Servosila-Device-Reference-0xA020192

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.
ro
4
Hall Observer:
Electrical Position
rad This telemetry parameter tells an estimated position of the rotor in
relation to the stator.
FLOAT32,
0x4002,
0x05,
ro
5
Hall Observer:
between codes
counter
samples This is a counter that is reset each time a Hall code changes. UINT32,
0x4002,
0x07,
ro
6
Hall Observer: Hall
errors counter
- This telemetry parameter counts occurrences of erroneous combinations
of Hall sensors' readings. Note that the combinations with all "ones" or
all "zeros" correspond to faulty or disconnected Hall sensors.
UINT32,
0x4002,
0x08,
ro
7
Hall Observer:
positioning error
estimate
rad Whenever a Hall code changes, an electrical position that corresponds to
the code is compared to an estimate of the electrical position made by the
Observer, and the difference is shown here. The smaller the difference,
the better.
FLOAT32,
0x4002,
0x09,
ro
8
Hall Observer:
Technical Speed
Limit
Hz This is an estimate of MAXIMUM speed the Hall Observer is capable of
measuring. The limit is caused by finite performance of CPU, and a finite
sampling frequency of ADC.
FLOAT32,
0x4002,
0x06,
ro
9
Hall Observer: Zero
Speed Threshold
Hz This is an estimate of MINIMUM speed the Hall Observer is capable of
measuring. The limit is caused by a low resolution of Hall Sensors that
generate just 6 counts per electrical revolution.
FLOAT32,
0x4002,
0x0A,
ro
10
Hall Observer:
count
- Hall sensors generate 6 counts per electrical revolution. This telemetry
parameter tells the current count as if Hall Sensors were an absolute
encoder.
UINT16,
0x4002,
0x0B,
ro
Telemetry - Peripheral: ADC
# Parameter Units Description CANopen
1
Voltage: DC bus (Udc) V Measured voltage of power supply FLOAT16,
0x5001,
0x04,
ro
2 Current: Phase A (Ia) A Measured electric current flowing through phase A FLOAT32,
0x5001,
44 www.servosila.com