Setting Accellerations limits via CAN

Support ODrive S1 Support
1

Running S1 and DS5065 motor in velocity mode.
S1 setup for CAN interface id 0.
I can control the S1 and motor via an USB to CAN interface and a PC CAN simulator program. Everything is working fine, except for setting the Accellerations limits !!

If I for example send cmd. 0x12 00 00 A0 41 00 00 A0 41 the accelleration figure on the Velocity Dashboard changes to 20 as exspected, but at the next Velocity setting, the accelleration of the motor did not change.
Do I move the cursor to the Accelleration field at the Dashboard and press Return, then the new Acelleration limit works.
How do I change the Accelleration Limits via CAN command ??
Thanks In advance

/Jens

2

Hi! Just to confirm, the 0x012 “Set_Traj_Accel_Limits” message is specifically for trajectory control in position mode. Are you in position control with trajectory mode, or are you trying to instead change the velocity ramp rate limits in ramped velocity mode?

3

Hello.
Yes I am trying to change the velocity ramp rate limits in ramped velocity mode via CAN command.
How do I do that with a CAN command ?

/Jens

4

I have send from PC via CAN interface: 0x0B 02 00 00 00 02 00 00 00
Inspector shows: input_mode VEL_RAMP
control_mode VELOCITY_CONTROL

What CAN command will change the vel_ramp_rate ?