0x2010 Torque controller

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

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Controller Kp 0x2010:1 REAL 32 0 1159479296 readwrite

In the case of using predictive controllers for current loop the unit is undefined, and the default value is 2500. Moreover, Increasing this parameter directly amplifies the amplitude of applied voltages, and as a result has an effect similar to Kp in the case of using a PID controller.

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

 
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Controller Ki 0x2010:2 REAL 32 0 1193033728 readwrite

The unit of this gain is 0.16 [uV/(Second * Amp_rms)]. The default value is 40000. Range of this torque controller gain is 0 to 100,000,000.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Controller Kd 0x2010:3 REAL 32 0 0 readwrite

 

This parameter is undefined for predictive current controller.

Range of this torque controller gain is 0 to 100,000,000.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Field weakening enabled 0x2010:4 UDINT 32
Disabled 0
Enabled 1
readwrite

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.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Field weakening percentage 0x2010:5 UDINT 32 0 100 0 readwrite

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".
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Field weakening starting speed 0x2010:6 UDINT 32 0 50000 0 rpm readwrite

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

The units are given in RPM.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Field weakening ending speed 0x2010:7 UDINT 32 0 50000 0 rpm readwrite

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

The units are given in RPM.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Commutation angle measurement delay 0x2010:8 UDINT 32 0 μs readwrite
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Switching frequency 0x2010:9 USINT 8
16 kHz 0
32 kHz 1
64 kHz 2
readwrite

Select the switching frequency for the 3 motor phases (A, B, C).

  • Enter the value 0 for 16 kHz
  • Enter the value 1 for 32 kHz
  • Enter the value 2 for 64 kHz