Registers

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

RegisterInfo

damiao_motor.motor.RegisterInfo dataclass

Information about a motor register.

Source code in damiao_motor/motor.py

@dataclass
class RegisterInfo:
    """Information about a motor register."""
    rid: int
    variable: str
    description: str
    access: Literal["RW", "RO"]
    range_str: str
    data_type: Literal["float", "uint32"]

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