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 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". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 04h Subindex 01h Name I_d Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 02h Name I_q Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 03h Name I_a Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 04h Name I_b Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Description 01h: Field-forming components of the current 02h: Torque-forming components of the current 03h: Phase current in phase A (stepper motor) or U (BLDC motor) 04h: Phase current in phase B (stepper motor ) or W (BLDC motor) Note: Motor currents I_d (subindex 01h) and I_q (subindex 02h) are only displayed if closed loop was activated; the value 0 is otherwise output.
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 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". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 04h Subindex 01h Name I_d Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 02h Name I_q Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 03h Name I_a Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 04h Name I_b Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Description 01h: Field-forming components of the current 02h: Torque-forming components of the current 03h: Phase current in phase A (stepper motor) or U (BLDC motor) 04h: Phase current in phase B (stepper motor ) or W (BLDC motor) Note: Motor currents I_d (subindex 01h) and I_q (subindex 02h) are only displayed if closed loop was activated; the value 0 is otherwise output.
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 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".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 04h Subindex 01h Name I_d Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 02h Name I_q Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 03h Name I_a Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 04h Name I_b Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h
Description 01h: Field-forming components of the current 02h: Torque-forming components of the current 03h: Phase current in phase A (stepper motor) or U (BLDC motor) 04h: Phase current in phase B (stepper motor ) or W (BLDC motor) Note: Motor currents I_d (subindex 01h) and I_q (subindex 02h) are only displayed if closed loop was activated; the value 0 is otherwise output.
