0x2010 Torque Controller¶
Range of all torque controller gains is 0 to 100,000,000
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
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| Controller Kp | 0x2010:1 | REAL | 32 | 0 | 0 | readonly (default) | |||||||
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Range of this torque controller gain is 0 to 100,000,000. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Controller Ki | 0x2010:2 | REAL | 32 | 0 | 0 | readonly (default) | |||||||
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Range of this torque controller gain is 0 to 100,000,000. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Controller Kd | 0x2010:3 | REAL | 32 | 0 | 0 | readonly (default) | |||||||
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Range of this torque controller gain is 0 to 100,000,000. |
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| Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||
| Field Weakening Enable | 0x2010:4 | UDINT | 32 |
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readwrite | ||||||||
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In many applications, it is required to extend the velocity range of an electric motor. This parameter enables or disables “Field Weakening”, a feature that increases the speed range of a PM motor by weakening the magnetic field of the rotor linearly over the speed range. The user should set 3 parameters: 1. Field Weakening Starting Speed (Subitem 6) 2. Field Weakening Ending Speed (Subitem7) 3. Percentage of Field Weakening (f) (Subitem 5) Note: While the field weakening feature is enabled, it is assumed that the Drive is in its normal conditions with no fault. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Field Weakening Percentage | 0x2010:5 | UDINT | 32 | 0 | readwrite | ||||||||
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Percentage of Field weakening. This field can have an integer value in the range of [0-100], and determines the "RMS" value of phase currents which are (only) generated to weaken the field. For example, if set to 10, then 10% of rated current will be injected in motor phases to weaken the rotor field. WARNING: Based on motor type, values more than 25% can lead to instability of torque control service. While tuning, proceed with "small steps", "limited power supply voltage" and "limited power supply current". |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Field Weakening Starting Speed | 0x2010:6 | UDINT | 32 | 0 | readwrite | ||||||||
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Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point). |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Field Weakening Ending Speed | 0x2010:7 | UDINT | 32 | 0 | readwrite | ||||||||
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Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point). |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Commutation Angle Measurement Delay | 0x2010:8 | UDINT | 32 | 0 | μs | readwrite | |||||||
