PMD Atlas Compact, Complete Technical Reference

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106
Atlas® Digital Amplifier Complete Technical Reference
6
GetFOCValue 5A h
Syntax
GetFOCValue loop node
Motor Types
Arguments
Name Instance Encoding
loop Direct (d) 0
Quadrature (q) 1
node Reference (d,q) 0
Feedback (d,q) 1
Error (d,q) 2
— (Reserved) 3-4
Integral Contribution (d,q) 5
Output (d,q) 6
FOC Output (Alpha,Beta) 7
Actual Current (A,B) 8
I
2
t Energy 10
Returned data
Type Range/Scaling
value signed 32 bits see below
Packet
Structure
Description
GetFOCValue
is used to read the value of a
node
of the FOC current control.
Though the data returned is signed 32 bits regardless of the
node
, the range and format vary
depending on the
node
, as follows:
Brushless DC Microstepping
GetFOCValue
checksum 5A h
15 8 7 0
First data word
write 0 loop node
15 12 11 8 7 0
Second data word
read value (high-order part)
31 16
Third data word
read value (low-order part)
15 0
Node Range Scaling Units
Reference (d,q) –2^15 to 2^15–1 100/2^14 % max current
Feedback (d,q) –2^18 to 2^18–1 100/2^14 % max current
Error (d,q) –2^15 to 2^15–1 100/2^14 % max current
Integral Contribution (d,q) –2^31 to 2^31–1 100/2^14 % max current
Output (d,q) –2^15 to 2^15–1 100/2^14 % PWM
FOC Output (Alpha,Beta) –2^15 to 2^15–1 100/2^14 % PWM
Actual Current (A,B) –2^15 to 2^15–1 100/2^14 % max current
I
2
t Energy
–2^31 to 2^31–1 100/2^30 % max energy