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improve doc

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crinq
2021-09-17 00:32:01 +02:00
parent 34d8967a04
commit 69a354034f
1 changed files with 4 additions and 4 deletions
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docs/src/tuning.adoc
+4 -4
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@@ -20,7 +20,7 @@ conf0.mot_fb_rev
==== auto tuning
this takes about 20 seconds +
disconnect the motor from the load +
the motor will move +
the motor will turn with a max velocity of iddc0.test_vel (rad/s) and apply a max current of iddc0.test_cur (A) +
follow the green instructions in Servoterm
- set your config to
@@ -63,7 +63,7 @@ conf0.psi // torque constant [Nm/A] or [V/rad/s]
==== auto tuning
this takes about 20 seconds +
disconnect the motor from the load +
the motor will move +
the motor will turn with a max velocity of idpmsm0.test_vel (rad/s) and apply a max current of idpmsm0.test_cur (A) +
follow the green instructions in Servoterm
- set your config to
@@ -96,7 +96,7 @@ conf0.j_load
=== auto tuning
this takes about 3 minutes +
connect the motor to the load +
the motor will move +
the motor will move between idm0.min_pos (rad) and idm0.max_pos (rad) with a max velocity of idm0.max_vel (rad/s) and a max acceleration of idm0.max_acc (rad/s^2) +
follow the green instructions in Servoterm
- set your config to
@@ -129,7 +129,7 @@ conf0.vel_d
=== auto tuning
this takes about 2 minutes +
connect the motor to the load +
the motor will move +
the motor will move between ids0.min_pos (rad) and ids0.max_pos (rad) with a max velocity of ids0.max_vel (rad/s) and a max acceleration of ids0.max_acc (rad/s^2) +
follow the green instructions in Servoterm
- set your config to