AXIS#.IL.CMDU

Description

This parameter sets the user current command value.

The current command value, which is provided to the current loop (AXIS#.IL.CMD), can be limited further using a parameter setting or I²t calculation. AXIS#.IL.CMDU is limited also by motor peak current, AXIS#.IL.LIMITN and AXIS#.IL.LIMITP.

For IPM motors (AXIS#.MOTOR.TYPE = 6), AXIS#.IL.CMDU is decomposed into d-component and q-component current values, as both are used for closed loop current control. The d-component value is used to set AXIS#.IL.DCMD, and the q-component value is used to set AXIS#.IL.CMD.

When in use, the Service Motion Status bit will indicate motion is active.

AXIS#.IL.CMDU is only valid in Torque Mode (OpMode = 0), when the drive is disabled, or changed to Velocity or Position mode, the value will be zeroed.

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write
Units	Arms
Range	Minimum range value = maximum of AXIS#.IL.LIMITN and -AXIS#.MOTOR.IPEAK Maximum range value = minimum of AXIS#.IL.LIMITP and AXIS#.MOTOR.IPEAK
Default Value	0 Arms
Data Type	Float
See Also	AXIS#.IPEAK , AXIS#.OPMODE,AXIS#.CMDSOURCE
Stored in Non Volatile Memory	No

Variants Supported

All variants are supported.

Industrial Ethernet Information

EtherNet/IP
ID	Instance	Attribute	Name	Data Type	Access	User Mappable
5802	1	5802 (0x16aa)	AXIS1.IL.CMDU	Signed16	Read/Write	Yes
71338	2	5802 (0x16aa)	AXIS2.IL.CMDU	Signed16	Read/Write	Yes

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.IL.CMDU	5802	Float	Read/Write	-