reference.md

moteus controller reference

Overview

Theory of Operation

The moteus controller is intended to drive 3 phase brushless motors using field oriented control. It has an integrated magnetic encoder for sensing the rotor position, 3 half-H bridges for switching power to each of the three phases, and current sense capability on each of the three phases.

The primary control mode, labeled as "position" mode in the rest of this document is a two stage cascaded controller, with both running at the switching frequency (by default 30kHz).

The outermost stage is an optional limited acceleration and velocity trajectory planner. Within that is an integrated position/velocity PID controller with optional feedforward torque. The output of that loop is a desired torque/current for the Q phase of the FOC controller.

The inner stage is a current mode PI controller. Its output is the desired voltage value for the Q phase. Then the magnetic encoder is used to map the D/Q phase voltage values to the 3 phases of the motor.

More precisely, the "Position Controller" implements the following control law:

acceleration = trajectory_follower(command_position, command_velocity)
control_velocity = command_velocity OR control_velocity + acceleration * dt OR 0.0
control_position = command_position OR control_position + control_velocity * dt
position_error = control_position - feedback_position
velocity_error = control_velocity - feedback_velocity
position_integrator = limit(position_integrator + ki * position_error * dt, ilimit)
torque = position_integrator +
         kp * kp_scale * position_error +
         kd * kd_scale * velocity_error +
         command_torque

And the "Current Controller" implements the following control law:

current_error = command_current - feedback_current
current_integrator = limit(current_integrator + ki * current_error, ilimit)
voltage = current_integrator + kp * current_error

Since PID scaling for the position mode loop can be adjusted on a cycle-by-cycle basis with the kp_scale and kd_scale terms, this allows you to operate the controller with full position/velocity/torque control, or velocity/torque, or just torque, or any combination seamlessly throughout the control cycle.

Usage Modes

The available knobs to the moteus controller allow it to implement a few different types of control schemes. From the factory, the control gains are selected for medium torque bandwidth. For other applications, here are suggestions for gains and control options to use.

Velocity Control

To implement a velocity controller, each command should have the "position" set to NaN (or equivalent integral encoding). It is recommended to configure servo.max_position_slip to a finite value greater than or equal to 0 (reference). When it is larger, more external disturbances will be rejected, but the controller will also "catch up" when the magnitude of external disturbances is decreased.

Low Speed or Precise Positioning

For either operation at very low speeds, or when precise positioning performance is desired, it is recommended to configure a non-zero ki and ilimit term in the position controller (reference). This will compensate for cogging torque (at the expense of overall torque bandwidth). It may also be beneficial to select a alternate values for moteus_tool --cal-bw-hz during calibration (higher or lower).

Constant Acceleration Trajectories

Velocity and acceleration limits can be configured either globally, or on a per-command basis which will cause moteus to internally generate continuous acceleration limited trajectories to reach the given position and velocity. Once the trajectory is complete, the command velocity is continued indefinitely.

Jerk Limited Trajectories

moteus only supports acceleration limited internal trajectories. To approximate a constant jerk trajectory, the host processor should send a sequence of piecewise linear constant velocity trajectories which approximate the desired one. This would be done by sending commands consisting of at least a position and velocity at some moderate to high rate while disabling the internal velocity and acceleration limits.

High Torque Bandwidth

High torque bandwidth is desired for legged robots, or other applications where it is necessary to respond to external disturbances as rapidly as possible or accelerate the load maximally. For these applications, it is recommended to have no integrative term in the position controller (reference). When calibrating the motor, you may use the moteus_tool --cal-bw-hz option to select a bandwidth higher than the default of 100Hz (or manually select servo.pid_dq.kp/ki after calibration).

Torque Control

For a pure torque control application, configure the position control loop kp, kd, and ki to 0 (reference). Alternately you can set the kp_scale and kd_scale to 0 in each command.

Note, however, that external torque control will be much lower bandwidth than using the internal position controller of moteus (~50x lower bandwidth if maximal CAN-FD update rate is achieved). Thus, a system will usually perform better if as much of the desired control law as possible is formulated in terms of the built in position controller.

Encoder Configuration

moteus includes an onboard on-axis magnetic encoder and supports a number of options for using external encoders. To understand how to use them, we first need to know the two things that moteus needs encoders for:

• Commutation: moteus needs to know the electrical relationship between the stator and the rotor in order to apply torque.
• Output: moteus needs to know the position and velocity of the output shaft in order to follow commanded trajectories.

A variety of hardware encoder types can be used to fulfill those functions. Currently supported options include:

Name	Interface Method	Max Resolution	Mounting	Price
Onboard AS5047P	SPI (integrated)	14 bits	on-axis	Included
AS5047x	SPI	14 bits	on-axis	$
AS5048B	I2C	14 bits	on-axis	$
AS5600	I2C	12 bits	on-axis	$
AksIM-2	RS422 w/ 5V	20 bits	off-axis	$$$
CUI AMT21x	RS422 w/ 5V	14 bits	shaft	$$
MA732	SPI	14 bits	on/off-axis	$
iC-PZ	SPI w/ 5V	22 bits	off-axis	$$$
Quadrature	Quadrature	N/A	x	x
Sine/Cosine	Sine/Cosine	10 bits	x	x
Hall effect	Hall effect	x	x	$

By default, the onboard magnetic encoder (AS5047P) is assumed to sense the rotor. It is also used as the source for position and velocity of the output constrained by a configurable reduction ratio.

Configuration is performed in 3 stages, first is the auxiliary port configuration, second is encoder source configuration, and finally is the output configuration.

Auxiliary Port

There are two auxiliary ports on moteus, each with pins that can be used for various functions.

ELECTRICAL NOTES:

• The 3.3V supply pins can power external peripherals:
  • r4.5/c1: 50mA
  • r4.8/r4.11/n1: 100mA
• The 5V supply pins can power external peripherals:
  • r4: not present
  • n1/c1: 100mA
• Some pins are 5V tolerant. Those not marked as such in the pin option table are 3.3V only.

The following capabilities can be used. Some are supported on any pins, others only on select pins.

Software Quadrature Input

Pins: any

The software quadrature feature uses GPIO pins to read incremental quadrature encoders. It is capable of counting at 200,000 counts per second without error, but incurs processor overhead that increases with count rate. Higher overhead means the latency to respond to CAN messages increases.

Hall sensor

Pins: any

3 hall sensor inputs are required. For many hall sensors, the pullup must be configured for the auxiliary port pin in question.

When using hall effect sensors as the commutation source, calibration with moteus_tool requires the --cal-hall option be passed.

Index

Pins: any

This is a single pin that is high when the encoder is in a known location. It can be fed from the "I" signal of an ABI output, or a dedicated homing sensor.

GPIO Input

Pins: any

Any pin may be designated as a GPIO input. Its value may be read over the diagnostic or register protocols.

I2C Master

Pins: select

Between 1 and 3 I2C devices may be periodically polled at rates up to 200Hz. The associated pins on moteus r4.5/8/11 have permanently configured 2kohm pullup resistors.

SPI Master

Pins: select

A variety of SPI based peripherals are supported. This mode is also used for the onboard encoder, which when enabled, claims the CLK, MOSI, and MISO pins on auxiliary port 1.

Hardware Quadrature Input

Pins: select

Hardware quadrature pins use microcontroller peripherals to process quadrature input at any speed with no processor overhead.

Sine/cosine

Pins: select

Analog sine/cosine inputs are supported with a configurable common mode voltage.

Analog input

Pins: select

Arbitary analog inputs can be read either over the diagnostic or register protocol.

UART

Pins: select

A variety of asynchronous serial encoders and debugging facilities are supported.

The moteus-n1 additionally has a hardware RS422 transceiver connected to aux1's pins D and E which can be enabled through configuration. RS485 devices like the CUI AMT21x can be used if the RS422 pin Y is connected to A and RS422 pin Z is connected to B.

Pin Options

The following table shows which pins can be used for the unique capabilities:

AUX1 / ENC

moteus r4.5/8/11	Con	Aux	SPI	ADC/Sin/Cos	I2C	HW Quad	UART	5VT
3.3V (3)	1
C	2	0	X					X
GND (G)	3
K	4	1	CLK	X
I	5	2	MISO	X
O	6	3	MOSI	X

moteus n1/c1	Con	AUX	SPI	ADC/Sin/Cos	I2C	HW Quad	UART	5VT
5V (5)	1
3.3V (3)	2
A	3	0	CLK	X
B *	4	1	MISO			3.1	RX
C	5	2	MOSI	X		3.2
D	6	3			SCL	2.1	RX	X
E	7	4			SDA	2.2	TX	X
GND (G)	8

NOTE: For moteus n1, the B pin software configured pullup cannot be used effectively. Thus the B pin is unsuitable for open-drain inputs like hall effect sensors unless external pullups are provided.

NOTE: For moteus c1, only the D and E pins are exposed, and only on an unpopulated 0.05" through hole land pattern. Additionally, I2C pullups are not available on moteus-c1 for aux1.

AUX2 / ABS

moteus r4.5/8/11	Con	Aux	SPI	ADC/Sin/Cos	I2C	HW Quad	UART	5VT
3.3V (3)	1
	2	0			SCL		RX	X
	3	1			SDA		TX	X
GND (G)	4
DBG 1		2						X
DBG 2		3						X

moteus n1/c1	Con	AUX	SPI	ADC/Sin/Cos	I2C	HW Quad	UART	5VT
5V (5)	1
3.3V (3)	2
A	3	0	CLK	X				X
B	4	1	MISO	X	SDA		RX	X
C	5	2	MOSI	X	SCL	4.1	TX	X
D	6	3				4.2	RX	X
GND (G)	7

NOTE: For moteus r4.5/8/11, DBG 1/2 are not present on the ABS connector, but are exposed pads on the circuit board.

Pin Configuration

Auxiliary port configuration is achieved in two steps. First, the aux[12].pins.X.mode value is set to the proper capability for each pin. aux[12].pins.X.pull can be used to configure an optional pullup or pulldown for some modes. Second, the corresponding capabilities must be configured in one of the capability specific sections of aux[12]. For instance, for each auxiliary port, the SPI configuration in aux[12].spi has a mode to select what the slave device is and a rate_hz to define the frequency of the SPI peripheral.

For I2C ports, up to 3 different slave devices may be configured, in each of aux[12].i2c.devices.[012].

The diagnostic values in aux[12] can be used to monitor for errors from mis-configuration or mis-operation.

Source Configuration

Once the auxiliary ports have been configured, next encoder sources should be configured in motor_position.sources. Up to 3 sources may be configured, with the available types roughly corresponding to the categories available from the auxiliary ports. Typically, source 0 is used for the sensor that is used for commutation.

For each source motor_position.sources.[012].aux_number should be either "1" or "2", to select which auxiliary port the sensor should be read from. motor_position.sources.[012].type selects the type of sensor. For I2C based sources, motor_position.sources.[012].i2c_device selects which I2C device on that auxiliary port is used.

For sources that are incremental only, like quadrature, a source level index may be configured in motor_position.sources.[012].incremental_index. This should be used if the incremental source is needed to provide position for commutation.

Each source can be marked as measuring the rotor or the output in motor_position.sources.[012].reference.

Each source has configuration that determines how to map the raw value provided by the device into a rotary angle. cpr is the number of counts per revolution, offset provides an integral count offset, and sign can be used to invert the reading. The final reading is (raw + offset) * sign / cpr.

Finally, each source has a configurable low pass filter, with cutoff frequency set by motor_position.sources.[012].pll_filter_hz. It may be set to 0 to disable the filter. If disabled no velocity will be interpolated on sensors that do not provide it natively.

Output Configuration

The third major stage controls how the sources are used by the motor controller. Some source selections may be left at -1, which disables that feature.

motor_position.commutation_source selects which source is used to provide rotor position for commutation purposes. It is typically left at source 0 and is required. Note, quadrature sources are not recommended for commutation as they can lose counts and require additional application level homing support on each power-on.

motor_position.output.source selects which source is used to provide output position and velocity and is required.

motor_position.output.offset and motor_position.output.sign are used to transform the output position to achieve a given zero point and rotational direction.

motor_position.output.reference_source optionally configures a source that is used solely to disambiguate the output position at startup. It could be a low-rate I2C based sensor for instance, or an index source configured from a homing switch.

Finally, motor_position.rotor_to_output_ratio defines the number of turns of the output for one turn of the rotor. This is used to map the readings from sensors that are defined relative to one into the other.

A. register command set

The register command set is intended for use in real-time applications. It provides multiple levels of conciseness, and is possible to operate at over 1kHz on the provided FD-CAN communications bus.

Common definitions:

• endian-ness: All primitive types are in least significant byte first
• varuint: A sequence of one or more uint8 values, in least significant byte first order. For each value, the 7 LSBs contain data and if the MSB is set, it means there are more bytes remaining. At most, it may represent a single uint32 and thus 5 bytes is the maximum valid length.
• float: An IEEE 754 32-bit floating point number.

A.1 CAN Format

Communication with moteus is conducted via CAN-FD frames with a 1Mbit standard bitrate and a 5Mbit data bitrate.

CAN ID

The ID is structured as a 16 bit number, with the high 8 bits being the "source" and the low 8 bits being the "destination". The destination is the 7 bit servo ID with 0 as the highest bit. The source is an arbitrary 7 bit number, with the high bit being 1 if moteus should reply to the message.

The CAN frame must be an extended one if the ID would be greater than 0x7fff, but otherwise whether or not a frame is extended is not considered.

Example:

ID: 0x8001

• Send from source 0
• To destination 1
• 16th bit is set, so a reply is requested

ID: 0x100

• Send from source 1
• To destination 0
• No reply is requested

Subframes

Each CAN-FD frame contains one or more "subframes". A short description of the allowable subframe types are described below. The canonical reference is located at multiplex/format.h

Any extra trailing padding bytes required in the CAN-FD frame should be set to NOP (0x50).

A.1.a Write Registers

0x00, 0x04, 0x08, 0x0c - write (int8|int16|int32|float)

• varuint => number of registers (may be optionally encoded as a non-zero 2 LSBS of the subframe type)
• varuint => start register number
• N x (int8|int16|int32|float) => values

A.1.b Read Registers

0x10, 0x14, 0x18, 0x1c - read (int8|int16|int32|float)

• varuint => number of registers (may be optionally encoded as a non-zero 2 LSBs)
• varuint => start register number

A.1.c Reply

0x20, 0x24, 0x28, 0x2c - reply (int8|int16|int32|float)

• varuint => number of registers (may be optionally encoded as a non-zero 2 LSBs)
• varuint => start register number
• N x (int8|int16|int32|float) => values

A.1.d Errors

0x30, 0x31 - write/read error

• varuint => register number
• varuint => error number

A.1.e NOP

0x50 - no operation

A.2 Register Usage

Each register may be accessed as potentially multiple data types. This section describes the common mappings, and the semantics of each register.

A.2.a Mappings

When registers are accessed as integer types, the following mappings are used to encode the underlying floating point values into integer values.

A.2.a.1 Current (measured in Amps)

• int8 => 1 LSB => 1A
• int16 => 1 LSB => 0.1A
• int32 => 1 LSB => 0.001A

A.2.a.2 Torque (measured in N*m)

• int8 => 1 LSB => 0.5 N*m
• int16 => 1 LSB => 0.01 N*m
• int32 => 1 LSB => 0.001 N*m

A.2.a.3 Voltage (measured in Volts)

• int8 => 1 LSB => 0.5V
• int16 => 1 LSB => 0.1V
• int32 => 1 LSB => 0.001 V

A.2.a.4 Temperature (measured in degrees Celsius)

• int8 => 1 LSB => 1 C
• int16 => 1 LSB => 0.1C
• int32 => 1 LSB => 0.001 C

A.2.a.5 Time (measured in seconds)

• int8 => 1 LSB => 0.01s
• int16 => 1 LSB => 0.001s
• int32 => 1 LSB => 0.000001s

A.2.a.6 Position (measured in revolutions)

• int8 => 1 LSB => 0.01 rotation => 3.6 degrees (range of -1.27 to 1.27)
• int16 => 1 LSB => 0.0001 rotation => 0.036 degrees (range of -3.2767 to 3.2767)
• int32 => 1 LSB => 0.00001 rotation => 0.0036 degrees

A.2.a.7 Velocity (measured in revolutions / s)

• int8 => 1 LSB => 0.1Hz / 36 dps
• int16 => 1 LSB => 0.00025 Hz > 0.09 dps
• int32 => 1 LSB => 0.00001 Hz => 0.0036 dps

A.2.a.8 Acceleration (measured in revolutions / s^2)

• int8 => 1 LSB => 0.05 l/s^2
• int16 => 1 LSB => 0.001 l/s^2
• int32 => 1 LSB => 0.00001 l/s^2

A.2.a.9 PWM and kp/kd scale (unitless)

• int8 => 1 LSB => (1/127) - 0.007874
• int16 => 1 LSB => (1/32767) - 0.000030519
• int32 => 1 LSB => (1/2147483647) - 4.657e-10

A.2.b Registers

0x000 - Mode

Mode: Read/write

The current operational mode of the servo. Not all values are valid to write.

• 0 => stopped = writeable, clears faults
• 1 => fault
• 2,3,4 => preparing to operate
• 5 => PWM mode
• 6 => voltage mode
• 7 => voltage FOC
• 8 => voltage DQ
• 9 => current
• 10 => position
• 11 => timeout
• 12 => zero velocity
• 13 => stay within
• 14 => measure inductance
• 15 => brake

When sending a command, this register must be written before any other registers in the command frame.

0x001 - Position

Mode: Read only

The current position of the servo, measured in rotations of the output shaft. The maximum negative integer is reserved and will not be reported.

0x002 - Velocity

Mode: Read only

The current velocity of the servo, measured in Hz at the output shaft.

0x003 - Torque

Mode: Read only

The current applied torque as measured at the output shaft.

0x004 - Measured Q phase current

Mode: Read only

The current in the Q phase measured in amperes.

0x005 - Measured D phase current

Mode: Read only

The current in the D phase measured in amperes.

0x006 - Measured absolution position

Mode: Read only

If an absolute encoder is configured on the ABS port, its value will be reported here in revolutions.

0x00a - Motor Temperature

Mode: Read only

The current motor temperature, measured in degrees celsius. This will only be valid if a 47k NTC thermistor is connected to the TEMP pads and servo.enable_motor_temperature is set to 1.

0x00b - Trajectory complete

Mode: Read only

Non-zero if the current acceleration or velocity limited trajectory is complete, and the controller is following the final velocity.

0x00c - Home state

Mode: Read only

• 0 - relative only - the position is not referenced to anything
• 1 - rotor - the position is referenced to the rotor
• 2 - output - the position has been referenced to the output, either with an output referenced encoder, or with a "set output nearest" or "set output exact" command

0x00d - Voltage

Mode: Read only

The current input voltage.

0x00e - Temperature

Mode: Read only

The current board temperature, measured in degrees celsius.

0x00f - Fault code

Mode: Read only

A fault code which will be set if the primary mode is 1 (Fault).

• 32 - calibration fault - the encoder was not able to sense a magnet during calibration
• 33 - motor driver fault - the most common reason for this is undervoltage, moteus attempted to draw more current than the supply could provide. Other electrical faults may also report this error, the drv8323 diagnostic tree has more information.
• 34 - over voltage - the bus voltage exceeded servo.max_voltage. This can happen due to misconfiguration, or if the controller regenerated power with a supply that cannot sink power and no flux braking was configured.
• 35 - encoder fault - the encoder readings are not consistent with a magnet being present.
• 36 - motor not configured - the moteus_tool --calibrate procedure has not been run on this motor.
• 37 - pwm cycle overrun - an internal firmware error
• 38 - over temperature - the maximum configured temperature has been exceeded
• 39 - outside limit - an attempt was made to start position control while outside the bounds configured by servopos.position_min and servopos.position_max.
• 40 - under voltage - the voltage was too low
• 41 - config changed - a configuration value was changed during operation that requires a stop
• 42 - theta invalid - no valid commutation encoder is available
• 43 - position invalid - no valid output encoder is available
• 44 - stop position deprecated - an attempt was made to use the deprecated "stop position" feature along with velocity or acceleration limits. Prefer to instead command the desired position directly with a target velocity of 0.0, or secondarily, disable acceleration and velocity limits.

The full list can be found at: fw/error.h

0x010 / 0x011 / 0x012 - PWM phase A / B / C

Mode: Read/write

When in Pwm mode, this controls the raw PWM value for phase A, B, and C. If unspecified, 0.0 is used.

0x014 / 0x15 / 0x16 - Voltage phase A / B / C

Mode: Read/write

When in Voltage mode, this controls the voltage applied to phase A, B, and C. If unspecified, 0.0 is used.

0x018 - Voltage FOC Theta

Mode: Read/write

When in Voltage Foc mode, this controls the desired electrical phase. Integral types use the PWM mapping. If unspecified, 0.0 is used.

0x019 - Voltage FOC Voltage

Mode: Read/write

When in Voltage Foc mode, this controls the desired applied phase voltage. If unspecified, 0.0 is used.

0x01a - D Voltage

Mode: Read/write

When in Voltage Dq mode, this controls the desired applied D voltage. If unspecified, 0.0 is used.

0x01b - Q Voltage

Mode: Read/write

When in kVoltageDq mode, this controls the desired applied Q voltage. If unspecified, 0.0 is used.

0x01c - Commanded Q Phase Current

Mode: Read/write

When in Current mode, this controls the desired Q phase current. If unspecified, 0.0 is used.

0x01d - Commanded D Phase Current

Mode: Read/write

When in Current mode, this controls the desired D phase current. Unless you like burning power, with a BLDC motor you will typically want this set to 0. If unspecified, 0.0 is used.

0x1e - Voltage FOC Theta Rate

Mode: Read/write

When in Voltage Foc mode, this controls the rate of change of electrical phase. Integral types use the velocity mapping.

0x020 - Position command

Mode: Read/write

When in Position mode, this controls the desired position.

The maximally negative integer, or NaN for float represents, "use the current position value".

If unspecified, 0.0 is used.

Note, in the absence of any configured or commanded velocity or acceleration limits, the controller will attempt to achieve this position right now subject to the kp and kd constants.

0x021 - Velocity command

Mode: Read/write

When in Position mode, advance the desired position at the given velocity in Hz.

As a special case, if the 0x020 position is unset, and 0x026 stop position is set, the sign of this is ignored, and is instead selected so that the motor will move towards the stop position.

The maximally negative integer, or NaN for float, is treated the same as 0.0.

If unspecified, 0.0 is used.

0x022 - Feedforward torque

Mode: Read/write

When in Position mode, add the given feedforward torque after applying all regular control loops. Note, this is torque at the output shaft. If unspecified, 0.0 is used.

0x023 - Kp scale

Mode: Read/write

When in Position mode, shrink the proportional control term by the given factor. Integral types are applied as for PWM. If unspecified, 1.0 is used.

0x024 - Kd scale

Mode: Read/write

When in Position mode, shrink the derivative control term by the given factor. Integral types are applied as for PWM. This is internally limited to be no more than the kp scale. If unspecified, 1.0 is used.

0x025 - Maximum torque

When in Position mode, the maximum torque to be applied. If unspecified, this defaults to the system-wide configured maximum torque.

0x026 - Commanded stop position

When in Position mode, and a non-zero velocity is commanded, stop motion when reaching the given position. NaN / maximally negative means no limit is applied. If unspecified, NaN is used.

Note, if the controller is ever commanded to move away from the stop position, say with a velocity command that is inconsistent with the start and stop position, then it will act as if a 0 velocity has been commanded and the current command position equals the stop position.

0x027 - Watchdog timeout

Mode: Read/write

This determines the length of time for which this command is valid. If this timeout expires before another command is received, the controller will enter the Timeout state. The default is 0.0, which means to use the system-wide configured default. NaN / maximally negative means apply no enforced timeout.

0x028 - Velocity limit

Mode: Read/write

This can be used to override the global velocity limit for internally generated trajectories. If unspecified, it is NaN / maximally negative, which implies to use the global configurable default.

0x029 - Acceleration limit

Mode: Read/write

This can be used to override the global acceleration limit for internally generated trajectories. If unspecified, it is NaN / maximally negative, which implies to use the global configurable default.

0x02a - Fixed voltage override

Mode: Read/write

If specified and not-NaN, then the control mode will temporarily be in the "fixed voltage" mode, regardless of the current setting of servo.fixed_voltage_mode.

0x030 - Proportional torque

Mode: Read

This reports the torque contribution from the proportional term in the PID controller.

0x031 - Integral torque

Mode: Read

This reports the torque contribution from the integral term in the PID controller.

0x032 - Derivative torque

Mode: Read

This reports the torque contribution from the derivative term in the PID controller.

0x033 - Feedforward torque

Mode: Read

This reports the feedforward contribution in the PID controller.

0x034 - Total control torque

Mode: Read

This reports the total commanded torque from the position mode controller. This is also reported in 0x03a.

0x038 - Control Position

Mode: Read

This reports the current trajectory control position, in modes where that is valid. When velocity or acceleration limiting is enabled, the control position will follow the desired limits to achieve the command position.

0x039 - Control Velocity

Mode: Read

This reports the current velocity control value, in modes where that is valid. When velocity or acceleration limiting is enabled, the control velocity will follow the desired limits to achieve the control position and velocity.

0x03a - Control Torque

Mode: Read

The torque commanded by the control loop. This is the same as 0x034.

0x03b - Position Error

Mode: Read

The current sensed position minus the control position.

0x03c - Velocity Error

Mode: Read

The current sensed velocity minus the control velocity.

0x03d - Torque Error

Mode: Read

The current sensed torque minus the control torque.

0x040 - Stay within lower bound

Mode: Read/write

When in Stay Within mode, this controls the minimum allowable position. The maximally negative integer or NaN for float represents, "there is no lower bound". When special or the position is above this bound (and also respecting the optional upper bound), only a feedforward torque is applied. When outside this bound, the PID controller is used to force the position back to the bound. If unspecified, 0.0 is used.

0x041 - Stay within upper bound

Mode: Read/write

When in Stay Within mode, this controls the maximum allowable position. The maximally negative integer, or NaN for float represents, "there is no upper bound". When special or the position is below this bound (and also respecting the optional lower bound), only a feedforward torque is applied. When outside this bound, the PID controller is used to force the position back to the bound. If unspecified, 0.0 is used.

0x042 - Feedforward torque

A shadow of the 0x022 register.

0x043 - Kp scale

A shadow of the 0x023 register.

0x044 - Kd scale

A shadow of the 0x024 register.

0x045 - Maximum torque

A shadow of the 0x025 register.

0x046 - Watchdog timeout

A shadow of the 0x027 register.

0x050 - Encoder 0 Position

Mode: Read only

Reports the current filtered position of the encoder configured in slot 0.

0x051 - Encoder 0 Velocity

Mode: Read only

Reports the current filtered velocity of the encoder configured in slot 0.

0x052 - Encoder 1 Position

Mode: Read only

Reports the current filtered position of the encoder configured in slot 1.

0x053 - Encoder 1 Velocity

Mode: Read only

Reports the current filtered velocity of the encoder configured in slot 1.

0x054 - Encoder 2 Position

Mode: Read only

Reports the current filtered position of the encoder configured in slot 2.

0x055 - Encoder 2 Velocity

Mode: Read only

Reports the current filtered velocity of the encoder configured in slot 2.

0x058 - Encoder Validity

Mode: Read only

Returns a bitfield, where bit 0 indicates whether encoder 0 is active, bit 1 indicates whether encoder 1 is active, etc.

0x05c - Aux1 GPIO Command

Mode: Read/write

The current output command for any GPIOs configured as an output on aux1 as a bitfield. Not all bits may be used, as bit 0 is always for pin 1, whether or not it is configured as a GPIO output.

0x05d - Aux2 GPIO Command

Mode: Read/write

The current output command for any GPIOs configured as an output on aux2 as a bitfield. Not all bits may be used, as bit 0 is always for pin 1, whether or not it is configured as a GPIO output.

0x05e - Aux1 GPIO Status

Mode: Read only

The current input value of any GPIOs configured as an input on aux1 as a bitfield. Not all bits may be used, as bit 0 is always for pin 1, whether or not it is configured as a GPIO input.

0x05f - Aux2 GPIO Status

Mode: Read only

The current input value of any GPIOs configured as an input on aux2 as a bitfield. Not all bits may be used, as bit 0 is always for pin 1, whether or not it is configured as a GPIO input.

0x060/0x064 - Aux1 Analog Inputs

Mode: Read only

The current input value of any analog inputs configured on aux1. The registers are associated with pins 1-5, regardless of whether they are configured as an analog input. Each value is scaled as a PWM from 0 to 1.

0x068/0x06c - Aux2 Analog Inputs

Mode: Read only

The current input value of any analog inputs configured on aux2. The registers are associated with pins 1-5, regardless of whether they are configured as an analog input. Each value is scaled as a PWM from 0 to 1.

0x070 - Millisecond Counter

Mode: Read only

Increments once per millisecond. It wraps at the maximum value for the queried type to the minimum value for that type. For floating point types, it counts integers from 0 to 8388608.

0x071 - Clock Trim

Mode: Read/write

An integer which can trim the clock rate of the microprocessor on the moteus controller. Positive values speed it up and negative values slow it down. Each integer step roughly corresponds to a 0.25% change in speed.

WARNING: Changing the speed affects all processes driven by the microcontroller, including CAN communication. Thus setting this to a non-zero value may prevent future CAN communications.

0x100 - Model Number

Name: Model Number Mode: Read only

This returns a 32 bit model number.

0x101 - Firmware Version

Mode: Read only

This returns a 32 bit firmware version, encoded bytewise as major.minor.micro. i.e. 0x010304 is version 1.3.4

0x102 - Register map version

Mode: Read only

This returns a number that indicates how to interpret all registers.

0x110 - Multiplex ID

Name: Multiplex ID Mode: Configurable

This controls the primary ID used to access the device over the multiplex RS485 bus. It can only be between 1 and 127. (0 is reserved as the broadcast address).

0x120 - 0x122 - Serial Number

Name: Serial Number Mode: Read only

This returns a 96 bit serial number, least significant word first.

0x130 - Set Output Nearest

Mode: Write only

When sent, this causes the servo to select a whole number of internal motor rotations so that the final position is as close to the given position as possible.

0x131 - Set Output Exact

Mode: Write only

When sent, the servo will force the output position to be the exact specified value.

0x132 - Require Reindex

Mode: Write only

When sent with any value, the servo will require that any index position be re-located before control can begin. Regardless, the position will reset to an arbitrary value consistent with the current encoder settings.

0x133 - Recapture Position and Velocity

Mode: Write only

When sent with any value, and if in "position" mode, the servo will re-initialize the current control position and velocity to the sensed values. This also forces any pre-existing position integrative term to zero. It is expected that this will mostly be used when the current applied torque is 0, either because of an in-place maximum torque limit of zero, or because of an in-place kp and kd scale of zero.

0x140 - Driver Fault 1

Mode: Read only

The exact bitfield reported by the motor driver in fault conditions for fault register 1. Up to 16 bits may be set. This will only be non-zero if the current mode is fault (1) and the fault code is 33 (motor driver fault).

0x141 - Driver Fault 2

Mode: Read only.

The exact bitfield reported by the motor driver in fault conditions for fault register 2. Up to 16 bits may be set. This will only be non-zero if the current mode is fault (1) and the fault code is 33 (motor driver fault).

A.3 Example

A single CAN-FD frame can be used to command the servo, and initiate a query of certain registers. An example frame might look like the following, encoded in hex with annotations.

• 01 - write a single int8 register (number of registers is encoded in the 2 LSBs)
• 00 - start register number "Mode"
• 0a - "position" mode
• 07 - write 3x int16 registers (number of registers is encoded in the 2 LSBs)
• 20 - register 0x020
• 6000 - position = 0x0060 = 96 = 3.456 degrees
• 2001 - velocity = 0x0120 = 288 = 25.92 dps
• 50ff - feedforward torque = 0xff50 = -176 = 1.76 N*m
• 14 - read int16 registers
• 04 - read 4 registers
• 00 - starting at 0x000 (so 0x000 Mode, 0x001 Position, 0x002 Velocity, 0x003 Torque)
• 13 - read 3x int8 registers
• 0d - starting at 0x00d (so 0x00d Voltage, 0x00e Temperature, 0x00f Fault code)

Thus the whole CAN-FD message would be (in hex):

01000a07206000200150ff140400130d

To send this using the fdcanusb converter to a device configured at the default address of 1, you could write.

can send 8001 01000a07206000200150ff140400130d

The 80 in ID is used for two purposes. The high bit being set forces the device to respond (otherwise it will not respond, even if query commands are sent). The remaining bits are the "ID" to respond to. In response to this command, a possible response from the servo would look like:

rcv 100 2404000a005000000170ff230d181400

Decoded, that means:

• 100 from device "1" to device "0"

• 24 reply with int16 values

• 04 4 registers

• 00 starting at register 0

• 0a00 in mode 10 - Position

• 5000 position is 0x0050 = 80 = 2.88 degrees

• 0001 velocity is 0x0100 = 256 = 23.04 dps

• 70ff torque is 0xff70 = -144 = -1.44 Nm

• 23 reply with 3 int8 values

• 0d starting at register 0x00d

• 18 voltage is 12V

• 14 temperature is 20C

• 00 no fault

B. diagnostic command set

The following command set is intended for debugging and diagnostics. It can be entered from tview or the --console mode of multiplex_tool or moteus_tool.

B.1 d - board debug

d stop

This causes the controller to enter the "stopped" state, which disables the motor driver.

d raw

This enters the "raw" PWM mode. Syntax:

d raw <pwm_a> <pwm_b> <pwm_c>

Where the pwm values are between 0.0 and 1.0. A command to the idle state is thus: d raw 0.5 0.5 0.5.

d pwm

This enters voltage-FOC mode. Syntax:

d pwm <phase> <magnitude> [<phase_rate>]

Where phase is in radians, magnitude is in volts, and the optional phase rate is in radians per second.

d dq

This enters the current controlled FOC mode. Syntax:

d dq <d_A> <q_A>

d pos

This enters the position control FOC mode. Syntax:

d pos <pos> <vel> <max_torque> [options...]

Each optional element consists of a prefix character followed by a value. Permissible options are:

• p - kp scale: the configured kp value is multiplied by this constant for the duration of this command
• d - kd scale: the configured kd value is multiplied by this constant for the duration of this command
• s - stop position: when a non-zero velocity is given, motion stops when the control position reaches this value.
• f - feedforward torque in Nm
• t - timeout: If another command is not received in this many seconds, enter the timeout mode.
• v - velocity limit: the given value will override the global velocity limit for the duration of this command.
• a - acceleration limit: the given value will override the global acceleration limit for the duration of this command.
• o - fixed voltage override: while in affect, treat the control as if fixed_voltage_mode were enabled with the given voltage

The position, velocity, maximum torque, and all optional fields have the same semantics as for the register protocol documented above.

d tmt

Enter the timeout mode. This mode commands a zero velocity and can only be exited through the stopped state.

d tmt <pos> <vel> <max_torque> [options...]

Available options are identical to d pos.

d zero

Enter the zero velocity state. A zero velocity is commanded regardless of position.

d zero <pos> <vel> <max_torque> [options...]

Available options are identical to d pos. pos and vel are ignored.

d within

Enter the "stay within" state. When the position is contained within the given bounds, only the feedforward torque is applied. Otherwise, the position mode controller is used to hold the position at the violated boundary.

d within <lowbound> <highbound> <max_torque> [options...]

The fields have the same semantics as for the register protocol documented above. The options are the same as for d pos, with the exception of stop position which is not supported.

d brake

Enter the "brake" state. In this mode, all motor phases are shorted to ground, resulting in a passive "braking" action.

d nearest

Update the current position to the closest one which is consistent with a given output position.

d rezero <position>

d exact

Update the current position to exactly the given value.

d exact <position>

d req-reindex

Reset the homing state to relative based, requiring any homing procedure to be re-run.

d req-reindex

d recapture

When in position mode, reset the control position and velocity to the currently sensed values.

d recapture

d cfg-set-output

Modify the configuration as required so that the current observed position will be equal to the given value. Note, the configuration is not written to persistent storage.

d cfg-set-output <position>

d cal

INTERNAL moteus_tool USE ONLY: Enter the encoder calibration mode. Upon starting this command, the controller will spin the motor in voltage-FOC mode until the encoder covers a full revolution, then repeat the process in the other direction. During the process, the current commanded phase and encoder value are periodically emitted to the console.

Syntax:

d cal <magnitude> [options...]

Each optional element consists of a prefix character followed by a value. Permissible options are:

• s - calibration speed in electrical revolutions per second

NOTE: This command is for internal moteus_tool use only. It performs only part of the calibration process, and saves nothing to the persistent storage.

d flash

Enter the bootloader.

NOTE: This is only intended for internal use. Users who want to flash new firmware should use moteus_tool.

B.2 aux[12] - Aux port manipulation

All commands are supported on both aux1 and aux2.

aux1 out - Set GPIO Output Values

aux1 out <data>

'data' is a single decimal integer. Only bits associated with pins configured as digital outputs are used, the remainder are ignored.

aux1 ic-cmd - Initiate an iC-PZ command

aux1 ic-cmd <HEXBYTE>

An example of entering analog mode calibration.

aux1 ic-cmd B0

aux1 ic-wr - Write iC-PZ register

aux1 ic-wr <reg> <data>

Register is one byte in hex, data is 1 or more bytes in hex.

Example of switching to memory page 0.

aux1 ic-wr 40 00

aux1 ic-rd - Read iC-PZ register

aux1 ic-rd <reg> <length>

The register is one byte in hex, length is a decimal value indicating the number of bytes to read.

Example of reading the temperature data:

aux1 ic-rd 4e 2

aux1 ic-extra - Select alternate periodic data

aux1 ic-extra <fields>

"fields" is a decimal bitmask of items to read at 1000Hz and display in the diagnostic stream.

bit 0 - the diagnosis command result bit 1 - the contents of the AI_PHASES registers

Example of enabling the AI_PHASES registers only:

aux1 ic-extra 2

B.3 tel - telemetry

tel get

Retrieve the contents of a given channel. Text or binary mode is determined via the tel fmt or tel text commands, and defaults to binary mode.

tel get <channel>

tel list

List all available telemetry channels.

tel schema

Report the binary schema associated with the given channel.

tel schema <channel>

The schema is reported as follows:

emit <channel>\r\n
<LE uint32 size><data>

tel rate

Control the rate at which a given channel is emitted.

tel rate <channel> <rate_ms>

tel fmt

Select whether a given channel will be emitted in binary or text form.

tel fmt <channel> <format>

format is an integer, non-zero signifies the data should be emitted as text.

tel stop

Stop emitting all periodic telemetry data.

tel text

Switch all channels to text mode.

B.4 conf - configuration

NOTE: Any commands that change parameters, such as conf set, conf load, or conf default, if executed manually in tview will not automatically update the UI. tview must be restarted to display the new parameters in the UI.

conf enumerate

Print the current value of all configurable parameters.

conf get

Get the value of a single configurable parameter.

conf get <item>

conf set

Set the value of a single configurable parameter in RAM.

conf set <item> <value>

conf load

Load all configurable values from persistent storage. This will overwrite their current values in RAM.

conf write

Write the current value of all configurable parameters from RAM to persistent storage.

conf default

Update the RAM values of all configurable parameters to their firmware default.

NOTE: This only updates RAM, not the persistent storage. A conf write will be necessary to save these to persistant storage.

C. Configurable values

This section describes the configurable values which are most likely to be modified for end-user applications. Changes to all values take effect immediately. This may mean, that for instance, it is wise to stop control loops before drastically changing control parameters. Or maybe not, it depends upon your goals.

id.id

The servo ID presented on the CAN bus. After this is modified, you need to immediately adjust which servo ID you communicate with in order to continue communication or save the parameters.

can.prefix

A 13 bit integer used as the upper 13 bits for the ID of all CAN communication. As with id.id this takes effect immediately, so after changing it, communication must be restarted with the correct prefix in order to do things like save the configuration.

servopos.position_min

The minimum allowed control position value, measured in rotations. If NaN, then no limit is applied.

servopos.position_max

The maximum allowed control position value, measured in rotations. If NaN, then no limit is applied.

servo.pid_position

These configure the position mode PID controller.

• kp/ki/kd - PID gains with units of:
  • kp - Nm per rotation
  • ki - Nm/s per rotation
  • kd - Nm per rotation/s
• iratelimit - The maximum rate at which the integral term can wind up, in N*m/s. <0 means "no limit"
• ilimit - The total maximum I term, in Nm
• max_desired_rate - If non-zero, the commanded position is limited to change at this rate in Hz.

Note, these values are in physical units. Thus a kp value of 1, means that for 1 revolution of error at the output, 1 Nm of corrective torque will be applied. Similarly, with a kd value of 1, 1 revolution per second of error will result in 1 Nm of corrective torque. Doubly note that these values are measured at the output, thus after any scaling in position, velocity, and torque implied by motor_position.rotor_to_output_ratio.

servo.pid_dq

These have the same semantics as the position mode PID controller, and affect the current control loop.

servo.default_velocity_limit / servo.default_accel_limit

Limits to be placed on trajectories generated within moteus. If either is nan, then that limit is unset. The limits may also be overriden individually on a per command basis. The semantics of the limits are as follows:

• Neither set (both nan) In this case, position and velocity commands take immediate effect. The control position will be initialized to the command position, and the control velocity will be set to the command velocity. The control position will advance at the given velocity indefinitely, or until the command stop position is reached.

• Either set: If x_c is the command position, v_c is the command velocity, and t is the time from receipt of the command, the semantics can be described as: "match the trajectory defined by x = x_c + v_c * t".

  If the acceleration limit is set, the above is effected by commanding accelerations of either [-accel_limit, 0, accel_limit]. If an acceleration limit is not set, then the velocity will change instantaneously.

  If the velocity limit is set, then the intermediate velocities will obey "-velocity_limit < velocity < +velocity_limit". If it is not set, then the velocities may grow to arbitrary magnitude.

NOTE: This is limited internally to be no more than servo.max_velocity.

servo.voltage_mode_control

When set to non-zero, the current control loop is not closed, and all current commands in amperes are instead treated as voltage mode commands in volts related by the calibrated phase resistance. For high winding resistance motors, the default current sense resistors are too small for accurate current sensing, resulting in significant cogging torque and current sense noise. If replacing the current sense resistors is not an option, this flag can be used to achieve smooth control. The downside is that the actual torque will no longer follow the applied torque accurately at speed, or in the face of external disturbances.

When set, the servo.pid_dq configuration values no longer affect anything.

servo.fixed_voltage_mode

If non-zero, then no feedback based control of either position or current is done. Instead, a fixed voltage is applied to the phase terminals based on the current commanded position and the configured number of motor poles. In this mode, the encoder and current sense resistors are not used at all for control.

This is a similar control mode to inexpensive brushless gimbal controllers, and relies on burning a fixed amount of power in the motor windings continuously.

When this mode is active, the reported position and velocity will be 0 when the drive is disabled, and exactly equal to the control position when it is enabled.

Various derating limits are inoperative in this mode:

• torque derating for temperature
• torque derating when outside position bounds
• the maximum current limit
• the commanded maximum torque

A fault will still be triggered for over-temperature.

servo.fixed_voltage_control_V

In the fixed voltage control mode, the voltage to apply to the output.

servo.max_position_slip

When finite, this enforces a limit on the difference between the control position and the current measured position measured in revolutions. It can be used to prevent "catching up" when the controller is used in velocity mode.

servo.max_velocity_slip

When finite, this enforces a limit on the difference between the control velocity and the current measured velocity, measured i Hz. It can be used to ensure that acceleration limits are obeyed in velocity mode when external torques exceed the maximum. If used, typically servo.max_position_slip must be relatively small to avoid instability.

servo.max_voltage

If the input voltage reaches this value, a fault is triggered and all torque is stopped.

servo.max_power_W

The controller will limit the output power to this value. The value is defined relative to a PWM rate of 40kHz and is scaled linearly with respect to the PWM rate.

servo.pwm_rate_hz

The PWM rate to use, defaulting to 30000. Allowable values are between 15000 and 60000. Lower values increase efficiency, but limit peak power and reduce the maximum speed and control bandwidth.

servo.derate_temperature

Torque begins to be limited when the temperature reaches this value.

servo.fault_temperature

If the temperature reaches this value, a fault is triggered and all torque is stopped.

servo.enable_motor_temperature

If true, then the motor temperature will be sensed via the TEMP pads on the board.

servo.motor_derate_temperature

Torque begins to be limited when the motor temperature reaches this value.

servo.motor_fault_temperature

If the motor temperature reaches this value, a fault is triggered and all torque is stopped.

servo.flux_brake_min_voltage

When the input voltage is above this value, the controller causes the motor to act as a "virtual resistor" with resistance servo.flux_brake_resistance_ohm. All extra energy is dumped into the D phase of the motor. This can be used to handle excess regenerative energy if the input DC link is incapable of accepting sufficient energy.

servo.max_current_A

Phase current will never be used more than this value. It can be decreased to limit the total power used by the controller. Increasing beyond the factory configured value can result in hardware damage.

servo.max_velocity

Output power will be limited if the velocity exceeds this threshold.

servo.max_velocity_derate

Once velocity reaches the max_velocity plus this value, allowed output power is reduced to 0.

servo.rotation_*

These values configure a higher order torque model for a motor.

• servo.rotation_current_cutoff_A if the phase current is less than this value, then the linear relationship implied by motor.v_per_hz is used.

Once above that cutoff, the following formula is used to determine torque from phase current:

torque = cutoff * tc + torque_scale * log2(1 + (I - cutoff) * current_scale)

Where tc is the torque constant derived from motor.v_per_hz.

This model is not automatically calibrated, and needs to be determined and configured manually.

servo.default_timeout_s

When sending position mode commands over CAN, there is an optional watchdog timeout. If commands are not received at a certain rate, then the controller will latch into the "position timeout" state, requiring a stop command to resume operation. This configuration value controls the length of time that the controller will wait after receiving a command before entering this state. If set to nan then the controller will never enter this timeout state.

It may be overidden on a per-command basis with the 0x027 register or the t optional flag of the d pos command for the diagnostic interface.

servo.timeout_max_torque_Nm

When in the "position timeout" mode the controller acts to damp the output. This parameter controls the maximum torque available for such damping.

servo.timeout_mode

Selects what behavior will take place in the position timeout mode. The allowable values are a subset of the top level modes.

• 0 - "stopped" - the driver is disengaged
• 10 - "decelerate to 0 velocity and hold position"
• 12 - "zero velocity"
• 15 - "brake"

For mode 10, servo.default_velocity_limit and servo.default_accel_limit are used to control the deceleration profile to zero speed. The default PID gains are used. The only limit on torque when in this timeout mode is servo.max_current_A.

aux[12].pins.X.mode

Selects what functionality will be used on the given pin.

• 0 - NC - Not connected (or used for onboard SPI)
• 1 - SPI - Used for one of CLK, MISO, or MOSI
• 2 - SPI CS - Used for SPI CS
• 3 - UART
• 4 - Software quadrature
• 5 - Hardware quadrature
• 6 - Hall
• 7 - Index
• 8 - Sine
• 9 - Cosine
• 10 - Step (not implemented)
• 11 - Dir (not implemented)
• 12 - RC PWM (not implemented)
• 13 - I2C
• 14 - Digital input
• 15 - Digital output (not implemented)
• 16 - Analog input

aux[12].pins.X.pull

Configures optional pullup or pulldown on each pin. Not all pullup options will be used with every mode. Additionally, the 2 aux2 pins on moteus 4.5/8/11 have hard-installed 2k ohm pullups regardless of these settings.

• 0 - no pullup or pulldown
• 1 - pull up
• 2 - pull down
• 3 - open drain (not implemented)

aux[12].i2c.i2c_hz

The frequency to operate the I2C bus at. Between 50000 and 400000.

aux[12].i2c.i2c_mode

What I2C mode to use.

aux[12].i2c.devices.X.type

What I2C device to expect.

• 0 - disabled
• 1 - AS5048
• 2 - AS5600

aux[12].i2c.devices.X.address

The I2C address to use.

aux[12].i2c.devices.X.poll_ms

How often in milliseconds to poll the device for more data. Must no less than 5.

aux[12].spi.mode

The type of SPI device.

• 0 - The onboard AS5047P (CPR == 16384). Only valid for aux1. If selected, the CLK, MOSI, and MISO lines must be either NC or selected as SPI.
• 1 - Disabled.
• 2 - AS5047P (CPR == 16384)
• 3 - iC-PZ
• 4 - MA732 (CPR == 65536)

NOTE: iC-PZ devices require significant configuration and calibration before use. Diagnostic mode commands are provided for low level access.

aux[12].spi.rate_hz

The frequency to operate the SPI bus at. The default is 12000000.

aux[12].uart.mode

The type of UART device.

• 0 - Disabled
• 1 - RLS AksIM-2
• 2 - Tunnel
• 3 - Per-control cycle debug information (undocumented)
• 4 - CUI AMT21x series RS422

When the tunnel mode is selected, data may be sent or received using the CAN diagnostic protocol. For aux1, use diagnostic channel 2. For aux2, use diagnostic channel 3.

aux[12].uart.baud_rate

The baud rate to use for the UART.

aux[12].uart.poll_rate_us

For encoder modes, the interval at which to poll the encoder for new position information.

aux[12].uart.rs422

Enable the RS422 transceiver. This is only valid for 'aux1', and requires that pin D and E (aux1.pins.3 and aux1.pins.4) be used for UART.

aux[12].uart.cui_amt21_address

Select the CUI AMT21 address to communicate with. The default is 0x54 (84 decimal), which is the default address CUI AMT21 encoders are configured with.

aux[12].quadrature.enabled

True/non-zero if quadrature input should be read from this port.

aux[12].quadrature.cpr

The number of counts per revolution of the quadrature input. If used as a source, then this CPR must match the one configured in the source.

aux[12].hall.enabled

True/non-zero if hall effect sensors should be read from this port.

aux[12].hall.polarity

A bitmask to XOR with the 3 hall phases.

aux[12].index.enabled

True/non-zero if an index input be read from this port.

aux[12].sine_cosine.enabled

True/non-zero if a sine/cosine input should be read from this port.

aux[12].sine_cosine.common

The common mode voltage to use for the sine cosine. The sampling is done with 12 bits, so 2048 would be exactly 0.5 * 3.3V. However, it is best to calibrate this with actual readings as observed over the diagnostic protocol for optimal performance.

motor_position.sources.X.aux_number

1 for an aux1 device, or 2 for an aux2 device.

motor_position.sources.X.type

One of:

• 0 - disabled
• 1 - SPI
• 2 - UART
• 3 - Quadrature
• 4 - Hall
• 5 - Index
• 6 - Sine/Cosine
• 7 - I2C
• 8 - Sensorless (not implemented)

Note: The "Index" source type is only allowed for an output referenced encoder, and can be used as an alternate way to enter the "output" homed state.

motor_position.sources.X.i2c_device

If type was "7/I2C", this is a 0 based index specifying which I2C device on that port should be used.

motor_position.sources.X.incremental_index

If the specified auxiliary port has an incremental encoder, like a quadrature encoder, this can be set to either 1 or 2 in order to use an "index" pin to reference the data to a given position. It will allow the source to provide theta readings for commutation.

motor_position.sources.X.cpr

The CPR of the given input. In some cases this is automatically set, but in most it will need to be manually entered.

motor_position.sources.X.offset/sign

An integer offset and inversion to apply. The resulting value is: (raw + offset) * sign / cpr.

motor_position.sources.X.reference

• 0 - this source is relative to the rotor
• 1 - this source is relative to the output

motor_position.sources.X.pll_filter_hz

Selects the cutoff frequency of a low-pass filter used on this source. It should typically be less than 10X the update rate of the input and if used as the commutation or output sensor, should be higher than the mechanical bandwidth of the plant. Within that range, it can be tuned for audible noise versus performance.

If set to 0, then no filter is applied. In that case, sensors which do not natively measure velocity will produce no velocity readings (most of them).

motor_position.commutation_source

A 0-based index into the source list that selects the source to use for commutation. This means it should have an accurate measure of the relationship between the rotor and stator.

It is not recommended to use quadrature sources for commutation as they can lose counts and require additional application level homing support at each power-on.

motor_position.output.source

A 0-based index into the source list that selects the source to use for the output position. The position and velocity from this source will be used for control in "position" mode.

motor_position.output.offset/sign

The offset is a floating point value measured in output revolutions. Combined with the sign of -1/1, they can be used to position the 0 point of the output and control its direction of rotation.

motor_position.output.reference_source

If non-negative, this is a 0-based index into the source list. The selected source is used at power on to disambiguate the output position for multi-turn scenarios or when a reducer is configured.

motor_position.rotor_to_output_ratio

The number of times the output turns for each revolution of the rotor.

D. Maintenance

tview usage

tview can monitor and control 1 or more devices simultaneously. It can be started with:

python3 -m moteus_gui.tview --target 1[,2,3]...

When running, the configuration for each can be modified in the left hand tab, and live telemetry values can be displayed or plotted from the right hand tab. diagnostic mode commands may be issued in the bottom terminal window.

A simple command and scripting language beyond the diagnostic protocol is available within the tview terminal window.

Communicating with a specific device

If more than one device is available, commands can be sent to a specific device by prefixing the command with ID>. For instance, to send a stop command to ID #2, you can do:

2>d stop

The 'A' character can be used to send to all devices simultaneously.

A>d stop

Sending multiple commands at once

The && token may be used to separate individual commands, which will be issued back to back. For instance:

1>d stop && 2>d stop

Will send the command to both devices.

Delays

A delay may be inserted into a sequence of commands by entering an integer number of milliseconds prefixed by the colon (':') character. For instance:

d pos nan 0.5 1 s0.5 && :1000 && d stop

Will command a position mode, wait 1s, then command a stop.

Waiting for a trajectory to complete

A sequence of commands can be paused until a controller has finished its trajectory using the ? character.

d pos 0 0 nan a2 && ? && d pos 1 0 nan a2

Will move to position 0, wait until that motion is complete, then move to position 1, all with an acceleration limit of 2.

Specific devices can be queried by following the question mark with an ID number.

2>d pos 0 0 nan a2 && 1>d pos 10 0 0 nan a2 && ?2 && 2>d stop

Calibration

Assuming your controller has firmware installed already, you can calibrate the controller using the following procedure.

python3 -m moteus.moteus_tool --target 1 --calibrate

WARNING: Any attached motor must be able to spin freely. It will be spun in both directions and at high speed.

After calibrating for an entirely new type of motor, you may need to adjust PID gains before the motor will perform acceptably, and/or configure motor_position.rotor_to_output_ratio.

Setting the "zero offset"

The moteus controller can locate positions within one revolution after being power cycled, and will start with the reported position being between -0.5 and 0.5. The physical zero position can be set using the following command:

python3 -m moteus.moteus_tool --target 1 --zero-offset

Flashing and building firmware

To build the moteus firmware, an x86-64 Ubuntu 20.04 or 22.04 system is required.

Flashing over CAN

The latest firmware can be downloaded from: https://github.com/mjbots/moteus/releases

You need the file named YYYYMMDD-moteus-HASH.elf NOT the one named "bootloader".

Download that file and save it somewhere on your computer, then substitute its path in place of path/to/file.elf in the following command.

python3 -m moteus.moteus_tool --target 1 --flash path/to/file.elf

From the debug port

The firmware can be built and flashed using:

tools/bazel build --config=target //fw:flash

Or, if already built, flashed using:

./fw/flash.py

This may require the appropriate binutils to be installed, on Ubuntu this can be accomplished with:

sudo apt install binutils-arm-none-eabi

openocd

openocd 0.11.0 or newer is required. You can find binaries for many platforms at: https://xpack.github.io/openocd/releases/

Building firmware

This will build, but not flash the firmware. Only curl needs to be installed.

tools/bazel test --config=target //:target

E. Mechanical / Electrical

Mechanical

The current mechanical drawing for the controller can be found at: 20210124-moteus-controller-r45-mechanical.pdf

The current mechanical drawing for the qdd100 servo can be found at: 20200315-qdd100-mechanical.pdf

Electrical / Pinout

JST PH-3 CAN

Looking at the pins of the connector with the bottom of the board up the pins are numbered 1 to 3 from left to right.

• 1 - CAN_H
• 2 - CAN_L
• 3 - GND

NOTE 1: CAN connections should be terminated by a 120 ohm resistor at both ends of a bus. Some mjbots products have built in termination resistors, such as the pi3hat. The fdcanusb has a software configurable termination resistor that is by default on. moteus controllers have no termination resistors. For very short runs, the system will work terminated only on one side. However, when runs become longer than 0.5m, you will likely need to terminate both ends. This can be done by crimping a 120 ohm resistor into a JST PH3 connector and connecting it to the open data connector or by purchasing a CAN terminating cable.

JST ZH-6 SWD

Looking at the pins of the connector with the top of the board up the pins are numbered 1 to 6 from left to right.

• 1 - NC
• 2 - NRST
• 3 - SWDIO
• 4 - GND
• 5 - SWCLK
• 6 - 3.3V

moteus r4 - ABS - JST ZH-4

Pin 1 is closest to the ABS label. They are assigned as follows:

• 1 - 3.3V
• 2 - SCL
• 3 - SDA
• 4 - GND

moteus n1 - J3 - JST GH-6

RS422, configured by AUX1 D/E to USART and enabling RS422 on AUX1.

• 1 - 5V
• 2 - A
• 3 - B
• 4 - Y
• 5 - Z
• 6 - GND

moteus n1 - AUX1 - JST GH-8

• 1 - 5V
• 2 - 3.3V
• 3 - A
• 4 - B
• 5 - C
• 6 - D
• 7 - E
• 8 - GND

moteus n1/c1 - AUX2 - JST GH-7

• 1 - 5V
• 2 - 3.3V
• 3 - A
• 4 - B
• 5 - C
• 6 - D
• 7 - GND

XT30PW-M

Looking at the pins of the power connector with the top of the board up, the ground pin is to the left with the chamfered corner and the positive supply is to the right with the square corner.

Pico-SPOX 6 ENC

Looking at the back of the board with the ENC connector at the top, pins are numbered 1 as the rightmost, and 6 as the leftmost.

• 1 - 3.3V
• 2 - CS
• 3 - GND
• 4 - SCLK
• 5 - MISO
• 6 - MOSI

These pads can be populated with a Molex Pico-SPOX 6 connector PN 0874380643, or as an alternate, TE 5-1775444-6.

F. CAN-FD communication

moteus_tool and tview configuration

moteus_tool and tview can be configured to communicate with a moteus controller through a variety of transports. By default, it will attempt to autodetect either a fdcanusb or socketcan interface.

To force usage of a particular fdcanusb, you can use:

python3 -m moteus.moteus_tool --fdcanusb /path/to/fdcanusb

To force a particular python-can method, you can use:

python3 -m moteus.moteus_tool --can-iface socketcan --can-chan can0

where --can-iface specifies the "interface" for python-can and --can-chan specifies the "channel".

Note, these are in addition to any other moteus_tool or tview options that may be desired.

Bit timings

Linux in particular appears to select very poor bit-timings for CAN-FD when running at 5 MBps data rate. The primary symptom is that no communication is possible with a moteus controller or fdcanusb unless you clock them a few percent slower than the requisite 5Mbps. This can be resolved by specifying custom bit timings to the linux socketcan subsystem. The following timings are known to work for at least some systems:

20MHz clock systems

Some rare MCP2517/8 adapters have a 20MHz clock rate. The following timings have been observed to work. Note, that with 20MHz adapters, BRS cannot be used (so for tview/moteus_tool, specify --can-disable-brs).

ip link set can0 up type can \
  bitrate 1000000 dbitrate 5000000 \
  sjw 2 dsjw 2 \
  sample-point 0.666 dsample-point 0.666 \
  restart-ms 1000 fd on

40MHz clock systems

More commonly, chips such as the MCP2517/8 use a 40MHz system clock. The following timings have been observed to work:

ip link set can0 up type can \
  tq 25 prop-seg 13 phase-seg1 12 phase-seg2 14 sjw 5 \
  dtq 25 dprop-seg 3 dphase-seg1 1 dphase-seg2 3 dsjw 3 \
  restart-ms 1000 fd on

80 MHz clock systems

Adapters such as the PEAK-CAN-FD use a 80MHz clock. The following timings have been observed to work:

ip link set can0 up type can \
  bitrate 1000000 dbitrate 5000000 \
  sjw 10 dsjw 5 \
  sample-point 0.666 dsample-point 0.666 \
  restart-ms 1000 fd on

G. Application Limitations

Position

The commanded position is limited to +-32767.0 revolutions before any rotor_to_output_ratio has been applied. Reducers there will further limit the range of the commandable revolutions. For instance, a 1/10 reducer configured as rotor_to_output_ratio=0.1 results in a available position command range of +-3276.7 revolutions.

If either:

a. the position is commanded as the special value (NaN or maximally negative), or b. the kp term is zero either through configuration or the "kp scale"

Then it is safe for the controller to "wrap around" from the maximal possible position to the maximally negative position and vice versa. This is useful in velocity control applications.

The commanded position is internally treated as a 32 bit floating point value. Thus the position resolution is reduced when the magnitude of the position is large. Resolution equal to the full capabilities of the onboard encoder (~0.09degree) is maintained to positions of +-2048.0 revolutions. At the maximum possible position, this resolution is reduced to ~1.44degrees. Note, that this is only for the "commanded position". Velocity control and PID feedback on the position works in an integral space and performs identically throughout the available control envelope.

Velocity

The smallest usable mechanical velocity which can be commanded is 0.0001 revolutions per second before any rotor_to_output_ratio has been applied. This corresponds to 0.036 degrees per second. Reducers will decrease the minimum usable velocity.

The maximum mechanical velocity which can be commanded is 28000 rpm, or ~467 revolutions per second before any reducers. Note, most motors will be incapable of this speed either mechanically or electrically.

The maximum electrical frequency is 4kHz.

Deployment Considerations

Phase Wire Soldering

The connections between moteus and the motor under control must be high quality. Poor quality solder joints can cause intermittent changes in resistance, sparking, and high voltage transients. High quality solder joints require:

• Sufficient flux to clean oxides off of the wire and the via
• Sufficient temperature so that the entire wire and via is hot enough for the solder to wet all surfaces

For the former, it is often necessary to add copious amounts of additional flux in addition to the rosin core inside many solders. For the latter, a high power soldering iron, with a fat tip, and what seems like a long time may be necessary. The temperature is definitely insufficient if solder touched to any part of the via or wire does not melt and wick instantly. Usually a small amount of solder is placed between the tip and wire to act as a heat transfer agent. Then the iron rests on the via and wire for between 5-30s until it looks like the initial solder has wicked fully into the via. Then additional solder can be added until it forms a clean smooth fillet around the entire via wicking up to the wire.

When complete, the back side of the hole can be examined, and if successful, solder will have wicked partially down out of the via onto the other side forming a clean, smooth fillet there as well.

A demonstration of this can be found in the following video: https://www.youtube.com/watch?v=mZ9w_TaWmjQ

Power Cable Construction

When constructing power cables using XT30 connectors, it is critical that solder joints be sound, otherwise intermittent connectivity can result. This can cause sparking and high voltage transients. The soldering principles are the same as in the phase wire soldering section above.

A demonstration of XT30 soldering can be found in the following video: https://www.youtube.com/watch?v=f6WtDFWuxuQ

Power Connectorization

For moteus to operate without damage, the XT30 connectors used to transmit power must make a solid connection that is non-intermittent. As with poor soldering, an intermittent connection can cause inductive spikes, which will destroy components on the controller.

When connectors are functional, moderate insertion force should be required and the connectors should not "wiggle" much after insertion.

The XT30 is not rated for any significant amount of mechanical force when mated. For any application where cables may flex, strain relief should be used such that no force is applied to the connector. The connector may be damaged if a system goes "out of control" even in one instance, although milder mechanical stress may cause accelerated fatigue and failure.

If sparks are observed, that is definitely a problem and the system should be powered off until the connectors can be replaced and mitigations made for what led to that event.

Genuine AMASS connectors are rated for 1000 insertions assuming no other mechanical damage, however off-brand connectors may have worse tolerances and may not make a reliable connection for even one insertion.

Long daisy chains

When connecting more than 3 moteus controllers or servos in a system on a single power or CAN chain, additional factors should be considered.

1. It is recommended to use T-spliced power instead of using the daisy chained power connectors for chains greater than 3 units. Small connector mis-seating or micro-arcing will cause magnified effects with long chains of controllers.

2. CAN bus electrical performance can be a limiting factor. To operate at the default 5Mbps, you will need to ensure that CAN wires are twisted, all crimps are high quality, and that termination is installed. Split termination may be required, where two 60 ohm resistors are connected in series with a small filter capacitor connected between the center tap of the resistors and ground. A 4.7nF capacitor is recommended. If that is insufficient, BRS can be disabled to operate only at 1Mbps. With moteus_tool or tview, the --can-disable-brs flag can be used.

mjbots sells a CAN terminator that can be used for this purpose: https://mjbots.com/products/jst-ph3-can-fd-terminator

Regenerative Braking Safety

moteus can be commanded to sharply decelerate loads, either directly in response to commands, or due to external disturbances. When braking a load, moteus by default applies the generated power to the input DC bus.

If there is nowhere for this power to go, this can cause problems. The voltage can increase without bound, which in mild cases will cause the CAN transceiver on all devices connected to the bus to fail, and in severe cases can explode the main FETs or other components on the board.

Here's what you should know about the facilities moteus has to deal with this, and what you can do to make your design safer.

Flux braking

The feature within moteus itself to deal with this is "flux braking". The flux braking implementation will dissipate extra power in the windings of the motor when the bus voltage gets above a certain threshold. This is controlled by the servo.flux_brake_min_voltage and servo.flux_brake_resistance_ohm parameters documented above.

Design considerations for regenerative braking

The following design considerations can be used to minimize the risk of damage to hardware in the event of overvoltage. These are not a substitute for validation in progressively more demanding situations, but they can help you start off in a good place.

• Configure Flux Braking: To have optimal effect, the flux braking minimum voltage should be approximately only 1.5V above the maximum voltage you expect your supply to provide. Additionally, the resistance may need to be lowered. When adjusting the resistance, it is wise to test for stability by gradually increasing the voltage with the drivers engaged using a programmable supply and monitoring for instability in the voltage bus. This can be identified either with an oscilloscope or audibly. The default values are set to provide a baseline of protection without compromising the maximum voltage rating of the controller, but more aggressive parameters can be useful when your system voltage is lower and you are able to validate stability.

• Power from a battery, not a PSU: When not charged, batteries are capable of sinking current to minimize over-voltage transients. However, if the battery is fully charged, most battery management systems drastically reduce the allowable charging current. Thus, a battery is only useful as a mitigation if it is never charged above say 75 or 80% state of charge.

• Decrease overall system voltage: If you run the moteus controller with say a 10S battery, the peak input voltage can be as high as 42V. That does not leave very much margin for regenerative loads. For applications that experience sharp regenerative loads and do not have a battery capable of charging always attached, it is recommended not to exceed 8S (33.6V peak).

• Lower the over-voltage fault: The configuration parameter servo.max_voltage can be lowered for all devices on the bus. If set above the highest expected transient, this can reduce the likelihood of severe transients causing damage.

• Use a supply which can sink as well as source: Powering from an inexpensive lab supply is the most dangerous, as they typically have no ability to sink current, only source it. A "two quadrant" supply is the necessary device.

PID Tuning

There are two configurable PI(D) controllers on moteus. The "current loop" gains are set in servo.pid_dq, and are set during calibration based on the desired torque bandwidth. They are not normally changed by the user.

The position control PID loop parameters are set in servo.pid_position and are selected by the user to achieve a desired control response.

Rough tuning rules are as follows:

1. Set kp to be small and kd, ki, and ilimit to be 0. The kp at this stage should be low enough that any restorative torque is very gradual.
2. Increase kp by 50% at a time until the desired stiffness is reached. A command like d pos nan 0 nan can be used to "hold position", then manual external disturbances can be used to judge the response. If the control becomes unstable or vibrates, back off by 50%.
3. Set kd initially to 1/100th of the kp value. Increase it by roughly 50% at a time until the desired damping is reached. If instability or vibration results, back off by 50%.
4. If zero steady state error is required, then an integrative term is required. If not, leave ilimit at 0 and you are done.
5. If configuring an integrative term, set ilimit to be 20% higher than the maximum expected steady state torque. Then increase ki until the desired response is achieved. ki will likely need to be numerically much larger than kp, on the order of 10-1000x larger. A more representative control profile than just a "hold position" may be needed to determine if the selected integrative constants are sufficient.