0x2503 - Torque control parameters set

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x2503	0x01	Proportional constant	UINT16	RW	No	Yes	UINT16	3000	Dc bus / (32767 * ‰ rated torque)
0x2503	0x02	Integral constant	UINT16	RW	No	Yes	UINT16	300	(Dc bus * s) / (32767 * ‰ rated torque)
0x2503	0x03	Constant scaling	UINT8	RW	No	Yes	0-16	8	-

The implement filter for torque control is a parallel PI, as the one shown in next Figure.

The equivalent equation of control loop is the following one:

The equation could be expressed in digital space as following:

Where

Finally a scaling is applied with N = 11. Therefore, the equation could be expressed as follows:

Where

The constants Kp', Ki' used in the loop must be multiplied by a 16 factor in order to obtain the value of the emcl registers (Kp, Ki).

This object defines the constants of the torque control loop (quadrature current).

For further information about meaning of each parameter see Position control parameters set.