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.