0x2003 Motor Specific Settings¶
Please refer to your motor's data sheet for the specific values.
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Pole Pairs | 0x2003:1 | USINT | 8 | 1 | readwrite | ||||||||
|
Number of magnetic pole pairs used in the motor. Please refer to your motor datasheet for this value. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Torque Constant | 0x2003:2 | DINT | 32 | 1 | μNm/A | readwrite | |||||||
|
The motor's torque constant is given by the motor design and defines the torque generated by a given current. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Phase Resistance | 0x2003:3 | DINT | 32 | 1 | μΩ | readwrite | |||||||
|
If not available, please keep the default value. In case your motor documentation shows only "line-to-line resistance", "motor phase resistance" can be calculated as "line-to-line resistance" divided by two. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Phase Inductance | 0x2003:4 | DINT | 32 | 1 | μH | readwrite | |||||||
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If not available, please keep the default value. |
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| Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||
| Motor phases inverted | 0x2003:5 | BOOL | 1 |
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readwrite | ||||||||
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Use this parameter only when you have a negative velocity or feedback increment with the positive torque increment. |
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