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HARSFEN0602
The internal representation of phase currents is by A/D bits.
Torque commands, and the active and the reactive parts of the current have another
representation, since the coordinate transformations from phase current to torque introduce
scaling.
The relation between internal phase currents, internal torque, and Amperes is given by the
following commands:
Command Description
MC The full current range of the amplifier.
The amplifier represents MC Amperes by 14000 bits internally.
(The maximum A/D reading is 16384 and some spare is left for overshoots and
over-current detection)
WS[22] Torque command multiplier.
Internal torque command = WS[22]×DV[1].
WS[5] Phase current multiplier
Internal phase current = WS[5]×Phase Current[Amp]
2.5.2 Speed:
Speeds are represented internally by the units of counts/(2
16
speed controller sampling
times).
For example, if the sampling time of the speed controller is 200usec (5000Hz sampling
frequency), then 1000 counts/sec will be represented internally as
13107
Hz
5
00
0
21000
16
=
⋅
.
The relation between speeds and internal commands is given by the following commands
Command Description
TS Sampling time of the current controller. The sampling time of the sped
controller is 4×TS.
WS[53] Conversion from internal units to counts/sec
Speed (counts/sec) = WS[53]×Speed (Internal representation)
2.5.3 Electrical angle:
The electrical angle is measured by 1024 counts per electrical revolution.
Think of a motor with 3 pole pairs. To rotate this motor a full mechanical revolution in the
stepper mode (UM=3) you have to specify the movement of (3×1024)=3072 position counts.
2.5.4 Power DC voltage
Power DC voltage is represented internally in A/D units.
The relation between the internal representation and the bus voltage is given by:
Command Description
WS[54] Conversion from internal units to Volts.
Power DC voltage = WS[54]×Power DC voltage (Internal representation)
2.6 Peripherals
This section summarizes the set of Harmonica peripherals.
2.6.1 Position decoders
There are two position decoders, termed main and auxiliary. The main and the auxiliary
decoders are similar. Both decoders are timed (through the timer sets A and B) for accurate
speed information.
A position decoder measures quadrature or Pulse/Direction. The maximum counting rate of