Commutation position read directly from the FPGA in units of mcnts. ["Enable amplifier data logging" (DataID 10603) must be turned on to read this value.]

Commutation position converted from the FPGA raw reading in mcnts. ["Enable amplifier data logging" (DataID 10603) must be turned on to read this value.]

Current commutation angle in degrees. ["Enable amplifier data logging" (DataID 10603) must be turned on to read this value.]

(Not supported) The step number for a 6-step trapezoidal commutation.

Current feedback of motor phase 1 in units of ccnt. The current feedback value is already adjusted by the phase 1 current offset. ["Enable amplifier data logging" (DataID 10603) must be turned on to read this value.]

Current feedback of motor phase 2 in units of ccnt. The current feedback value is already adjusted by the ADC sensor gain and the phase 2 current offset. ["Enable amplifier data logging" (DataID 10603) must be turned on to read this value.]

Derived current feedback of motor phase 3, based on phase 1 and 2 feedback values in units of ccnt. ["Enable amplifier data logging" (DataID 10603) must be turned on to read this value.]

The Vector Control algorithm that performs the motor current loop control, converts the 3 phases of the current feedback (DataID's 12655, 12656, 12657) into two perpendicular current values, Iq and Id in the so called Q and D space.  For a motor with permanent magnets, such as a BLDC motor, Iq corresponds to the torque being applied to the motor and Id is zero.  For an induction motor, Id generates the motor magnetization (flux) and Iq generates the motor torque (armature current).  These feedback values are in units of ccnt.

Whereas the motor phase currents and the PWM duty cycle phases are continuously changing in a sinusoidal fashion as the motor rotates to account for the commutation angle, in an ideal system, the Iq and Id values would be constant for a given, desired motor torque.

In the ideal case where the current loop is perfectly tuned, for a BLDC motor, the "Iq current command" (DataID 12664) would be proportional to the torque that the servos are requesting, the "Iq current feedback" (DataID 12659) would be proportional to the motor torque being generated, and the "Id current command and feedback" (DataID's 12663 and 12658) would be zero.

["Enable amplifier data logging" (DataID 10603) must be turned on to read these values.]

Difference between the Id and Iq commands (DataID's 12663 and 12664) and the actual Id and Iq generated (DataID's 12658 and 12659) in units of ccnt. ["Enable amplifier data logging" (DataID 10603) must be turned on to read this value.]

Current command derived from the input torque command in units of ccnt.

The Id and Iq commands computed from the input current command in units of ccnt. These two values are used by the vector control for motor commutation.  See "Id current feedback" (DataID 12658) and "Iq current feedback" (DataID 12659) for a further explanation.

DC bus voltage reading in volts. Depending on the motion, the bus voltage varies during acceleration and deceleration. The vector control algorithm makes use of the DC bus voltage reading to dynamically derive a current loop gain. This in turn affects the PWM duty cycle and maintains the specified phase currents into the motor windings.

These values indicate the voltage available for use by the Q and D phases. These voltages are calculated based on the DC bus voltage and are in units of volts.

Conversion factor from a voltage command (output of the current loop PI compensator) to the final PWM count in units of pcnt/volt. Note that this conversion factor is derived internally and varies based on the DC bus voltage.

Output of the U/f control. The U/f control causes the motor to spin based solely on the input voltage and rotation speed. The motor is run synchronously, i.e., similar to a stepper motor.  DataID 12669 is in units of mcnt. DataId's 12670 and 12671 are the D and Q phase voltage output commands and are in units of volts.

These values are only valid in U/f control mode and are unused during the standard closed loop current control mode.

These are the total D/Q output voltage commands that are converted to PWM signals.

During standard current loop control, these values are approximately equal to the Usd and Usq values computed by the current loop compensator (DataID's 12679, 12680) adjusted by the Usd and Usq voltage feedforward terms (DataID's 12677, 12678). However, these voltage commands are limited to ensure that they do not exceed the available voltage (DataId's 12666, 12667). In addition, if the combination of the Usd and Usq reference voltages exceeds the available bus voltage, before being converted to PWM values, each of the reference voltages is reduced by multiplying it by the "Available voltage scale factor" (DataId 12682).

In special control modes, such as voltage twanging, the reference voltages may be directly set by the PID servo control.

Both of the reference voltages are in units of volts.

["Enable amplifier data logging" (DataID 10603) must be turned on to read these values.]

The final converted PWM commands in units of pcnts. The PWM duty cycles are converted to unsigned values with center point located roughly at 1/2 of total PWM count range (DataID 10688). Also, a PWM center-tap adjustment is implemented to "float" the PWM values based on the AC input line rectification result.  (Only available with special diagnostic software.  In addition, "Enable amplifier data logging" (DataID 10603) must be turned on to read this value.)

These are the D/Q voltage feedforward terms that are computed by the current control loop. At present, the voltage feedforward is only a function of the Motor Back-EMF constant (DataID 10658) and the speed of the motor. The voltage feedforward is added to the values computed by current loop compensator in order to determine the Usd and Usq reference voltages (DataID's 12672, 12673).

These are the D and Q voltages that are computed by the current loop compensator during the standard closed loop current control mode. These values are added to the Usd/Usq feedforward voltages (DataID's 12677, 12678) to form the Usd/Usq reference voltages (DataID's 12672, 12673). The reference voltages are converted to the PWM signals that are intended to generate the commanded Id/Iq currents (DataID's 12663, 12664).

["Enable amplifier data logging" (DataID 10603) must be turned on to read these values.]

This is the root-mean-square (RMS) current that is computed for each motor amplifier. This "average" value is used to test if the motor or the amplifier is exceeding its RMS limit.  See 10611.

If the combination of the Usd and Usq reference voltages (DataID's 12672, 12673) demand more voltage than is available from the DC bus, the reference voltages are reduced by multiplying them times the "Available voltage scale factor" (DataID 12682). This factor is automatically computed to ensure that the combined voltage command does not exceed the available bus voltage. This factor can range from 0 to 1 and is normally equal to 1.

The first time that motor power is enabled, the servos monitor the DC motor bus voltage and compute the nominal voltage.  This voltage is tested to ensure that the bus rises above a minimum of 10VDC.  In addition, the nominal voltage is subsequently utilized by the FPGA to detect if the motor bus droops an excessive amount.  If the instantaneous DC bus voltage falls approximately 30% below the nominal, an under-voltage error is signaled.

This parameter returns the instantaneous DC motor bus voltage as read from an ADC.