Operation
Atlas® Digital Amplifier Complete Technical Reference
71
4
79
Drive Fault Status
The Drive Fault Status register
80
SPI Status
The SPI Status word
Commutation/Phasing
7
Active Motor Command
The external controller-commanded voltage or torque com-
mand
17
Phase A Command
The output command for phase A
18
Phase B Command
The output command for phase B
19
Phase C Command
The output command for phase C
29
Phase Angle Scaled
The phase angle, scaled from 0 to 360° rather than in encoder
counts.
Current Loop
66
Phase A Reference
The current loop reference for Phase A
67
Phase B Reference
The current loop reference for Phase B
30
Phase A Error
The current loop error for Phase A
35
Phase B Error
The current loop error for Phase B
31
Phase A Actual Current
The current loop actual current for Phase A
36
Phase B Actual Current
The current loop actual current for Phase B
33
Phase A Integrator Contribution The current loop integrator contribution for Phase A
38
Phase B Integrator Contribution The current loop integrator contribution for Phase B
34
Phase A Current Loop Output
The current loop output for Phase A
39
Phase B Current Loop Output
The current loop output for Phase B
Field Oriented Control
40
d Reference
The FOC reference for d (direct) loop
46
q Reference
The FOC reference for q (quadrature) loop
41
d Error
The FOC d (direct) loop error
47
q Error
The FOC q (quadrature) loop error
42
d Feedback
The d (direct) feedback current
48
q Feedback
The q (quadrature) feedback current
44
d Integrator Contribution
The FOC integrator contribution for d (direct)
50
q Integrator Contribution
The FOC integrator contribution for q (quadrature)
45
d Output
The FOC output for d (direct)
51
q Output
The FOC output for q (quadrature)
52
FOC phase A Output
The FOC output for phase A
53
FOC phase B Output
The FOC output for phase B
73
Alpha Current
The FOC
current component (stationary frame)
74
Beta Current
The FOC
current component (stationary frame)
31
Phase A Actual Current
The FOC actual current for phase A
36
Phase B Actual Current
The FOC actual current for phase B
Motor Output
54
Bus voltage
The bus voltage
55
Temperature
The temperature of Atlas
68
I
2
t Energy
Accumulated I
2
t foldback energy
75
Terminal A Output
The PWM duty cycle for terminal A
76
Terminal B Output
The PWM duty cycle for terminal B
77
Terminal C Output
The PWM duty cycle for terminal C
69
Leg Current A
The measured current in lower leg A
70
Leg Current B
The measured current in lower leg B
71
Leg Current C
The measured current in lower leg C
72
Leg Current D
The measured current in lower leg D
78
Clip Factor
Actual output as a fraction of commanded output
Variable ID
Name
Description
