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XtrapulsPac - User Guide
Chapter 3 – Reference
Servo Loops
Current Loop
0x3400
Imon
Motor Current Monitoring
0x3402
Iofs
Motor Current offset measurement
0x3408
Vdcmon
DC Voltage monitoring
1
Vdc
DC Voltage value (V)
2
VdcFilt
Filter for DC voltage measurement (Hz)
0x30DA
IlimSrc
Dynamic Current Limit Input Source
0x30D1 0
Ilimit
Current
Limitation
0x30D2 0
IlimCfg
Dynamic Current Limit Configuration
0x30D4
0
Iq
Iq Current monitor
0x30D5
0
Id
Id Current monitor
0x3411
0
CalcIlp
Current Loop Calculation
0x3412
0
CalcIlim
Current Limitation Calculation
0x60F6
Tq_CTRL
Current Loop Parameters
1
IregType
2
KPq_I
3
KIq_I
4
KPd_I
5
KId_I
0x30F5
TqLpmon
Current Loop Monitoring
1
IdRef
2
IqRef
3
Idmon
4
Iqmon
5
VdRef
6
VqRef
7
PosElec
0x6079 0
DCvolt
DC
Voltage
0x30F4
IdrvLim
Current limit parameters
0x3413
APstart
Auto-phasing
0x3414
MCstart
Motor phasing
Speed Loop
0x60F9
Vel_CTRL
Speed Loop Parameters
1
VregType
2
KPv
3
KIv
4
KIvf
5
KCv
6
KDv
7
KDvf
8
KJv
0x30F9
VFilter
Speed Error Low-pass Filter
1
SpErrLF1
2
SpErrLF2
3
SpErrLF3
0x30FA 0
TVelMes
Speed measurement filter
0x30F8
VelLpmon
Speed Loop Monitoring
1
VelRef
Demand speed (0x7FFF -> Maximum motor speed)
2
VelFb
Motor speed (0x7FFF -> Maximum motor speed)
3
VelErr
Speed loop error (0x7FFF -> Maximum motor speed)
4
Idc
Current command (0x7FFF -> Drive max current (0x6510))
5
IcomF
Speed loop current command in limitation indicator