Sensorless control and velocity estimates in CAN

Support
1

Hi,

Looking at the CAN message list documented in this page, I stumbled upon the following:

0x009 - Get Encoder Estimates* - Master

What would that message return if I were running the motor in sensorless mode? Would it give me the last instantaneous estimates of electrical velocity and position?

Thanks!

2

It currently only reports the encoder values, so for sensorless it will return zero for both.

I just added 0x015 - Get Sensorless Estimates

3

Hi,

Wow that’s really great! Thanks!
Would you know by any chance when that CAN message will be available in the next release of the firmware?