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 | 1159479296 | readwrite | |||||||||
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In the case of using predictive controllers for current loop the unit is undefined, and the default value is 2500. Moreover, Increasing this parameter directly amplifies the amplitude of applied voltages, and as a result has an effect similar to Kp in the case of using a PID controller. 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 | 1193033728 | readwrite | |||||||||
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The unit of this gain is 0.16 [uV/(Second * Amp_rms)]. The default value is 40000. 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 | readwrite | |||||||||
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This parameter is undefined for predictive current controller. 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 enabled | 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 | 100 | 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 | 50000 | 0 | rpm | readwrite | |||||||
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Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point). The units are given in RPM. |
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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 | 50000 | 0 | rpm | readwrite | |||||||
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Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point). The units are given in RPM. |
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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 | |||||||||
| Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||
| Switching frequency | 0x2010:9 | USINT | 8 |
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readwrite | ||||||||||
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Select the switching frequency for the 3 motor phases (A, B, C).
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