NP5 EtherCAT Online Manual

2039h Motor Currents

Function

This object contains the measured motor currents in mA.

Object description

Index 2039h
Object name Motor Currents
Object Code ARRAY
Data type INTEGER32
Savable no
Firmware version FIR-v1426
Change history

Firmware version FIR-v1504: "PDO mapping" table entry for subindex 01 changed from "no" to "TX-PDO".

Firmware version FIR-v1504: "PDO mapping" table entry for subindex 02 changed from "no" to "TX-PDO".

Firmware version FIR-v1504: "PDO mapping" table entry for subindex 03 changed from "no" to "TX-PDO".

Firmware version FIR-v1504: "PDO mapping" table entry for subindex 04 changed from "no" to "TX-PDO".

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 04h
Subindex 01h
Name I_d
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 02h
Name I_q
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 03h
Name I_a
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Subindex 04h
Name I_b
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h

Description

Note: Motor currents I_d (subindex 01h) and I_q (subindex 02h) are only displayed if closed loop was activated; the value 0 is otherwise output.
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