AXISx.IL.IUCMDU

Description

AXIS#.IL.IUCMDU sets the phase U command when AXIS#.OPMODE = 0 (Torque mode) and AXISx.IL.CMDMODE = 1 (Phase Current mode). It takes effect when AXISx.IL.SETCMD runs, to ensure coherency with the phase V current command.

The sum of the phase U and V current commands determines the phase W current command:

Phase W current command = -(Phase U current command + Phase V current command)

AXIS#.IL.IUCMDU is subject to the current loop and motor protection limits. The actual phase U current command is given by AXISx.IL.IUCMD.

AXIS#.IL.IUCMDU is set to zero if any of these conditions are met:

AXIS#.OPMODE is not 0 (not Torque mode)
AXISx.IL.CMDMODE is not 1 (not Phase Current mode)
AXIS#.ACTIVE is not 1 (axis is disabled)

Example

The following commands set the phase U current command to 1.0 Arms and the phase V current command to -1.5 Arms. The phase W current command is set to 0.5 Arms internally.


--> AXIS1.OPMODE 0
--> AXIS1.IL.CMDMODE 1
--> AXIS1.EN
--> AXIS1.IL.IUCMDU 1.0
--> AXIS1.IL.IVCMDU -1.5
--> AXIS1.IL.SETCMD
--> AXIS1.IL.IUCMD
1.000 [Arms]
--> AXIS1.IL.IVCMD
-1.500 [Arms]
--> AXIS1.IL.IWCMD
0.500 [Arms]

Versions

Action	Version	Notes
Implemented	02-07-03-000

General Information

Type	Read/Write
Units	Arms
Range	Limits are applied to overall current magnitude. Lower limit: max(-AXIS#.MOTOR.IPEAK, AXIS#.IL.LIMITN) Upper limit: min(AXIS#.MOTOR.IPEAK, AXIS#.IL.LIMITP)
Default Value	0 Arms
Data Type	Float
See Also	AXISx.IL.CMDMODE, AXISx.IL.IUCMD, AXISx.IL.IUCMDU, AXISx.IL.SETCMD
Stored in Non-Volatile Memory	No

Variants Supported

All variants are supported.

Fieldbus Information

EtherNet/IP
ID	Instance	Attribute	Name	Data Type	Access	User Mappable
5831	1	5831 (0x16c7)	AXIS1.IL.IUCMDU	Signed32	Read/Write	Yes
71367	2	5831 (0x16c7)	AXIS2.IL.IUCMDU	Signed32	Read/Write	Yes

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.IL.IUCMDU	5831	Float	Read/Write	-