KeiganMotor improves responsiveness and silence by adjusting motor parameters. Refert to Motor of KeiganMotor.

In case of adjusting motor parameters by using Keigan Core app, execute the following sequences.
Use these commands, if you are a developer.

Adjustment of PID Controllers Parameters

  1. Connect KeiganMotor.
  2. Tap Motor icon in [Edit] tab.
  3. Tap [Motor setting]  button.
  4. Input the following parameters by sliders or text fields.
  5. Tap saveAllRegisters to save the values to flash memory. In case of not doing "save", the parameters will be reset after reboot.
  6. If you want to reset the parameters to the firmware default values, tap resetPID button. Tap saveAllRegisters button to save them permanently in the same way.
No. Name Desc.
1 Motor SpeedPID P Speed PID controller's Proportional gain
2 Motor SpeedPID I Speed PID controller's Integral gain
3 Motor SpeedPID D Speed PID controller's Differential gain
4 Motor Position PID P Position PID controller's Proportional gain
5 Motor qCurrentPID P Q-axis current controller's Proportional gain
6 Motor qCurrentPID I Q-axis current controller's Integral gain
7 Motor qCurrentPID D Q-axis current controller's Differential gain

Setting Motion Control

  1. Connect Keigan motor.
  2. Select curveType in [Motor Setting].
  3. Tap saveAllRegisters to save the values to flash memory. In case of not doing "save", the parameters will be reset after reboot.
  4. If you want to reset the parameters to the firmware default values, tap resetAllRegisters button. Tap saveAllRegisters button to save them permanently in the same way.
curveType Setting Motion Control
CURVE_TYPE_NONE Motion Control OFF
CURVE_TYPE_TRAPEZOID Motion Control ON with trapezoidal acceleration and deceleration curve.