320Eh Closed Loop Controller Parameter Function Contains the control parameters for closed loop. Note: For firmware versions from FIR-v22xx upwards, the new schema for the Controller structure applies. The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. Object 320Eh used in firmware versions FIR-v19xx to FIR-v21xx has been removed. For new applications, Nanotec recommends using the new control parameters. To use the new parameters, set 3212h:04h to "1" . The old values are converted and entered in the new objects 321Ah to 321Eh. You must save all objects (see Saving objects). Object description Index 320Eh Object name Closed Loop Controller Parameter Object Code RECORD Data type CLOSED_LOOP_CONTROLLER_PARAMETER Savable yes, category: movement 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 Current Deviation" to "Max Current Deviation [‰]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". 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". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2039-B807052: "Name" entry changed from "Reserved" to "Voltage Feed Forward [‰]". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Position Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Position Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Max Position Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Max Motor Speed Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Velocity Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Velocity Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Acceleration Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Max Velocity Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Max Current [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Voltage Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Eh Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Fh Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the position controller in tenths of a percent Subindex 02h: Reset time (integral component) of the position controller in microseconds Subindex 03h: Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 04h: Maximum control deviation of the position controller in user-defined units Subindex 05h: Maximum permissible speed of the motor in user-defined units. See 6080h. Subindex 06h: Gain factor (proportional component) of the velocity controller in tenths of a percent Subindex 07h: Reset time (integral component) of the velocity controller in microseconds Subindex 08h: Acceleration feed forward in tenths of a percent of the value of 320Dh Subindex 09h: Maximum control deviation of the velocity controller in user-defined units Subindex 0Ah: Maximum current in tenths of a percent of the set rated current, see object 6073h Subindex 0Bh: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 0Ch: Reset time (integral component) of the current controller in microseconds Subindex 0Dh: Voltage feed forward in tenths of a percent of the voltage that is needed to produce the rated current Subindex 0Eh: Maximum control deviation of the current controller in tenths of a percent Subindex 0Fh: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt. Also dependent on this value is whether the overmodulation of the voltage vector is used. If overmodulation is used, a higher torque can be achieved. The resulting voltage is no longer sinusoidal, which can result in harmonics and higher losses. Value in mV Overmodulation 1001…U o_low None; the voltage vector describes a circle. U o_low…U o_high The voltage vector describes a circle that is increasingly flattened on four/six sides in proportion to the set value. ≥U o_high Full; the voltage vector describes a square or a hexagon. U o_low The lowest voltage above which overmodulation occurs. Is calculated as follows: Operating voltage*0.9425 U o_high The maximum overmodulation occurs above this voltage. Is calculated as follows: With two-phase stepper motors: operating voltage*1.063 With three-phase BLDC motors: operating voltage*0.99
320Eh Closed Loop Controller Parameter Function Contains the control parameters for closed loop. Note: For firmware versions from FIR-v22xx upwards, the new schema for the Controller structure applies. The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. Object 320Eh used in firmware versions FIR-v19xx to FIR-v21xx has been removed. For new applications, Nanotec recommends using the new control parameters. To use the new parameters, set 3212h:04h to "1" . The old values are converted and entered in the new objects 321Ah to 321Eh. You must save all objects (see Saving objects). Object description Index 320Eh Object name Closed Loop Controller Parameter Object Code RECORD Data type CLOSED_LOOP_CONTROLLER_PARAMETER Savable yes, category: movement 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 Current Deviation" to "Max Current Deviation [‰]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". 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". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2039-B807052: "Name" entry changed from "Reserved" to "Voltage Feed Forward [‰]". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Position Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Position Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Max Position Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Max Motor Speed Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Velocity Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Velocity Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Acceleration Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Max Velocity Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Max Current [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Voltage Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Eh Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Fh Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the position controller in tenths of a percent Subindex 02h: Reset time (integral component) of the position controller in microseconds Subindex 03h: Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 04h: Maximum control deviation of the position controller in user-defined units Subindex 05h: Maximum permissible speed of the motor in user-defined units. See 6080h. Subindex 06h: Gain factor (proportional component) of the velocity controller in tenths of a percent Subindex 07h: Reset time (integral component) of the velocity controller in microseconds Subindex 08h: Acceleration feed forward in tenths of a percent of the value of 320Dh Subindex 09h: Maximum control deviation of the velocity controller in user-defined units Subindex 0Ah: Maximum current in tenths of a percent of the set rated current, see object 6073h Subindex 0Bh: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 0Ch: Reset time (integral component) of the current controller in microseconds Subindex 0Dh: Voltage feed forward in tenths of a percent of the voltage that is needed to produce the rated current Subindex 0Eh: Maximum control deviation of the current controller in tenths of a percent Subindex 0Fh: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt. Also dependent on this value is whether the overmodulation of the voltage vector is used. If overmodulation is used, a higher torque can be achieved. The resulting voltage is no longer sinusoidal, which can result in harmonics and higher losses. Value in mV Overmodulation 1001…U o_low None; the voltage vector describes a circle. U o_low…U o_high The voltage vector describes a circle that is increasingly flattened on four/six sides in proportion to the set value. ≥U o_high Full; the voltage vector describes a square or a hexagon. U o_low The lowest voltage above which overmodulation occurs. Is calculated as follows: Operating voltage*0.9425 U o_high The maximum overmodulation occurs above this voltage. Is calculated as follows: With two-phase stepper motors: operating voltage*1.063 With three-phase BLDC motors: operating voltage*0.99
Function Contains the control parameters for closed loop. Note: For firmware versions from FIR-v22xx upwards, the new schema for the Controller structure applies. The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. Object 320Eh used in firmware versions FIR-v19xx to FIR-v21xx has been removed. For new applications, Nanotec recommends using the new control parameters. To use the new parameters, set 3212h:04h to "1" . The old values are converted and entered in the new objects 321Ah to 321Eh. You must save all objects (see Saving objects).
Object description Index 320Eh Object name Closed Loop Controller Parameter Object Code RECORD Data type CLOSED_LOOP_CONTROLLER_PARAMETER Savable yes, category: movement 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 Current Deviation" to "Max Current Deviation [‰]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". 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". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2039-B807052: "Name" entry changed from "Reserved" to "Voltage Feed Forward [‰]".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Position Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Position Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Max Position Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Max Motor Speed Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Velocity Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Velocity Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Acceleration Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Max Velocity Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Max Current [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Voltage Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Eh Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Fh Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value
Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the position controller in tenths of a percent Subindex 02h: Reset time (integral component) of the position controller in microseconds Subindex 03h: Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 04h: Maximum control deviation of the position controller in user-defined units Subindex 05h: Maximum permissible speed of the motor in user-defined units. See 6080h. Subindex 06h: Gain factor (proportional component) of the velocity controller in tenths of a percent Subindex 07h: Reset time (integral component) of the velocity controller in microseconds Subindex 08h: Acceleration feed forward in tenths of a percent of the value of 320Dh Subindex 09h: Maximum control deviation of the velocity controller in user-defined units Subindex 0Ah: Maximum current in tenths of a percent of the set rated current, see object 6073h Subindex 0Bh: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 0Ch: Reset time (integral component) of the current controller in microseconds Subindex 0Dh: Voltage feed forward in tenths of a percent of the voltage that is needed to produce the rated current Subindex 0Eh: Maximum control deviation of the current controller in tenths of a percent Subindex 0Fh: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt. Also dependent on this value is whether the overmodulation of the voltage vector is used. If overmodulation is used, a higher torque can be achieved. The resulting voltage is no longer sinusoidal, which can result in harmonics and higher losses. Value in mV Overmodulation 1001…U o_low None; the voltage vector describes a circle. U o_low…U o_high The voltage vector describes a circle that is increasingly flattened on four/six sides in proportion to the set value. ≥U o_high Full; the voltage vector describes a square or a hexagon. U o_low The lowest voltage above which overmodulation occurs. Is calculated as follows: Operating voltage*0.9425 U o_high The maximum overmodulation occurs above this voltage. Is calculated as follows: With two-phase stepper motors: operating voltage*1.063 With three-phase BLDC motors: operating voltage*0.99
