What is the difference between iref & ipeak?

note

Both parameters can be found in the /driver folder.

• iref: The main reference defining the maximum amplitude of the phase current.
• ipeak: The immediate threshold defining the trigger for overcurrent protection.

tip

• ipeak must always be greater than iref for normal operation.
• iref should have a margin (from the ipeak), otherwise the overcurrent condition may be triggered.
• Keeping ipeak at default value (or setting it to the maximum) is a good idea.

The current control may not always be flawless and may result in overshooting at times (e.g. too low or varying motor inductance). The ipeak comes into action and effectively eliminates the overcurrent. You will be notified of the overcurrent detection by a message "overcurrent condition" in the terminal, and the corresponding flag in /driver/state will be set.