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aneedles
Level 3
Level 3
25 replies posted 10 questions asked 25 sign-ins

Hi,

I need to adjust the active current limit during motor operation over User UART on the IMC101TF048. I am using the User UART to command the motor's target speed (using the Motor Control command), but I also hope to use the Write Register command to adjust the current limit and other parameters during operation. I see the MotorLim parameter is available as register 1.32, so I am attempting to write to this register during operation. The register is listed as DYNAMIC, so I believe it should be adjustable to affect the motor's current limit during operation.

When I send the packet, I get a valid response.

Packet send over User UART for adjusting the MotorLim parameter:    FF 06 20 01 64 00 7D F7

Response from the IMC101TF048:   FF 86 20 01 00 00 E1 77

I am not seeing the motor respond to this parameter as I set MotorLim to lower values. I would expect this current limit to affect motor operation at some point. Is this a valid way to adjust current limit during motor operation?

Thanks,   Aaron

 

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1 Solution
nin
Moderator
Moderator
Moderator
50 solutions authored 100 replies posted First like given

Hi @aneedles,

Yes, MotorLim is a dynamic parameter and it can be changed during the run time. By changing the MotorLim the motor operation will vary.

Example command which we have sent for MotorLim parameter as 3950

01 06 01 20 6E 0F 90 CA

Above command will give the response as follows:

01 86 01 20 6E 0F 90 4A

Another command which we have sent for MotorLim parameter as 0.

01 06 01 20 00 00 FE D9

Above command will give the response as follows:

01 86 01 20 00 00 FE 59

This will dynamically stop the motor since we changed the MotorLim parameter from 3950 to 0.

PFA screenshot for your reference.

 

ninadwaingankar_2-1661516494061.png

 

 

Please try sending above commands over UART to get expected change in the motor operation.

 


Packet send over User UART for adjusting the MotorLim parameter:    FF 06 20 01 64 00 7D F7


For the above command please check the node address and the packet  format as the command is in little endian format. 

For more details please refer to section 2.3 User Mode UART in iMOTION – MCE – Software Reference Manual v1.3 

Kindly let me know if further assistance is needed. 

 

 

Thanks,

Ninad

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2 Replies
nin
Moderator
Moderator
Moderator
50 solutions authored 100 replies posted First like given

Hi @aneedles,

Yes, MotorLim is a dynamic parameter and it can be changed during the run time. By changing the MotorLim the motor operation will vary.

Example command which we have sent for MotorLim parameter as 3950

01 06 01 20 6E 0F 90 CA

Above command will give the response as follows:

01 86 01 20 6E 0F 90 4A

Another command which we have sent for MotorLim parameter as 0.

01 06 01 20 00 00 FE D9

Above command will give the response as follows:

01 86 01 20 00 00 FE 59

This will dynamically stop the motor since we changed the MotorLim parameter from 3950 to 0.

PFA screenshot for your reference.

 

ninadwaingankar_2-1661516494061.png

 

 

Please try sending above commands over UART to get expected change in the motor operation.

 


Packet send over User UART for adjusting the MotorLim parameter:    FF 06 20 01 64 00 7D F7


For the above command please check the node address and the packet  format as the command is in little endian format. 

For more details please refer to section 2.3 User Mode UART in iMOTION – MCE – Software Reference Manual v1.3 

Kindly let me know if further assistance is needed. 

 

 

Thanks,

Ninad

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aneedles
Level 3
Level 3
25 replies posted 10 questions asked 25 sign-ins

Yes, that works now. Thanks!  I had the address bytes swapped as you indicated.

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