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. 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 00000800h 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 00002EE0h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0000001Eh Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00881EE0h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0007C740h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00881EE0h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0007C740h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 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 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. 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 00000800h 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 00002EE0h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0000001Eh Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00881EE0h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0007C740h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00881EE0h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0007C740h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 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 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.
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 00000800h 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 00002EE0h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0000001Eh Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00881EE0h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0007C740h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00881EE0h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 0007C740h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 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 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.
