User`s manual

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW
PAGE 5-16 C27750-001
5.4.8 Motor Configuration Parameters
Parameter Name CANopen Index CANopen sub-index PDO mapping Data Type Access Default Value Minimum Value Maximum Value Units Storage Type Data Group Field Number
NAME
motor_name 0x6410 1 no str r/w ? - - None C A ?
ELECTRICAL
motor_poles 0x6410 2 no U16 r/w 12 2 36 None C A 1072
motor_Rtt 0x6410 3 no F32 r/w 2.4 1.0e-9 - Ohms C A 1073
motor_Lq 0x6410 4 no F32 r/w 5.180e-3 1.0e-9 - H C A 1075
motor_Ld 0x6410 5 no F32 r/w 4.920e-3 1.0e-9 - H C A 1076
motor_Ke 0x6410 5 no F32 r/w 1.16 1.0e-9 - V/rad/s C A 1077
CURRENT LOOP
current_loop_d-axis_i-gain 0x60F6 1 no F32 r/w 6.35404981 0 - V/A/Tsamp C A 1272
current_loop_d-axis_p-gain 0x60F6 2 no F32 r/w 32.02666839 0 - V/A C A 1274
current_loop_q-axis_i-gain 0x60F6 3 no F32 r/w 6.35404981 0 - V/A/Tsamp C A 1277
current_loop_q-axis_p-gain 0x60F6 4 no F32 r/w 32.02666839 0 - V/A C A 1279
current_loop_foldback_minimum 0x60F6 5 no F32 r/w 0.4 0.1 1 None C A 1284
current_loop_foldback_breakpoint 0x60F6 6 no F32 r/w 140.0 0 - A C A 1285
current_loop_alpha_observer_i-gain 0x60F6 9 no F32 r/w 0.01394492 0 - V/A/Tsamp C A 1288
current_loop_alpha_observer_p-gain 0x60F6 10 no F32 r/w 0.19933257 0 - V/A C A 1290
current_loop_beta_observer_i-gain 0x60F6 11 no F32 r/w 0.01394492 0 - V/A/Tsamp C A 1293
current_loop_beta_observer_p-gain 0x60F6 12 no F32 r/w 0.19933257 0 - V/A C A 1295
FEEDBACK AND COMMUTATION
resolver_reference_amplitude 0x2200 4 no U16 r/w 30000 10000 65535 Vrms/3861.7 C A 1042
commutation_feedback 0x2171 1 no U08 r/w 1 - 2 none C A 1035
commutation_offset 0x2171 2 no S16 r/w 5461 - - none C A 1036
resolver_poles 0x2171 3 no U16 r/w 2 2 12 none C A 1037
encoder_supply 0x2e20 1 no U08 r/w 5 5 12 none C A 1704
encoder_type 0x2e20 2 no U08 r/w 0 - 5 none C A 1705
encoder_number_of_increments 0x2e20 3 no U32 r/w 1024 1 - none C A 1706