CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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4: Control Loop Configuration <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
4.4: Current Loop Configuration Objects<br />
Contents of this Section<br />
This section <strong>de</strong>scribes the objects used to configure the current control loop.<br />
They inclu<strong>de</strong>:<br />
User Peak Current Limit In<strong>de</strong>x 0x2110 ................................................................................................... 151<br />
User Continuous Current Limit In<strong>de</strong>x 0x2111 ......................................................................................... 151<br />
User Peak Current Limit Time In<strong>de</strong>x 0x2112 .......................................................................................... 150<br />
Actual Current, D Axis In<strong>de</strong>x 0x2214 ...................................................................................................... 150<br />
Actual Current, Q Axis In<strong>de</strong>x 0x2215 ...................................................................................................... 150<br />
Current Command, D Axis In<strong>de</strong>x 0x2216 ................................................................................................ 150<br />
Current Command, Q Axis In<strong>de</strong>x 0x2217 ............................................................................................... 150<br />
Current Loop Output, D Axis In<strong>de</strong>x 0x2218 ............................................................................................. 151<br />
Current Loop Output, Q Axis In<strong>de</strong>x 0x2219 ............................................................................................ 151<br />
Actual Motor Current In<strong>de</strong>x 0x221C ........................................................................................................ 151<br />
Comman<strong>de</strong>d Current In<strong>de</strong>x 0x221D ....................................................................................................... 151<br />
Limited Current In<strong>de</strong>x 0x221E ................................................................................................................. 151<br />
Programmed Current Command In<strong>de</strong>x 0x2340 ..................................................................................... 151<br />
Comman<strong>de</strong>d Current Ramp Rate In<strong>de</strong>x 0x2113 ..................................................................................... 151<br />
Current Loop Gains In<strong>de</strong>x 0x2380 .......................................................................................................... 152<br />
Current Loop Proportional Gain In<strong>de</strong>x 0x2380, Sub-In<strong>de</strong>x 1 .............................................................. 152<br />
Current Loop Integral Gain In<strong>de</strong>x 0x2380, Sub-In<strong>de</strong>x 2 ...................................................................... 152<br />
Current Offset In<strong>de</strong>x 0x2380, Sub-In<strong>de</strong>x 3 ........................................................................... 152<br />
Current Loop Gains In<strong>de</strong>x 0x60F6 .......................................................................................................... 152<br />
Current Loop Proportional Gain In<strong>de</strong>x 0x60F6, Sub-In<strong>de</strong>x 1 .............................................................. 152<br />
Current Loop Integral Gain In<strong>de</strong>x 0x60F6, Sub-In<strong>de</strong>x 2 ...................................................................... 152<br />
Current Offset In<strong>de</strong>x 0x60F6, Sub-In<strong>de</strong>x 3........................................................................... 153<br />
150 Copley Controls