Configuration Files

Every PDS and MD device has a certain configuration that is dependent on the hardware application intended to be used. MAB Robotics uses .cfg files written in TOML format to store the configuration of the devices. These files can be used to configure the devices using the candletool command line interface.

Configuration files for MD devices

Exemplary MD configuration files can be found here. Shown bellow is an example of a configuration file for AK10-9 with MD80:

[motor]
name = AK10-9
pole pairs = 21.0
kv = 100.0
torque constant = 0.095
gear ratio = 0.11111
max current = 22.0
torque bandwidth = 500.0
shutdown temp = 80.0

[limits]
max torque = 10.0
max velocity = 20.0
max position = 100.0
min position = -100.0
max acceleration = 100.0
max deceleration = 100.0

[profile]
acceleration = 10.0
deceleration = 10.0
velocity = 20.0

[output encoder]
output encoder = 0
output encoder mode = 0

[position pid]
kp = 30.0
ki = 0.5
kd = 0.0
windup = 1.0

[velocity pid]
kp = 2.0
ki = 0.5
kd = 0.0
windup = 0.1

[impedance pd]
kp = 3.5
kd = 0.25

The [motor] section represent hardware motor that the MD is connected to. The rest of the parameters depend on the application and can be set to different values. The configuration file can be used to configure the MD device using the candletool md config upload command.

Configuration files for PDS device

PDS devices configuration depends on the modules that they are equipped with.

Exemplary configuration files can be found below: [control_board] can id = 120 can baud = 1M shutdown time = 5000 ; Shutdown time [ ms ] battery level 1 = 20000 ; Battery monitor lvl 1 [ mV ] battery level 2 = 24000 ; Battery monitor lvl 2 [ mV ] br socket = 0 ; Socket index where corresponding Brake Resistor is connected br trigger voltage = 100000 ; Brake resistor trigger voltage [ mV ] [socket 1] type = ISOLATED_CONVERTER temperature limit = 80.0 ; Temperature limit [ ^C ] ocd level = 45000 ; Over-current detection level [ mA ] ocd delay = 1000 ; Over-current detection delay [ ms ] [socket 2] type = POWER_STAGE temperature limit = 80.0 ; Temperature limit [ ^C ] ocd level = 45000 ; Over-current detection level [ mA ] ocd delay = 1000 ; Over-current detection delay [ ms ] br socket = 0 ; Socket index where corresponding Brake Resistor is connected br trigger voltage = 100000 ; Brake resistor trigger voltage [ mV ] autostart = OFF [socket 3] type = BRAKE_RESISTOR temperature limit = 80.0 ; Temperature limit [ ^C ] [socket 4] type = NO MODULE [socket 5] type = NO MODULE [socket 6] type = NO MODULE

A template configuration file can be created using the candletool pds read_cfg command. The modified configuration file can be used to configure the PDS device using the candletool pds setup_cfg command.