0x2701 - Motor parameters
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2701 | 0x01 | Resistance phase-to-phase | UINT16 | RW | No | Yes | UINT16 | 800 | mOhms |
0x2701 | 0x02 | Inductance phase-to-phase | UINT16 | RW | No | Yes | UINT16 | 120 | 10 μH |
0x2701 | 0x03 | Magnetic pole pitch | UINT32 | RW | No | Yes | UINT32 | 1 | μm |
0x2701 | 0x04 | Motor backemf constant - Kv | UINT32 | RW | No | Yes | UINT32 | 0 | V/rpm |
0x2701 | 0x05 | Stroke | UINT32 | RW | No | Yes | UINT32 | 1 | μm |
| 0x2701 | 0x06 | Motor torque constant - Km | UINT32 | RW | No | Yes | UINT32 | 103 | mNm/A |
This object configures all parameters related to the motor. These registers can be used for tuning process.
Please, note that the value of these registers does not affect the behavior of the system as they are not used internally. They are available only for reference purposes.
SubIndex description:
- 0x01 (Resistance phase-to-phase): This object indicates the equivalent internal resistance of the motor. The value is expressed in mOhm.
- 0x02 (Inductance phase-to-phase): This object indicates the equivalent internal inductance of the motor. The value is expressed in tens of μH.
- 0x03 (Magnetic pole pitch): This object indicates the mechanical distance of the magnetic pole pitch. Only valid for linear brushless DC or AC. The value is expressed in μm.
- 0x04 (Motor backemf constant - Kv): This object indicates the back-EMF constant value of the motor.
- 0x05 (Stroke): Indicates the stroke (maximum moving distance) of a linear motor (voice coil or PMSM). The value is represented in μm.
- 0x06 (Motor torque constant - Km): This object indicates the motor torque constant value of the motor.