mm::node::TorqueConstantResult Struct Reference

What torque constant measurement (command 10) measured. More...

#include <somanet_drive.h>

Public Member Functions
std::string	describe () const
	One line describing the measurement, ready to put in front of a user.

Public Attributes
int32_t	milliNewtonMetresPerAmpere = 0
	Torque constant in mNm/A_rms, as the drive reported.

Detailed Description

What torque constant measurement (command 10) measured.

Signed, unlike its two siblings, and that is the firmware's arithmetic rather than a precaution. The drive has no torque sensor, so it spins the motor and derives the constant from the back-EMF it generates: the applied voltage minus the drop across the winding impedance. That subtraction is done against the resistance and inductance configured in 0x2003:03 and :04, so values larger than the motor's real ones drive the result below zero — a number that is meaningless as a torque constant but is exactly the signal that the drive was measured against the wrong configuration. Reported as it comes rather than clamped or read as a four-billion unsigned value.

The unit is the drive's own, as with PhaseResistanceResult: mNm per A_rms, named in the member rather than converted. Note it is not the unit 0x2003:02 stores (µNm/A_rms), so keeping a measurement means multiplying by 1000 — see somanet::kMotorTorqueConstant.

Member Function Documentation

describe()

std::string mm::node::TorqueConstantResult::describe

(

)

const

One line describing the measurement, ready to put in front of a user.

Member Data Documentation

milliNewtonMetresPerAmpere

int32_t mm::node::TorqueConstantResult::milliNewtonMetresPerAmpere = 0

Torque constant in mNm/A_rms, as the drive reported.

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The documentation for this struct was generated from the following files:

• libs/node/somanet_drive.h
• libs/node/somanet_drive.cc