.

Relation of Motor Object Offsets
to Filter Object Offsets

Motor Object DAC Offset

 
  • The motor object offset is added to the torque command just before the motor object clipping and the value is sent to the DAC (analog controllers) or SynqNet (SynqNet controllers).

  • The motor object output is subject to clipping at +/– 32767 (normal full range), regardless of what the filter limits are.

  • The motor object offset is not affected by the motor object scale.

  • The motor object offset is in units of Volts (+/– 10 V full-range).

  • The motor object offset is not affected by error states (such as ABORT).

 

Filter Object DAC Offset

 
  • The filter object offset is added just before the clipping from the filter object DAC limits are applied, then the noise / sine excitation is applied (when turned on), and sent to the motor commutatation (if used).

  • The filter object output is subject to clipping by Limit, Limit High, and Limit Low, in that order.

  • The filter object has no scaling.

  • The filter object offset is in units of DAC counts (+/– 32767 full range). The offset itself is not clipped, but the torque command added to the offset is subject to clipping.

  • The filter object offset is not affected by error states (such as ABORT).

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