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 05h Subindex 01h Name Id Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 02h Name Iq Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 03h Name Iα Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 04h Name Iβ Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 05h Name Actual Current 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: Iα 04h: Iβ 05h: total current divided by √2, i.e., 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, 2031h and 203Bh:05h. open-loop: I = √(Iα ² + Iβ ²) / √2 Closed Loop:I = sgn(Iq ) * √(Iα ² + Iβ ²) / √2 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 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 05h Subindex 01h Name Id Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 02h Name Iq Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 03h Name Iα Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 04h Name Iβ Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 05h Name Actual Current 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: Iα 04h: Iβ 05h: total current divided by √2, i.e., 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, 2031h and 203Bh:05h. open-loop: I = √(Iα ² + Iβ ²) / √2 Closed Loop:I = sgn(Iq ) * √(Iα ² + Iβ ²) / √2 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 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 05h Subindex 01h Name Id Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 02h Name Iq Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 03h Name Iα Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 04h Name Iβ Data type INTEGER32 Access read only PDO mapping TX-PDO Allowed values Preset value 00000000h Subindex 05h Name Actual Current 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: Iα 04h: Iβ 05h: total current divided by √2, i.e., 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, 2031h and 203Bh:05h. open-loop: I = √(Iα ² + Iβ ²) / √2 Closed Loop:I = sgn(Iq ) * √(Iα ² + Iβ ²) / √2 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.
