320Fh Open Loop Controller Parameter Function Contains the control parameters for open loop . Note: For firmware versions from FIR-v19xx upwards, the new schema for the Controller structure applies. The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. For new applications, Nanotec recommends using the new control parameters. To use the new parameters, you must set 3210h:07h (for closed loop) or 3210h:09h (for open loop) to "0". The old values are converted and entered in the new object 320Eh or 320Fh. You must save both objects (see Saving objects). Object description Index 320Fh Object name Open Loop Controller Parameter Object Code RECORD Data type OPEN_LOOP_CONTROLLER_PARAMETER Savable yes, category: drive Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1825-B577172 Change history Firmware version FIR-v1913-B623284: "Name" entry changed from "PWM Feed Forward" to "Reserved." Firmware Version FIR-v2013-B726332: "Name" entry changed from "Max Voltage Via PWM" to "Max Voltage [mV]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 05h Subindex 01h Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 02h Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Reserved Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 04h Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 05h Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000186A0h Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 02h: Reset time (integral component) of the current controller in microseconds Subindex 03h: Reserved Subindex 04h: Maximum control deviation of the current controller in mA Subindex 05h: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt.
320Fh Open Loop Controller Parameter Function Contains the control parameters for open loop . Note: For firmware versions from FIR-v19xx upwards, the new schema for the Controller structure applies. The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. For new applications, Nanotec recommends using the new control parameters. To use the new parameters, you must set 3210h:07h (for closed loop) or 3210h:09h (for open loop) to "0". The old values are converted and entered in the new object 320Eh or 320Fh. You must save both objects (see Saving objects). Object description Index 320Fh Object name Open Loop Controller Parameter Object Code RECORD Data type OPEN_LOOP_CONTROLLER_PARAMETER Savable yes, category: drive Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1825-B577172 Change history Firmware version FIR-v1913-B623284: "Name" entry changed from "PWM Feed Forward" to "Reserved." Firmware Version FIR-v2013-B726332: "Name" entry changed from "Max Voltage Via PWM" to "Max Voltage [mV]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 05h Subindex 01h Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 02h Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Reserved Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 04h Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 05h Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000186A0h Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 02h: Reset time (integral component) of the current controller in microseconds Subindex 03h: Reserved Subindex 04h: Maximum control deviation of the current controller in mA Subindex 05h: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt.
Function Contains the control parameters for open loop . Note: For firmware versions from FIR-v19xx upwards, the new schema for the Controller structure applies. The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. For new applications, Nanotec recommends using the new control parameters. To use the new parameters, you must set 3210h:07h (for closed loop) or 3210h:09h (for open loop) to "0". The old values are converted and entered in the new object 320Eh or 320Fh. You must save both objects (see Saving objects).
Object description Index 320Fh Object name Open Loop Controller Parameter Object Code RECORD Data type OPEN_LOOP_CONTROLLER_PARAMETER Savable yes, category: drive Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1825-B577172 Change history Firmware version FIR-v1913-B623284: "Name" entry changed from "PWM Feed Forward" to "Reserved." Firmware Version FIR-v2013-B726332: "Name" entry changed from "Max Voltage Via PWM" to "Max Voltage [mV]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 05h Subindex 01h Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 02h Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Reserved Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 04h Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value 0000h Subindex 05h Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000186A0h
Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 02h: Reset time (integral component) of the current controller in microseconds Subindex 03h: Reserved Subindex 04h: Maximum control deviation of the current controller in mA Subindex 05h: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt.
