Servosila-Device-Reference-0xA020192

ro
6
FOC: Uq integral V This is an integral sum of a PI controller that commands Uq voltage to
stabilize Iq current.
FLOAT32,
0x4001,
0x07,
ro
7
FOC: Ud voltage V This is a Ud voltage, an output of a FOC control law. FLOAT32,
0x4001,
0x06,
ro
8
FOC: Ud integral V This is an integral sum of a PI controller that commands Ud voltage to
stabilize Id current.
FLOAT32,
0x4001,
0x08,
ro
9
Moment of Inertia
(Rotor and Payload)
kg*m
2
This is an estimated (measured) "Moment of Inertia of Rotor and
Payload".
FLOAT32,
0x4001,
0x0D,
ro
10
Viscous Damping
Constant
Nm/
Hz
This is an estimated (measured) "Viscous Damping Constant". FLOAT32,
0x4001,
0x0E,
ro
Telemetry - Direct Drive Control
# Parameter Units Description CANopen
1
Direct Drive Control:
Electrical Position
rad This telemetry parameter tells an estimate of position of the rotor in
relation to the stator.
FLOAT32,
0x4008,
0x03,
ro
2
Direct Drive Control:
Speed (Electrical
Frequency)
Hz This telemetry parameter tells an estimate of speed of the motor.
The speed is defined in electrical revolutions per second (Hz). To convert
electrical revolutions per second (Hz) to motor shaft's revolutions per
second, just divide it by the number of pole pairs.
For example, assuming the speed is 20 Hz (electrical), and Poles Number
is 8, then the corresponding speed in motor shaft's revolutions per second
is 20 / (8/2) = 5.0 Hz (revolutions per second), which is 5 * 60 = 300
RPM.
FLOAT32,
0x4008,
0x04,
ro
Telemetry - Sensorless Observer
# Parameter Units Description CANopen
1
Sensorless Observer:
mode
- • 0: Undefined state
• 1: Zero speed
• 2: Operational speed
UINT16,
0x4007,
0x02,
ro
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