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Registers

This page documents all motor registers available in the DaMiao motor.

RegisterInfo

damiao_motor.core.motor.RegisterInfo dataclass 

RegisterInfo(rid: int, variable: str, description: str, access: Literal['RW', 'RO'], range_str: str, data_type: Literal['float', 'uint32'])

Information about a motor register.

Register Table

Protection and Basic Parameters

ID Variable Description Access Range Type
0 UV_Value Under-voltage protection value RW (10.0, 3.4E38] float
1 KT_Value Torque coefficient RW [0.0, 3.4E38] float
2 OT_Value Over-temperature protection value RW [80.0, 200) float
3 OC_Value Over-current protection value RW (0.0, 1.0) float
4 ACC Acceleration RW (0.0, 3.4E38) float
5 DEC Deceleration RW [-3.4E38, 0.0) float
6 MAX_SPD Maximum speed RW (0.0, 3.4E38] float

System Identification and Configuration

ID Variable Description Access Range Type
7 MST_ID Feedback ID RW [0, 0x7FF] uint32
8 ESC_ID Receive ID RW [0, 0x7FF] uint32
9 TIMEOUT Timeout alarm time RW [0, 2^32-1] uint32
10 CTRL_MODE Control mode RW [1, 4] uint32

Motor Physical Parameters (Read Only)

ID Variable Description Access Range Type
11 Damp Motor viscous damping coefficient RO / float
12 Inertia Motor moment of inertia RO / float
13 hw_ver Reserved RO / uint32
14 sw_ver Software version number RO / uint32
15 SN Reserved RO / uint32
16 NPP Motor pole pairs RO / uint32
17 Rs Motor phase resistance RO / float
18 Ls Motor phase inductance RO / float
19 Flux Motor flux linkage value RO / float
20 Gr Gear reduction ratio RO / float

Mapping Ranges

ID Variable Description Access Range Type
21 PMAX Position mapping range RW (0.0, 3.4E38] float
22 VMAX Speed mapping range RW (0.0, 3.4E38] float
23 TMAX Torque mapping range RW (0.0, 3.4E38] float

Control Loop Parameters

ID Variable Description Access Range Type
24 I_BW Current loop control bandwidth RW [100.0, 10000.0] float
25 KP_ASR Speed loop Kp RW [0.0, 3.4E38] float
26 KI_ASR Speed loop Ki RW [0.0, 3.4E38] float
27 KP_APR Position loop Kp RW [0.0, 3.4E38] float
28 KI_APR Position loop Ki RW [0.0, 3.4E38] float

Protection and Efficiency

ID Variable Description Access Range Type
29 OV_Value Overvoltage protection value RW TBD float
30 GREF Gear torque efficiency RW (0.0, 1.0] float
31 Deta Speed loop damping coefficient RW [1.0, 30.0] float
32 V_BW Speed loop filter bandwidth RW (0.0, 500.0) float

Enhancement Coefficients

ID Variable Description Access Range Type
33 IQ_c1 Current loop enhancement coefficient RW [100.0, 10000.0] float
34 VL_c1 Speed loop enhancement coefficient RW (0.0, 10000.0] float

CAN and Version

ID Variable Description Access Range Type
35 can_br CAN baud rate code RW [0, 4] uint32
36 sub_ver Sub-version number RO / uint32

Calibration Parameters (Read Only)

ID Variable Description Access Range Type
50 u_off U-phase offset RO - float
51 v_off V-phase offset RO - float
52 k1 Compensation factor 1 RO - float
53 k2 Compensation factor 2 RO - float
54 m_off Angle offset RO - float
55 dir Direction RO - float

Position Feedback (Read Only)

ID Variable Description Access Range Type
80 p_m Motor position RO - float
81 xout Output shaft position RO - float

CAN Baud Rate Codes

The CAN_BAUD_RATE_CODES dictionary maps baud rate codes to actual baud rates:

Code Baud Rate
0 125,000 (125K)
1 200,000 (200K)
2 250,000 (250K)
3 500,000 (500K)
4 1,000,000 (1M) 
from damiao_motor import CAN_BAUD_RATE_CODES

# Access baud rate codes
for code, baud_rate in CAN_BAUD_RATE_CODES.items():
    print(f"Code {code}: {baud_rate} bps")

Usage Examples

Reading Registers

from damiao_motor import DaMiaoController

controller = DaMiaoController(channel="can0")
motor = controller.add_motor(motor_id=0x01, feedback_id=0x00, motor_type="4340")

# Read a specific register
value = motor.get_register(0x00)  # Read UV_Value

# Check if read was successful
if value is not None:
    print(f"Value: {value}")

Writing Registers

# Write to a register (only RW registers can be written)
success = motor.write_register(7, 0x01)  # Set MST_ID to 1

if success:
    print("Write successful")
else:
    print("Write failed")

Accessing Register Information

from damiao_motor import REGISTER_TABLE

# Access register information
for register_id, info in REGISTER_TABLE.items():
    print(f"Register {register_id:2d} (0x{register_id:02X}): "
          f"{info.variable:12s} - {info.description} "
          f"[{info.access}]")

Safety Notes

Register Safety

  • Some registers affect motor behavior immediately
  • Always verify register values before writing
  • Read-only (RO) registers cannot be written
  • Refer to motor firmware documentation for detailed register behavior
  • Test register changes in a safe environment