On board current sensor
Since the motor currently applied torque is a direct product of the current circulating through the motor and the torque constant, it is sensible to perform an indirect torque measurement through this current, and use this measurement to close a torque loop. This feedback can be delivered to the motion controller to generate the adequate control signal.
Related objects
Current reading
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2600 | 0x01 | Current phase A | INT16 | RO | Yes | No | ADC range (see below) | 0 | ADC counts |
0x2600 | 0x02 | Current phase B | INT16 | RO | Yes | No | ADC range (see below) | 0 | ADC counts |
0x2600 | 0x03 | Current phase C | INT16 | RO | Yes | No | ADC range (see below) | 0 | ADC counts |
This object provides the instantaneous value of the current passing through phases.