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| MPC || Pole count || Set motor magnetic pole count (not in DB motors) || Set number of magnetic poles present in the AC/BLDC motor according to motor specifications. If not specified, see [[Determining motor pole count]] or in case of linear motor, see [[Configuring linear servo motor]]. | | MPC || Pole count || Set motor magnetic pole count (not in DB motors) || Set number of magnetic poles present in the AC/BLDC motor according to motor specifications. If not specified, see [[Determining motor pole count]] or in case of linear motor, see [[Configuring linear servo motor]]. | ||
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− | | MCC || [[Motor peak and continuous current limits|Continuous current limit]] || Motor continuous current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS)|| rowspan= | + | | MCC || [[Motor peak and continuous current limits|Continuous current limit]] || Motor continuous current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS)|| rowspan=2|Use value from your motor data sheet or any lower value to reduce torque. If your AC/BLDC motor phase current is specified as RMS value, then multiply it with 1.41 to get peak value of sine. |
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| MMC || [[Motor peak and continuous current limits|Peak current limit]] || Motor peak current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS). Drive outputs this current to motor for max of 2 second duration and then falls back to the continuous limit (MCC). MCC will be also used if motor temperature modeling (see MTC) indicates maximum temperature. | | MMC || [[Motor peak and continuous current limits|Peak current limit]] || Motor peak current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS). Drive outputs this current to motor for max of 2 second duration and then falls back to the continuous limit (MCC). MCC will be also used if motor temperature modeling (see MTC) indicates maximum temperature. | ||
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− | | MR || Coil resistance || Motor [[phase-to-phase]] winding resistance|| rowspan= | + | | MR || Coil resistance || Motor [[phase-to-phase]] winding resistance|| rowspan=2|See motor data sheet and enter the value here. If unknown, see [[Tuning torque controller]]. |
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| ML || Coil inductance ||Motor [[phase-to-phase]] winding inductance | | ML || Coil inductance ||Motor [[phase-to-phase]] winding inductance | ||
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If not available, use formula 200*motor_weight (kg) as approximate, so a 2 kg motor would get a 400 second time constant. There is no guarantee of accuracy of this method. | If not available, use formula 200*motor_weight (kg) as approximate, so a 2 kg motor would get a 400 second time constant. There is no guarantee of accuracy of this method. | ||
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{{next|[[Granity user guide/Tuning]]}} | {{next|[[Granity user guide/Tuning]]}} | ||
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