AASD Servo Driver Parameters and Functions - hoantv/CarSimulatorFirmware GitHub Wiki

The user manual for the AASD Servo Driver can be found here.

This reference table explains each of the parameters required for setup:

Parameter / Function	Description from User Manual	Initial Value	What this parameter/function does and when to change it
Pn001	Motor code	Don’t change	This is the specific code for the motor that came paired with your driver. If you need to set this value (you should not have to), refer to page 46 of the user manual linked above to find the motor code of your motor.
Pn002	Control mode	0	“0” is torque mode (see page 47 of the user manual linked above). You should not need to change this parameter.
Pn003	Servo enabled	0	This setting means that the servo motor requires external input to be operated (input from the controller). You should not need to change this parameter.
Pn018	Take the encoder output pulse AB phase logic	0	It is not clear from the manual what this does, but 0 is the correct value and should not need to be changed.
Pn051	The motor running top speed limit	1500	This is the rated top speed of the motor based on the motor specs (see page 46 of the user manual linked aboev). You should not need to change this parameter.
Pn053	SigIn 2 port functional allocation	18	It is not clear from the manual what this does, but 18 is the correct value and should not need to be changed.
Pn188	Analog torque instruction smooth filtering time	159	The higher the value, the lower the high frequency noise but the slower the response speed. Requires experimentation to determine an acceptable response speed / high frequency noise balance.
Pn189	Analog torque instruction gain	40	The ratio between the input torque command and the output torque (in % per Volt or %/V). Default value is 30, meaning 10V of input torque becomes 3x at output.
Pn190	Analog torque instruction offset adjustment	0	This parameter can be used to balance the torque command input voltage. This is needed when the wheel spins left or right once setup. If spinning/pulling to the right, reduce this parameter. If to the left, increase this parameter. If this parameter is not fixing the spinning wheel, use Fn007 (see below) to reset the reference voltage of the driver then reset this parameter and start again from 0.
Pn191	Simulation of torque command direction	1	This parameter determines in which direction the force will be applied to the wheel. Therefore, change this from 0 to 1 if force feedback operates in the wrong direction (if the wheel pushes away from center when driving 30kph+) or if the wheel spins in the direction of the endstops when reaching the endstop, instead of stopping at the endstop.
Pn198	Torque control speed limit	120	This the maximum RPM of your wheel and it determines how fast your wheel can rotate. Force feedback response works fine at 120RPM and it is safer than running a higher RPM because the higher this value is, the more dangerous your setup becomes if it starts spinning unexpectedly.
Pn257	Load moment of inertia ratio	20	This will increase inertial so maybe it may suppress such vibrations at straight, adjust to a value which you like.
Fn007	Simulation of torque command voltage correction	N/A	This function resets the reference voltage of the servo drive. Short pins 13 and 25 of the DB25 connector before executing this function. See page 34 of the user manual for instructions on how to run this function.
Dn017	Simulation speed reference voltage (V)	N/A	This display function shows the analog control voltage coming into the drive. When there are no forces being sent to the wheel, this should be zero, but in fact it never is. This “resting” voltage shown by Dn017 should be the value, in millivolts, of the offset parameter in Pn190. For example, when my wheel is centered with no forces enabled my Dn017 reads 0.22 (volts), I then set my Pn190 to -220 (mV) to offset this.