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rene-dev / stmbl

AC Servo Driver for STM32F4
GNU General Public License v3.0
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documentation of torque constant - different units used. #95

Closed c-morley closed 6 years ago

c-morley commented 6 years ago

On this page: https://github.com/rene-dev/stmbl/wiki/motor-parameters mentions torque constant (conf0.psi) in v*s/rad units

This page: https://github.com/rene-dev/stmbl/blob/master/docs/src/Getting%20Started.adoc under motor parameters mentions torque constant (conf0.psi) in Nm/a units

1) I believe conf0.psi units is Ke with units of volts/rad/second which seems to be voltage constant. This can be rms voltage or peak? voltage - does the stmbl use peak voltage?

2) The description to use stml to do a PSI test doesn't seem to work - after pasting code servoterm complains = no psi0.max_psi

crinq commented 6 years ago

v*s/rad is equal to Nm/A Doc and psi config should be fixed now. The concepts of RMS and peak do not apply in this case.