SimpleMotion parameter scales and units
List of most common SimpleMotion parameter units and scales:
| Name in SimpleMotion | Equivalent name in Granity | Scale | Remarks |
|---|---|---|---|
| SMP_TRAJ_PLANNER_VEL | Velocity limitCVL | Number of encoder counts moved per 400µs control cycle multiplied by Setpoint dividerDIV (SMP_TRAJ_PLANNER_DIVIDER) | Same scale applies to homing velocity limit. See also Signal path of motor drive. |
| SMP_TRAJ_PLANNER_ACCEL | Acceleration limitCAL | Number of velocity limit counts (CVL) changed per 400µs control cycle multiplied by Setpoint dividerDIV (SMP_TRAJ_PLANNER_DIVIDER) | Same scale applies to homing acceleration limit limit. See also Signal path of motor drive. |
| SMP_TRAJ_PLANNER_STOP_DECEL | None | - | Parameter has no effect in current firmware |
| SMP_ACTUAL_BUS_VOLTAGE | Seen in Testing status lists | 10mV per count | |
| SMP_ACTUAL_TORQUE | Seen in Testing status lists | 1mA per count | |
| SMP_ACTUAL_VELOCITY_FB | Seen in Testing status lists | Number of encoder counts moved per 400µs control cycle |
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