2039h Motor Currents Function This object contains the measured motor currents in mA. All values are peak values, (✓2*rms). Object description Index 2039h Object name Motor Currents Object Code ARRAY Data type INTEGER32 Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1504: "PDO mapping" table entry for subindex 01 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 02 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 03 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 04 changed from "no" to "TX-PDO". Firmware version FIR-v2213: subindex 05h, "Actual Current" added. Phase currents Ia and Ib changed to Iα and Iβ (Clarke transformation). Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Id Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 02h Name Iq Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 03h Name Iα Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 04h Name Iβ Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 05h Name Actual Current Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Description 01h: Field-forming components of the current 02h: Torque-forming components of the current 03h: Iα 04h: Iβ 05h: total current calculated down to a motor phase. In closed-loop, the sign of Iq is also used. The current value can then be placed on a scale to compare with the current from 6075h. Open-Loop: Stepper motor: I = √(Iα ² + Iβ ²) / √2 BLDC motor: I = √(Iα ² + Iβ ²) / (2/√3) Closed-Loop: Stepper motor: I = sgn(Iq ) * √(Iα ² + Iβ ²) / √2 BLDC motor: I = sgn(Iq ) * √(Iα ² + Iβ ²) / (2/√3)
2039h Motor Currents Function This object contains the measured motor currents in mA. All values are peak values, (✓2*rms). Object description Index 2039h Object name Motor Currents Object Code ARRAY Data type INTEGER32 Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1504: "PDO mapping" table entry for subindex 01 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 02 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 03 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 04 changed from "no" to "TX-PDO". Firmware version FIR-v2213: subindex 05h, "Actual Current" added. Phase currents Ia and Ib changed to Iα and Iβ (Clarke transformation). Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Id Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 02h Name Iq Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 03h Name Iα Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 04h Name Iβ Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 05h Name Actual Current Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Description 01h: Field-forming components of the current 02h: Torque-forming components of the current 03h: Iα 04h: Iβ 05h: total current calculated down to a motor phase. In closed-loop, the sign of Iq is also used. The current value can then be placed on a scale to compare with the current from 6075h. Open-Loop: Stepper motor: I = √(Iα ² + Iβ ²) / √2 BLDC motor: I = √(Iα ² + Iβ ²) / (2/√3) Closed-Loop: Stepper motor: I = sgn(Iq ) * √(Iα ² + Iβ ²) / √2 BLDC motor: I = sgn(Iq ) * √(Iα ² + Iβ ²) / (2/√3)
Function This object contains the measured motor currents in mA. All values are peak values, (✓2*rms).
Object description Index 2039h Object name Motor Currents Object Code ARRAY Data type INTEGER32 Savable no Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1504: "PDO mapping" table entry for subindex 01 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 02 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 03 changed from "no" to "TX-PDO". Firmware version FIR-v1504: "PDO mapping" table entry for subindex 04 changed from "no" to "TX-PDO". Firmware version FIR-v2213: subindex 05h, "Actual Current" added. Phase currents Ia and Ib changed to Iα and Iβ (Clarke transformation).
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Id Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 02h Name Iq Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 03h Name Iα Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 04h Name Iβ Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value Subindex 05h Name Actual Current Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value
Description 01h: Field-forming components of the current 02h: Torque-forming components of the current 03h: Iα 04h: Iβ 05h: total current calculated down to a motor phase. In closed-loop, the sign of Iq is also used. The current value can then be placed on a scale to compare with the current from 6075h. Open-Loop: Stepper motor: I = √(Iα ² + Iβ ²) / √2 BLDC motor: I = √(Iα ² + Iβ ²) / (2/√3) Closed-Loop: Stepper motor: I = sgn(Iq ) * √(Iα ² + Iβ ²) / √2 BLDC motor: I = sgn(Iq ) * √(Iα ² + Iβ ²) / (2/√3)
