Current read when using the position or the velocity control

[CharlierN]

We are students in electromechanics and for our master thesis, we are using an EPOS2 24/5 to control the motor of our system.

We are using a compactRio from National Instruments that communicates with the EPOS via the CAN bus (module NI9853) using the library “EPOS2 CANopen”.

In this library, we use three examples: the current control, the velocity control and the position control. Our problem is that we can't read the current value when using the position control or the velocity control.

We try to use the block “EPOS2 SDOs Read.vi” with the index of the register that gives the current in the EPOS2. The output looks like the current (when current rises, output rises too) but the value is much larger than the one given by our ampere-meter.

So we are looking for a solution to read the current correctly when using position or velocity controls.

Thanks

Best Regards

[Highland_Controls]

Call Maxon and ask them what units that register is reporting the current in.  It might be %, but they should know.

[CharlierN]

Thanks for you answer. ( I will contact Maxon )

In the firmware of the EPOS2, the specification of the register indicates that the current is in mA. I forgot to mention that when using the current control, I put exactly the same block and the value of the current is correct.

It is only when I use the velocity or the position control that the value of the current becomes strange. I think that it's a problem in the initialization of the EPOS or something like that but can't find the way to fix that.