Servosila-Device-Reference-0xA020192

Configuration Parameters
Configuration - Datasheet
The "Datasheet" section contains parameters that characterize the key components of an electric drive: a motor,
encoder(s), and a gearbox. The information is either found in datasheets supplied by manufacturers of those
components, or measured using the controller's capabilities.
The "Datasheet" section is an input into computation of various parameters of control laws that determine performance
of the electric drive. Note that not all of the "Datasheet" parameters are mandatory for every configuration of electric
drives. Watch out for the units in which those parameters are defined since conversion of the units might be necessary
for proper configuration. Instead of filling out the "Datasheet" section directly, one might want to use a "Spreadsheet"
tool that comes with the "Servoscope" software. The tool properly provisions the "Datasheet" parameters into the
controller while also computing parameters of various control laws.
Start configuring an electric drive by filling-out the "Datasheet" section, manually or using the "Spreadsheet" tool, or
by launching the controller's auto-configuration procedure that fills out much of the section automatically.
# Parameter Units Description CANopen
1
Motor Type
(Brushless or
Brushed)
- • 0: Brushless
• 1: Brushed
UINT16,
0x2000,
0x01,
rw
2 Maximum
Continuous
Current (Line-
to-Line)
A The "Maximum Continuous Current" is one of the most critical performance and
safety parameters in the "Datasheet" section. On one hand, the parameter defines
the maximum torque the electric drive can produce. The higher this limit is set,
the more electric current is allowed to be driven through the motor by the
controller, the more torque the motor produces, the better the dynamics of the
electric drive is. On the other hand, driving more current through the motor
means generating more heat in the motor's winding. The heat is what burns
electric motors. This means that making a mistake and setting this parameter too
high might have fatal consequences for the motor. Setting this parameter too low
would mean that the motor is not used to its full capacity in terms of torque. In
short, it is important to set this parameter right.
However, this parameter is not what can be experimentally determined or
measured by the controller itself during an auto-configuration procedure. Such a
procedure would have to burn a few motors to figure out what maximum phase-
to-phase electric current a particular model of the motor can handle continuously
with a stalled shaft. Obviously, this is not a practical approach. If one has to
guess the limit, start from a very conservative low value, and gradually increase
it until the motor starts heating up too much. Some of the motors will burn
before showing any signs of heating up. This means that this parameter has to be
taken from a datasheet supplied by the motor's manufacturer.
Note that if a particular application does not require all the torque the motor can
produce, it would be wise to set the limit lower than a nominal value suggested
FLOAT32,
0x2000,
0x02,
rw
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