Applied Motion RS-232 - Manual (Page 97)

97 920-0002 Rev. I
2/2013
Host Command Reference
IC - Immediate Current (Commanded)
Compatibility: All drives
Servo drives
Requests the present RMS current commanded by the servo loop. This may not be the actual current at the motor
windings. Most AC servo motors are commutated using a sinusoidal current waveform that is a “peak” value and
not directly represented by the commanded current. The commanded current is the average RMS current being
asked of the driver. Typically with a well tuned current loop the RMS current in the servo motor is well represented
by this value.
Stepper drives
Requests the present (peak-of-sine) current applied to each motor phase. This value will change depending on
what the motor is doing at the moment the command is processed. If the motor is moving this value will equal the
CA (STM only) or CC value. If the motor is not moving this value will equal the CI value.
Command Details:
Structure IC
Type IMMEDIATE
Usage READ ONLY
Non-Volatile NO
Register Access “c” (051)
Units 0.01 amps
Examples:
Command Drive sends Notes
IC IC=015E 3.5 amps
IC IC=FEA2 -3.5 amps
If the IF command is set with Parameter #1=D
IFD
- Set values to be read back in decimal
IC IC=350 3.5 amps
IC IC=-350 -3.5 amps