CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual CURRENT LOOP OUTPUT, D AXIS INDEX 0X2218 Type Access Units Range Map PDO Memory Integer 16 RO 0.1 V - YES - Description Part of the internal current loop calculation. Also known as Terminal Voltage Stepper. CURRENT LOOP OUTPUT, Q AXIS INDEX 0X2219 Type Access Units Range Map PDO Memory Integer 16 RO 0.1 V - YES - Description Part of the internal current loop calculation. Also known as Terminal Voltage Servo. ACTUAL MOTOR CURRENT INDEX 0X221C Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - YES - Description Actual motor current. COMMANDED CURRENT INDEX 0X221D Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - YES - Description Instantaneous commanded current as applied to the current limiter. LIMITED CURRENT INDEX 0X221E Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - YES - Description Output of the current limiter (input to the current loop). PROGRAMMED CURRENT COMMAND INDEX 0X2340 Type Access Units Range Map PDO Memory Integer 16 RW 0.01 amps - YES RF Description This object gives the programmed current value used when running in programmed current mode (mode 1) or diagnostic micro-stepping mode (mode 42). (See Desired State object, p. 65, and Alternative Control Sources Overview, p. 225.) COMMANDED CURRENT RAMP RATE INDEX 0X2113 Type Access Units Range Map PDO Memory Integer 32 RW mA/second - YES RF Description Setting this to zero disables slope limiting in Profile Torque mode. It is also used when the amplifier is running in Programmed Current mode (Desired State object [index 0x2300, p. 65] = 1). 152 Copley Controls
CANopen Programmer’s Manual 4: Control Loop Configuration CURRENT LOOP GAINS INDEX 0X2380 Type Access Units Range Map PDO Memory Record RW - - YES - Description This object contains the various gain values used to optimize the current control loop. Sub-index 0 contains the number of sub-elements of this record. CURRENT LOOP PROPORTIONAL GAIN INDEX 0X2380, SUB-INDEX 1 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 – 32,767 YES RF Description This gain value is multiplied by the current error value. The current error is the difference between the desired current and the actual current. CURRENT LOOP INTEGRAL GAIN INDEX 0X2380, SUB-INDEX 2 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 – 32,767 YES RF Description This gain value is multiplied by the integral of current error. CURRENT OFFSET INDEX 0X2380, SUB-INDEX 3 Type Access Units Range Map PDO Memory Integer 16 RW 0.01 amps - YES RF Description This offset value is added to the commanded motor current. It can be used to compensate for a directional bias affecting the current loop. CURRENT LOOP GAINS INDEX 0X60F6 Type Access Units Range Map PDO Memory Record RW - - YES - Description This object is no longer recommended. Use object 2380 (p.153).This object contains the various gain values used to optimize the current control loop. Sub-index 0 contains the number of subelements of this record. CURRENT LOOP PROPORTIONAL GAIN INDEX 0X60F6, SUB-INDEX 1 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 – 32,767 YES RF Description This gain value is multiplied by the current error value. The current error is the difference between the desired current and the actual current. CURRENT LOOP INTEGRAL GAIN INDEX 0X60F6, SUB-INDEX 2 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 – 32,767 YES RF Description This gain value is multiplied by the integral of current error. Copley Controls 153
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