ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 85)

ID, IQ - Read Active Current and Reactive
Current
Purpose:
Gets the active and the reactive components of the motor current, in Amperes.
A brushless motor carries alternating currents in its phases. The alternating currents in
the motor phases create a rotating magnetic field, which can be projected in two
directions. The first magnetic field component is aligned with the magnetic direction
of the rotor; it produces no mechanical torque. The other magnetic field component is
perpendicular to the magnetic direction of the rotor and produces all the mechanical
torque.
IQ[Amp] is the component of the motor phase currents that creates effective torque.
The current controller attempts to make IQ equal to the current command. ID is the
component of the motor phase current that does not create torque. The current
controller tries to null ID.
When the motor is off (MO=0), IQ and ID are not calculated and return zero.
Attributes: Type: Status report, Real
Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: All
SimplIQ: Modified
See also:
AN[N] , MC , PL[N] , CL[N]
Modification from SimplIQ:
Winding shape compensations change the method of calculating ID, IQ
Application notes\:
The input transformation
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
77