CANopen Programmer's Manual - Maccon.de

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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
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