3210h Motor Drive Parameter Set Function Contains the P and I components of the current, speed and position controllers for open-loop (only current controller activated) and 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 3210h Object name Motor Drive Parameter Set Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Name" entry changed from "S_P" to "Position Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "S_I" to "Position Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "V_P" to "Velocity Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "V_I" to "Velocity Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_P" to "Flux Current Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_I" to "Flux Current Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_P" to "Torque Current Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_I" to "Torque Current Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open-loop)". Firmware version FIR-v1626: "Name" entry changed from "I_I" to "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open-loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open-loop)" to "Torque Current Loop, Proportional Gain (open-loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open-loop)" to "Torque Current Loop, Integral Gain (open-loop)". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1738-B501312: The number of entries was changed from 11 to 13. Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 00 to 0A changed from "no" to "RX-PDO". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 0Ch Subindex 01h Name Position Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00002710h PD4-E601L42-M-65-1A: 00000800h PD4-EB59CD-M-65-1A: 00007530h PD4-EB60SD-M-65-1A: 00007530h Subindex 02h Name Position Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Subindex 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00004E20h PD4-E601L42-M-65-1A: 00001B58h PD4-EB59CD-M-65-1A: 0000EA60h PD4-EB60SD-M-65-1A: 0000EA60h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00000064h PD4-E601L42-M-65-1A: 00000004h PD4-EB59CD-M-65-1A: 000001F4h PD4-EB60SD-M-65-1A: 000001F4h Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00A20C60h PD4-E601L42-M-65-1A: 00881EE0h PD4-EB59CD-M-65-1A: 00081A38h PD4-EB60SD-M-65-1A: 00081A38h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00033DB0h PD4-E601L42-M-65-1A: 0007C740h PD4-EB59CD-M-65-1A: 0001F1D0h PD4-EB60SD-M-65-1A: 0001F1D0h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00A20C60h PD4-E601L42-M-65-1A: 00881EE0h PD4-EB59CD-M-65-1A: 00081A38h PD4-EB60SD-M-65-1A: 00081A38h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00033DB0h PD4-E601L42-M-65-1A: 0007C740h PD4-EB59CD-M-65-1A: 0001F1D0h PD4-EB60SD-M-65-1A: 0001F1D0h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 0033DB00h PD4-E601L42-M-65-1A: 0033DB00h PD4-EB59CD-M-65-1A: 004DC880h PD4-EB60SD-M-65-1A: 004DC880h Subindex 0Ah Name Torque Current Loop, Integral Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 000E42A0h PD4-E601L42-M-65-1A: 00067B60h PD4-EB59CD-M-65-1A: 001D2B30h PD4-EB60SD-M-65-1A: 001D2B30h Subindex 0Bh Name Velocity Feed Forward Factor In Per Mille Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 000003E8h Subindex 0Ch Name Acceleration Feed Forward Factor Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Description Subindex 00h: Number of entries Subindex 01h: Proportional component of the S-controller (position) Subindex 02h: Integral component of the S-controller (position) Subindex 03h: Proportional component of the V-controller (speed) Subindex 04h: Integral component of the V-controller (speed) Subindex 05h: (Closed loop) Proportional component of the current controller of the field-forming component Subindex 06h: (Closed loop) Integral component of the current controller of the field-forming component Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-forming component Subindex 08h: (Closed loop) Integral component of the current controller of the torque-forming component Subindex 09h: (Open-loop) Proportional component of the current controller of the field-building component Subindex 0Ah: (Open-loop) Integral component of the current controller of the field-forming component Subindex 0Bh: (Closed loop) Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 0Ch: (Closed loop) Acceleration feed forward. Default is 0 (feed forward inactive). It applies during deceleration as well.
3210h Motor Drive Parameter Set Function Contains the P and I components of the current, speed and position controllers for open-loop (only current controller activated) and 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 3210h Object name Motor Drive Parameter Set Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Name" entry changed from "S_P" to "Position Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "S_I" to "Position Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "V_P" to "Velocity Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "V_I" to "Velocity Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_P" to "Flux Current Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_I" to "Flux Current Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_P" to "Torque Current Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_I" to "Torque Current Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open-loop)". Firmware version FIR-v1626: "Name" entry changed from "I_I" to "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open-loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open-loop)" to "Torque Current Loop, Proportional Gain (open-loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open-loop)" to "Torque Current Loop, Integral Gain (open-loop)". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1738-B501312: The number of entries was changed from 11 to 13. Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 00 to 0A changed from "no" to "RX-PDO". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 0Ch Subindex 01h Name Position Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00002710h PD4-E601L42-M-65-1A: 00000800h PD4-EB59CD-M-65-1A: 00007530h PD4-EB60SD-M-65-1A: 00007530h Subindex 02h Name Position Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Subindex 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00004E20h PD4-E601L42-M-65-1A: 00001B58h PD4-EB59CD-M-65-1A: 0000EA60h PD4-EB60SD-M-65-1A: 0000EA60h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00000064h PD4-E601L42-M-65-1A: 00000004h PD4-EB59CD-M-65-1A: 000001F4h PD4-EB60SD-M-65-1A: 000001F4h Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00A20C60h PD4-E601L42-M-65-1A: 00881EE0h PD4-EB59CD-M-65-1A: 00081A38h PD4-EB60SD-M-65-1A: 00081A38h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00033DB0h PD4-E601L42-M-65-1A: 0007C740h PD4-EB59CD-M-65-1A: 0001F1D0h PD4-EB60SD-M-65-1A: 0001F1D0h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00A20C60h PD4-E601L42-M-65-1A: 00881EE0h PD4-EB59CD-M-65-1A: 00081A38h PD4-EB60SD-M-65-1A: 00081A38h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00033DB0h PD4-E601L42-M-65-1A: 0007C740h PD4-EB59CD-M-65-1A: 0001F1D0h PD4-EB60SD-M-65-1A: 0001F1D0h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 0033DB00h PD4-E601L42-M-65-1A: 0033DB00h PD4-EB59CD-M-65-1A: 004DC880h PD4-EB60SD-M-65-1A: 004DC880h Subindex 0Ah Name Torque Current Loop, Integral Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 000E42A0h PD4-E601L42-M-65-1A: 00067B60h PD4-EB59CD-M-65-1A: 001D2B30h PD4-EB60SD-M-65-1A: 001D2B30h Subindex 0Bh Name Velocity Feed Forward Factor In Per Mille Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 000003E8h Subindex 0Ch Name Acceleration Feed Forward Factor Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Description Subindex 00h: Number of entries Subindex 01h: Proportional component of the S-controller (position) Subindex 02h: Integral component of the S-controller (position) Subindex 03h: Proportional component of the V-controller (speed) Subindex 04h: Integral component of the V-controller (speed) Subindex 05h: (Closed loop) Proportional component of the current controller of the field-forming component Subindex 06h: (Closed loop) Integral component of the current controller of the field-forming component Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-forming component Subindex 08h: (Closed loop) Integral component of the current controller of the torque-forming component Subindex 09h: (Open-loop) Proportional component of the current controller of the field-building component Subindex 0Ah: (Open-loop) Integral component of the current controller of the field-forming component Subindex 0Bh: (Closed loop) Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 0Ch: (Closed loop) Acceleration feed forward. Default is 0 (feed forward inactive). It applies during deceleration as well.
Function Contains the P and I components of the current, speed and position controllers for open-loop (only current controller activated) and 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 3210h Object name Motor Drive Parameter Set Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Name" entry changed from "S_P" to "Position Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "S_I" to "Position Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "V_P" to "Velocity Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "V_I" to "Velocity Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_P" to "Flux Current Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_I" to "Flux Current Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_P" to "Torque Current Loop, Proportional Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_I" to "Torque Current Loop, Integral Gain (closed-loop)". Firmware version FIR-v1626: "Name" entry changed from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open-loop)". Firmware version FIR-v1626: "Name" entry changed from "I_I" to "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open-loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open-loop)" to "Torque Current Loop, Proportional Gain (open-loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open-loop)" to "Torque Current Loop, Integral Gain (open-loop)". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1738-B501312: The number of entries was changed from 11 to 13. Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 00 to 0A changed from "no" to "RX-PDO".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 0Ch Subindex 01h Name Position Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00002710h PD4-E601L42-M-65-1A: 00000800h PD4-EB59CD-M-65-1A: 00007530h PD4-EB60SD-M-65-1A: 00007530h Subindex 02h Name Position Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Subindex 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00004E20h PD4-E601L42-M-65-1A: 00001B58h PD4-EB59CD-M-65-1A: 0000EA60h PD4-EB60SD-M-65-1A: 0000EA60h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00000064h PD4-E601L42-M-65-1A: 00000004h PD4-EB59CD-M-65-1A: 000001F4h PD4-EB60SD-M-65-1A: 000001F4h Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00A20C60h PD4-E601L42-M-65-1A: 00881EE0h PD4-EB59CD-M-65-1A: 00081A38h PD4-EB60SD-M-65-1A: 00081A38h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00033DB0h PD4-E601L42-M-65-1A: 0007C740h PD4-EB59CD-M-65-1A: 0001F1D0h PD4-EB60SD-M-65-1A: 0001F1D0h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00A20C60h PD4-E601L42-M-65-1A: 00881EE0h PD4-EB59CD-M-65-1A: 00081A38h PD4-EB60SD-M-65-1A: 00081A38h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 00033DB0h PD4-E601L42-M-65-1A: 0007C740h PD4-EB59CD-M-65-1A: 0001F1D0h PD4-EB60SD-M-65-1A: 0001F1D0h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 0033DB00h PD4-E601L42-M-65-1A: 0033DB00h PD4-EB59CD-M-65-1A: 004DC880h PD4-EB60SD-M-65-1A: 004DC880h Subindex 0Ah Name Torque Current Loop, Integral Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value PD4-E591L42-M-65-1A: 000E42A0h PD4-E601L42-M-65-1A: 00067B60h PD4-EB59CD-M-65-1A: 001D2B30h PD4-EB60SD-M-65-1A: 001D2B30h Subindex 0Bh Name Velocity Feed Forward Factor In Per Mille Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 000003E8h Subindex 0Ch Name Acceleration Feed Forward Factor Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h
Description Subindex 00h: Number of entries Subindex 01h: Proportional component of the S-controller (position) Subindex 02h: Integral component of the S-controller (position) Subindex 03h: Proportional component of the V-controller (speed) Subindex 04h: Integral component of the V-controller (speed) Subindex 05h: (Closed loop) Proportional component of the current controller of the field-forming component Subindex 06h: (Closed loop) Integral component of the current controller of the field-forming component Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-forming component Subindex 08h: (Closed loop) Integral component of the current controller of the torque-forming component Subindex 09h: (Open-loop) Proportional component of the current controller of the field-building component Subindex 0Ah: (Open-loop) Integral component of the current controller of the field-forming component Subindex 0Bh: (Closed loop) Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 0Ch: (Closed loop) Acceleration feed forward. Default is 0 (feed forward inactive). It applies during deceleration as well.
