RPM Mode Settings

The following settings are related to the RPM Mode functions on the microDRIVE units.
Drive Mode
Description
Tailor output drive method. Normal will scale 0-100% throttle in the desired direction. Reversible will scale -100-0-100% throttle.
CAN Name
DRV_MODE
Units
N/A
Advanced
NO
Value Mappings:
0 -> Normal
1 -> Reversible
2 -> RPM
Motor Pole Pairs
Description
Number of motor pole pairs of the connected motor, utilised for scaling eRPM to RPM.
CAN Name
MOT_POLE_PAIRS
Units
N/A
Advanced
NO
RPM Mode Integral Control
Description
The integral value for the rpm mode PI speed control loop
CAN Name
RPM_MODE_KI
Units
N/A
Advanced
YES
RPM Mode Maximum
Description
The maximum RPM to utilise with the RPM mode. The internal governor will regulate the desired input linearly between minimum and maximum RPM endpoints.
CAN Name
RPM_MODE_MAX
Units
Units are in mechanical RPM (RPM)
Advanced
NO
RPM Mode Minimum
Description
The minimum RPM to utilise with the RPM mode. The internal governor will regulate the desired input linearly between minimum and maximum RPM endpoints.
CAN Name
RPM_MODE_MIN
Units
Units are in mechanical RPM (RPM)
Advanced
NO
RPM Mode Proportional Control
Description
The proportional value for the rpm mode PI speed control loop
CAN Name
RPM_MODE_KP
Units
N/A
Advanced
YES
RPM Mode Soft Start Ramp Time
Description
Soft start rate to utilise when starting a motor. The unit is %/s, a value of 0 means no soft start (instant starting response). Typically used with geared setups.
CAN Name
SOFT_START_RMP
Units
Units are in seconds (s)
Advanced
NO
﻿

Prop Parking Settings

Diagnostics

Description	Tailor output drive method. Normal will scale 0-100% throttle in the desired direction. Reversible will scale -100-0-100% throttle.
CAN Name	DRV_MODE
Units	N/A
Advanced	NO

Description	Number of motor pole pairs of the connected motor, utilised for scaling eRPM to RPM.
CAN Name	MOT_POLE_PAIRS
Units	N/A
Advanced	NO

Description	The integral value for the rpm mode PI speed control loop
CAN Name	RPM_MODE_KI
Units	N/A
Advanced	YES

Description	The maximum RPM to utilise with the RPM mode. The internal governor will regulate the desired input linearly between minimum and maximum RPM endpoints.
CAN Name	RPM_MODE_MAX
Units	Units are in mechanical RPM (RPM)
Advanced	NO

Description	The minimum RPM to utilise with the RPM mode. The internal governor will regulate the desired input linearly between minimum and maximum RPM endpoints.
CAN Name	RPM_MODE_MIN
Units	Units are in mechanical RPM (RPM)
Advanced	NO

Description	The proportional value for the rpm mode PI speed control loop
CAN Name	RPM_MODE_KP
Units	N/A
Advanced	YES

Description	Soft start rate to utilise when starting a motor. The unit is %/s, a value of 0 means no soft start (instant starting response). Typically used with geared setups.
CAN Name	SOFT_START_RMP
Units	Units are in seconds (s)
Advanced	NO