Servosila-Device-Reference-0xA020192

2
Sensorless Observer:
Speed (Electrical
Frequency)
Hz This telemetry parameter tells an estimated speed of the "sensorless"
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,
0x4007,
0x03,
ro
3
Sensorless Observer:
Electrical Position
rad This telemetry parameter tells a estimated position of the rotor in relation
to the stator.
FLOAT32,
0x4007,
0x04,
ro
4
Sensorless Observer:
Emf alpha
V This is an estimate of Back-Emf voltage (the "sine" component). FLOAT32,
0x4007,
0x05,
ro
5
Sensorless Observer:
Emf beta
V This is an estimate of Back-Emf voltage (the "cosine" component). FLOAT32,
0x4007,
0x06,
ro
6
Sensorless Observer:
Back-Emf Constant
(Ke)
V/
(rad/s)
This is an estimate of "Back-Emf Constant (Ke)" measured in V (peak,
line-to-neutral) per electrical rad/s.
FLOAT32,
0x4007,
0x07,
ro
7
Sensorless Observer:
Zero Speed Threshold
Hz This is the lowest speed at which the Sensorless Observer is still capable
of sensing Back-Emf voltages in the presence of background noise.
FLOAT32,
0x4007,
0x08,
ro
Telemetry - Hall Sensors Observer
# Parameter Units Description CANopen
1
Hall Observer:
mode
- • 0: Zero speed
• 1: Low speed
• 2: Operational speed
UINT16,
0x4002,
0x02,
ro
2
Hall Observer: Hall
code
- Hall sensors generate 6 codes (counts) per electrical revolution. This
telemetry parameter tells the current Hall code.
UINT16,
0x4002,
0x03,
ro
3 Hall Observer:
Speed (Electrical
Frequency)
Hz This telemetry parameter tells an estimated speed of the motor.
The speed is defined in electrical revolutions per second (Hz). To convert
FLOAT32,
0x4002,
0x04,
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