CANopen Programmer's Manual - Maccon.de

More documents

Recommendations

Info

4: Control Loop Configuration CANopen Programmer’s Manual 4.4: Current Loop Configuration Objects Contents of this Section This section describes the objects used to configure the current control loop. They include: User Peak Current Limit Index 0x2110 ................................................................................................... 151 User Continuous Current Limit Index 0x2111 ......................................................................................... 151 User Peak Current Limit Time Index 0x2112 .......................................................................................... 150 Actual Current, D Axis Index 0x2214 ...................................................................................................... 150 Actual Current, Q Axis Index 0x2215 ...................................................................................................... 150 Current Command, D Axis Index 0x2216 ................................................................................................ 150 Current Command, Q Axis Index 0x2217 ............................................................................................... 150 Current Loop Output, D Axis Index 0x2218 ............................................................................................. 151 Current Loop Output, Q Axis Index 0x2219 ............................................................................................ 151 Actual Motor Current Index 0x221C ........................................................................................................ 151 Commanded Current Index 0x221D ....................................................................................................... 151 Limited Current Index 0x221E ................................................................................................................. 151 Programmed Current Command Index 0x2340 ..................................................................................... 151 Commanded Current Ramp Rate Index 0x2113 ..................................................................................... 151 Current Loop Gains Index 0x2380 .......................................................................................................... 152 Current Loop Proportional Gain Index 0x2380, Sub-Index 1 .............................................................. 152 Current Loop Integral Gain Index 0x2380, Sub-Index 2 ...................................................................... 152 Current Offset Index 0x2380, Sub-Index 3 ........................................................................... 152 Current Loop Gains Index 0x60F6 .......................................................................................................... 152 Current Loop Proportional Gain Index 0x60F6, Sub-Index 1 .............................................................. 152 Current Loop Integral Gain Index 0x60F6, Sub-Index 2 ...................................................................... 152 Current Offset Index 0x60F6, Sub-Index 3........................................................................... 153 150 Copley Controls
CANopen Programmer’s Manual 4: Control Loop Configuration USER PEAK CURRENT LIMIT INDEX 0X2110 Type Access Units Range Map PDO Memory Integer 16 RW 0.01 amps 0 – 32,767 YES RF Description User peak current limit. Known as boost current on stepper amplifiers. This value cannot exceed the peak (or boost) current rating of the amplifier. USER CONTINUOUS CURRENT LIMIT INDEX 0X2111 Type Access Units Range Map PDO Memory Integer 16 RW 0.01 amps 0 – 32,767 YES RF Description User Continuous Current Limit. Also known as Run Current on stepper amplifiers. This value should be less then the User Peak Current Limit. The amplifier uses this value as an input to an I 2 T current limiting algorithm to prevent over stressing the load. USER PEAK CURRENT LIMIT TIME INDEX 0X2112 Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds 0 – 10,000 YES RF Description Specifies the maximum time at peak current. The amplifier uses this value as an input to an I 2 T current limiting algorithm to prevent over stressing the load. Also known as Time at Boost Current on stepper amplifiers. ACTUAL CURRENT, D AXIS INDEX 0X2214 Type Access Units Range Map PDO Memory Integer 16 RW 0.01 amps - YES - Description Part of the internal current loop calculation. ACTUAL CURRENT, Q AXIS INDEX 0X2215 Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - YES - Description Part of the internal current loop calculation. CURRENT COMMAND, D AXIS INDEX 0X2216 Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - YES - Description Part of the internal current loop calculation. CURRENT COMMAND, Q AXIS INDEX 0X2217 Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - YES - Description Part of the internal current loop calculation. Copley Controls 151
Page 1:
CANopen Programmer’s Manual Part
Page 5 and 6:
CANopen Programmer’s Manual Table
Page 7 and 8:
About this Manual CANopen Programme
Page 9 and 10:
About this Manual CANopen Programme
Page 11 and 12:
CHAPTER 1: INTRODUCTION This chapte
Page 13 and 14:
CANopen Programmer’s Manual 1: In
Page 15 and 16:
Page 17 and 18:
Page 19 and 20:
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28:
Page 29 and 30:
Page 31 and 32:
Page 33 and 34:
Page 35 and 36:
Page 37 and 38:
Page 39 and 40:
CHAPTER 2: NETWORK MANAGEMENT This
Page 41 and 42:
CANopen Programmer’s Manual 2: Ne
Page 43 and 44:
Page 45 and 46:
Page 47 and 48:
Page 49 and 50:
Page 51 and 52:
CHAPTER 3: DEVICE CONTROL, CONFIGUR
Page 53 and 54:
CANopen Programmer’s Manual 3: De
Page 55 and 56:
Page 57 and 58:
Page 59 and 60:
Page 61 and 62:
Page 63 and 64:
Page 65 and 66:
Page 67 and 68:
Page 69 and 70:
Page 71 and 72:
Page 73 and 74:
Page 75 and 76:
Page 77 and 78:
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100: CANopen Programmer’s Manual 3: De
Page 127 and 128: CHAPTER 4: CONTROL LOOP CONFIGURATI
Page 129 and 130: CANopen Programmer’s Manual 4: Co
Page 149: CANopen Programmer’s Manual 4: Co
Page 159 and 160: CANopen Programmer’s Manual 5: St
Page 165 and 166: CANopen Programmer’s Manual 6: Ho
Page 191 and 192: CANopen Programmer’s Manual 7: Pr
Page 201 and 202:
CANopen Programmer’s Manual 7: Pr
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
CANopen Programmer’s Manual 9: Cy
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
Page 215 and 216:
Page 217 and 218:
Page 219 and 220:
Page 221 and 222:
Page 223 and 224:
Page 225 and 226:
CANopen Programmer’s Manual A: Al
Page 227 and 228:
Page 229 and 230:
Page 231 and 232:
Page 233 and 234:
Page 235 and 236:
Page 237 and 238:
CANopen Programmer’s Manual B: Tr
Page 239 and 240:
Page 241 and 242:
Page 243 and 244:
Page 245 and 246:
CANopen Programmer’s Manual C: Ob
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Page 253 and 254:
Page 255 and 256:
Page 257:
CANopen Programmer’s Manual P/N 9
show all

CANopen Programmer's Manual - Maccon.de

Create successful ePaper yourself

Delete template?

Save as template?