User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-30 C27750-001
7.12.1 Direct Torque Mode 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
INPUT PARAMETERS
ds402 motor rated torque
0x6076 0 yes u32 r/w 1 1 4294967295 0.001Nm C A 4226
ds402 target torque
0x6071 0 yes s16 r/w 0 - - Per 1000
rated torque
N A 4223
ds402 max torque (See note
1)
0x6072 0 yes u16 r/w 0 - - Per 1000
rated torque
N A 4224
FEEDBACK VALUES
ds402 torque demand value
0x6074 0 yes s16 r 0 - - Per 1000
rated torque
N A 4225
ds402 torque actual value
0x6077 0 yes s16 r 0 - - Per 1000
rated torque
N A 4227
TORQUE CONTROL PARAM. SET
current loop d-axis i-gain 0x60F6 1 no f32 r/w 6.35404981 0.0 - V/A/Tsamp E A 1272
current loop d-axis p-gain 0x60F6 2 no f32 r/w 32.02666839 0.0 - V/A E A 1274
current loop q-axis i-gain 0x60F6 3 no f32 r/w 6.35404981 0.0 - V/A/Tsamp E A 1277
current loop q-axis p-gain 0x60F6 4 no f32 r/w 32.02666839 0.0 - V/A E A 1279
current loop foldback minimum 0x60F6 5 no f32 r/w 0.4 0.1 1.0 None C A 1284
current loop foldback breakpoint 0x60F6 6 no f32 r/w 140.0 5.0 2000.0 Amp C A 1285
current loop d-axis error 0x60F6 7 yes f32 r - - - A N A 1286
current loop q-axis error 0x60F6 8 yes f32 r - - - A N A 1287
current loop alpha observer i-gain 0x60F6 9 no f32 r/w 0.01394492 0.0 - V/A/Tsamp E A 1288
current loop alpha observer p-gain 0x60F6 10 no f32 r/w 0.19933257 0.0 - V/A E A 1290
current loop beta observer i-gain 0x60F6 11 no f32 r/w 0.01394492 0.0 - V/A/Tsamp E A 1293
current loop beta observer p-gain 0x60F6 12 no f32 r/w 0.19933257 0.0 - V/A E A 1295
current loop alpha observer error 0x60F6 13 yes f32 r - - - A N A 1298
current loop beta observer error 0x60F6 14 yes f32 r - - - A N A 1299
POWER STAGE PARAMETER SET