Symbol	Program variable	Description
\( \omega_{m,\rm pert} \)	`motor.testing.sqwave.velocity / motor.testing.perturb.phase[k].velocity`	MCAF firmware contains amplitude of velocity command perturbation — note: used only in OM_FORCE_VOLTAGE. Asymmetric perturbation located in `motor.testing.perturb.phase[k]`
\( I_{dq,\rm pert} \)	`motor.testing.sqwave.idq / motor.testing.perturb.phase[k].idq`	MCAF firmware contains amplitude of current command perturbation (d- and q-axis components) Asymmetric perturbation located in `motor.testing.perturb.phase[k]`
\( V_{dq,\rm pert} \)	`motor.testing.sqwave.vdq / motor.testing.perturb.phase[k].vdq`	MCAF firmware contains amplitude of voltage command perturbation (d- and q-axis components) Asymmetric perturbation located in `motor.testing.perturb.phase[k]`
\( V_{dq,\rm exc} \)	`N/A`	Represents excitation voltage added in the dq-frame. Result of `MCAF_CommutationExcitationVd()` and `MCAF_CommutationExcitationVq()`; this is zero for non-intrusive estimators, and will be optimized away.
\( V_{\alpha\beta,\rm exc} \)	`N/A`	Represents excitation voltage added in the αβ frame. Result of `MCAF_CommutationExcitationValpha()` and `MCAF_CommutationExcitationVbeta()`; this is zero for non-intrusive estimators, and will be optimized away.
\( V_{dc} \)	`systemData.vDC`	DC link voltage
V6	`motor.testing.overrides : 4 (zero = "on")`	"Valve" to enable data flow into reciprocal voltage
\( R_V \)	`motor.rVdc`	reciprocal of DC link voltage
\( \omega_{m,\rm cmd} \)	`motor.velocityControl.velocityCmdApi`	MCAF R7: Velocity command from Motion Control API
V1	`motor.testing.overrides : 1 (zero = "on")`	"Valve" to enable data flow into velocity command
\( \omega_{m,\rm ref0} \)	`motor.velocityControl.velocityCmd`
\( \omega_{m,\rm ref} \)	`motor.velocityControl.velocityCmdRateLimited`	rate-limited velocity command
\( I_{q,\rm ref0} \)	`[not stored in MCAF but see valve V2]`	Desired q-axis current from velocity controller
\( I_{d,\rm ref0} \)	`[not stored in MCAF but see valve V2]`	Desired d-axis current from flux control module
V2	`motor.testing.operatingMode = OM_NORMAL and startup complete`	"Valve" to enable data flow into current command
\( I_{dq,\rm ref0} \)	`motor.idqCmdRaw`	Desired dq-frame currents, prior to perturbation
\( I_{dq,\rm ref} \)	`motor.idqCmd`	Desired dq-frame currents
\( I_{dq,\rm err} \)	`[not stored in MCAF]`
V3	`motor.testing.operatingMode = OM_FORCE_CURRENT or greater`	"Valve" to enable data flow into voltage command
\( V_{dq0} \)	`motor.vdqCmd`	Desired dq-frame (synchronous) voltages prior to perturbation
\( V_{dq} \)	`motor.vdq`	Desired dq-frame (synchronous) voltages
V4	`[Not implemented in MCAF R7]`	"Valve" to enable data flow into alphabeta voltage command
\( V_{\alpha\beta0} \)	`motor.valphabeta`	Desired alphabeta-frame (stationary) voltages prior to perturbation
\( V_{\alpha\beta} \)	`motor.valphabetaPerturbed`	Desired alphabeta-frame (stationary) voltages
\( V_{abc0} \)	`motor.vabc`	Desired phase voltages
\( D_{abc0} \)	`motor.dabcRaw`	Duty cycle outputs prior to dead-time compensation, ZSM and clipping
\( D_{abc1} \)	`motor.dabcUnshifted`	Duty cycle outputs after dead-time compensation but before ZSM and clipping
V5	`[Not implemented in MCAF R7]`	"Valve" to enable data flow into output duty cycle
\( D_{abc2} \)	`motor.dabc`	Duty cycle outputs after ZSM and clipping
\( \Delta D_{abc} \)	`motor.deadTimeCompensation.dabcForwardPath if applicable`	Forward-path dead-time compensation of duty cycle; zero if "`none`" variant used
\( \theta_e \)	`motor.thetaElectrical`	electrical angle
cs	`motor.sincos`	sine and cosine of electrical angle
\( V_{\alpha\beta f} \)	`motor.valphabetaOut`	Estimated alphabeta-frame (stationary) feedback voltages
\( I_{ab} \)	`motor.iabc`	measured motor phase currents
\( I_{\alpha\beta} \)	`motor.ialphabeta`	alphabeta-frame (stationary) measured current
\( I_{dq} \)	`motor.idq`	dq-frame (synchronous) measured current
commutation override	`motor.testing.overrides : 2 (zero = normal commutation from estimator)`	determines source of commutation angle
\( \omega_{e,\rm override} \)	`motor.testing.overrideOmegaElectrical`	Commutation override electrical frequency
\( \hat{\theta}_r \)	`motor.estimator.theta`	Estimated electrical angle
\( \hat{\omega}_m \)	`motor.omegaElectrical`	Estimated electrical frequency (note: in MCAF the equivalent electrical and mechanical frequencies are represented by the same integer values and are interchangeable during computations.)
\( \theta_{\rm ofs} \)	`motor.startup.thetaError`	Commutation angle offset