PD4-EB-MA EtherCAT Online Manual

2039h Motor Currents

Function

This object contains the measured motor currents in mA. All values are peak values, (✓2*rms).

Object description

Index 2039h
Object name Motor Currents
Object Code ARRAY
Data type INTEGER32
Savable no
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v1426
Change history

Firmware version FIR-v1504: "PDO mapping" table entry for subindex 01 changed from "no" to "TX-PDO".

Firmware version FIR-v1504: "PDO mapping" table entry for subindex 02 changed from "no" to "TX-PDO".

Firmware version FIR-v1504: "PDO mapping" table entry for subindex 03 changed from "no" to "TX-PDO".

Firmware version FIR-v1504: "PDO mapping" table entry for subindex 04 changed from "no" to "TX-PDO".

Firmware version FIR-v2213: subindex 05h, "Actual Current" added. Phase currents Ia and Ib changed to Iα and Iβ (Clarke transformation).

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 05h
Subindex 01h
Name Id
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 02h
Name Iq
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 03h
Name
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 04h
Name
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 05h
Name Actual Current
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h

Description

  • 01h: Field-forming components of the current
  • 02h: Torque-forming components of the current
  • 03h: Iα
  • 04h: Iβ
  • 05h: total current divided by √2, i.e., calculated down to a motor phase. In closed-loop, the sign of Iq is also used. The current value can then be placed on a scale to compare with the current from 6075h, 2031h and 203Bh:05h.

    open-loop: I = √(Iα ² + Iβ ²) / √2

    Closed Loop:I = sgn(Iq ) * √(Iα ² + Iβ ²) / √2

Note: Motor currents I_d (subindex 01h) and I_q (subindex 02h) are only displayed if closed-loop was activated; the value 0 is otherwise output.
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