0x2010

0x2010:0 Torque Controller

Range of all torque controller gains is 0 to 100,000,000

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2010:1 Controller Kp

Range of this torque controller gain is 0 to 100,000,000.

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 1
Type REAL
Bit Size 32
Deftype DEFTYPE_REAL32
Min Data 0
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x2010:2 Controller Ki

Range of this torque controller gain is 0 to 100,000,000.

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 2
Type REAL
Bit Size 32
Deftype DEFTYPE_REAL32
Min Data 0
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x2010:3 Controller Kd

Range of this torque controller gain is 0 to 100,000,000.

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 3
Type REAL
Bit Size 32
Deftype DEFTYPE_REAL32
Min Data 0
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x2010:4 Field Weakening Enable

In many applications, it is required to extend the velocity range of an electric motor.

This parameter enables or disables “Field Weakening”, a feature that increases the speed range of a PM motor by weakening the magnetic field of the rotor linearly over the speed range.

The user should set 3 parameters:

1. Field Weakening Starting Speed (Subitem 6)

2. Field Weakening Ending Speed (Subitem7)

3. Percentage of Field Weakening (f) (Subitem 5)

Note:

While the field weakening feature is enabled, it is assumed that the Drive is in its normal conditions with no fault.

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 4
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
Disabled 0
Enabled 1

0x2010:5 Field Weakening Percentage

Percentage of Field weakening. This field can have an integer value in the range of [0-100], and determines the "RMS" value of phase currents which are (only) generated to weaken the field. For example, if set to 10, then 10% of rated current will be injected in motor phases to weaken the rotor field. WARNING: Based on motor type, values more than 25% can lead to instability of torque control service. While tuning, proceed with "small steps", "limited power supply voltage" and "limited power supply current".

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 5
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2010:6 Field Weakening Starting Speed

Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point).

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 6
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2010:7 Field Weakening Ending Speed

Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point).

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 7
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2010:8 Commutation Angle Measurement Delay

Object Type OBJECT_TYPE_RECORD
Index 0x2010
SubIndex 8
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category optional
PDO Mapping