IL.CMDU

Description

This parameter sets the user current command value.

The current command value, which is provided to the current loop (IL "Instruction list" This is a low-level language and resembles assembly.CMD), can be limited further using a parameter setting or I²t calculation. IL.CMDU is limited also by motor peak current, IL.LIMITN and IL.LIMITP .

For IPM motors (MOTOR.TYPE = 6), IL.CMDU is decomposed into d-component and q-component current values, as both are used for closed loop The use of feedback devices (encoders, resolvers, interferometers, etc.) to allow a motor to position a user payload accurately. current control. The d-component value is used to set IL.DCMD, and the q-component value is used to set IL.CMD .

General Information

Type	R/W Parameter
Units	Arms
Range	Minimum range value = maximum of IL.LIMITN and -MOTOR.IPEAK Maximum range value = minimum of IL.LIMITP and MOTOR.IPEAK
Default Value	0 Arms
Data Type	Float
See Also	DRV.IPEAK , DRV.OPMODE,DRV.CMDSOURCE
Start Version	M_01-00-00-000