CPB CANopen Technical Manual

321Eh Voltage Limit


Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt. See also chapter Controller structure.

Object description

Index 321Eh
Object name Voltage Limit
Object Code VARIABLE
Data type UNSIGNED32
Savable yes, category: application
Access read / write
PDO mapping no
Allowed values
Preset value 000186A0h
Firmware version FIR-v2213-B1028181
Change history


Also dependent on this value is whether the overmodulation of the voltage vector is used. If overmodulation is used, a higher torque can be achieved. The resulting voltage is no longer sinusoidal, which can result in harmonics and higher losses.

Value in mV Overmodulation
1001…U o_low None; the voltage vector describes a circle.
U o_low…U o_high The voltage vector describes a circle that is increasingly flattened on four/six sides in proportion to the set value.
≥U o_high Full; the voltage vector describes a square or a hexagon.
U o_low
The lowest voltage above which overmodulation occurs. Is calculated as follows:
Operating voltage*0.9425
U o_high
The maximum overmodulation occurs above this voltage. Is calculated as follows:
With two-phase stepper motors: operating voltage*1.063
With three-phase BLDC motors: operating voltage*0.99
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