity_calibrated”: false, “hall_polarity”: 0, “ignore_illegal_hall_state”: false}}, “hall_encoder1”: {“config”: {“enabled”: false, “hall_polarity_calibrated”: false, “hall_polarity”: 0, “ignore_illegal_hall_state”: false}}, “inc_encoder0”: {“config”: {“cpr”: 19200, “enabled”: true}}, “inc_encoder1”: {“config”: {“cpr”: 8192, “enabled”: false}}, “spi_encoder0”: {“config”: {“baudrate”: 1687500, “delay”: 0.0, “max_error_rate”: 0.004999999888241291, “mode”: 0, “ncs_gpio”: 17}}, “spi_encoder1”: {“config”: {“baudrate”: 1687500, “delay”: 0.0, “max_error_rate”: 0.004999999888241291, “mode”: 0, “ncs_gpio”: 17}}}
