321Bh Velocity Controller Parameters Function Contains the parameters for the velocity controller. See chapter Controller structure. Object description Index 321Bh Object name Velocity Controller Parameters Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v2213-B1028181 Change history Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Proportional Gain Kp [mA/Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-5: 00000140h PD6-E891L95-ES-65-5: 00000140h PD6-EB80CD-E-65-5: 00000280h PD6-EB80CD-ES-65-5: 00000280h PD6-E891S95-E-65-5: 00000140h PD6-E891S95-ES-65-5: 00000140h PD6-E891M95-E-65-5: 00000140h PD6-E891M95-ES-65-5: 00000140h PD6-EB80SD-E-65-5: 00000280h PD6-EB80SD-ES-65-5: 00000280h PD6-EB80MD-E-65-5: 00000280h PD6-EB80MD-ES-65-5: 00000280h PD6-EB80LD-E-65-5: 00000280h PD6-EB80LD-ES-65-5: 00000280h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-5: 00007A12h PD6-E891L95-ES-65-5: 00007A12h PD6-EB80CD-E-65-5: 0000F424h PD6-EB80CD-ES-65-5: 0000F424h PD6-E891S95-E-65-5: 00007A12h PD6-E891S95-ES-65-5: 00007A12h PD6-E891M95-E-65-5: 00007A12h PD6-E891M95-ES-65-5: 00007A12h PD6-EB80SD-E-65-5: 0000F424h PD6-EB80SD-ES-65-5: 0000F424h PD6-EB80MD-E-65-5: 0000F424h PD6-EB80MD-ES-65-5: 0000F424h PD6-EB80LD-E-65-5: 0000F424h PD6-EB80LD-ES-65-5: 0000F424h
321Bh Velocity Controller Parameters Function Contains the parameters for the velocity controller. See chapter Controller structure. Object description Index 321Bh Object name Velocity Controller Parameters Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v2213-B1028181 Change history Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Proportional Gain Kp [mA/Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-5: 00000140h PD6-E891L95-ES-65-5: 00000140h PD6-EB80CD-E-65-5: 00000280h PD6-EB80CD-ES-65-5: 00000280h PD6-E891S95-E-65-5: 00000140h PD6-E891S95-ES-65-5: 00000140h PD6-E891M95-E-65-5: 00000140h PD6-E891M95-ES-65-5: 00000140h PD6-EB80SD-E-65-5: 00000280h PD6-EB80SD-ES-65-5: 00000280h PD6-EB80MD-E-65-5: 00000280h PD6-EB80MD-ES-65-5: 00000280h PD6-EB80LD-E-65-5: 00000280h PD6-EB80LD-ES-65-5: 00000280h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-5: 00007A12h PD6-E891L95-ES-65-5: 00007A12h PD6-EB80CD-E-65-5: 0000F424h PD6-EB80CD-ES-65-5: 0000F424h PD6-E891S95-E-65-5: 00007A12h PD6-E891S95-ES-65-5: 00007A12h PD6-E891M95-E-65-5: 00007A12h PD6-E891M95-ES-65-5: 00007A12h PD6-EB80SD-E-65-5: 0000F424h PD6-EB80SD-ES-65-5: 0000F424h PD6-EB80MD-E-65-5: 0000F424h PD6-EB80MD-ES-65-5: 0000F424h PD6-EB80LD-E-65-5: 0000F424h PD6-EB80LD-ES-65-5: 0000F424h
Object description Index 321Bh Object name Velocity Controller Parameters Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v2213-B1028181 Change history
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Proportional Gain Kp [mA/Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-5: 00000140h PD6-E891L95-ES-65-5: 00000140h PD6-EB80CD-E-65-5: 00000280h PD6-EB80CD-ES-65-5: 00000280h PD6-E891S95-E-65-5: 00000140h PD6-E891S95-ES-65-5: 00000140h PD6-E891M95-E-65-5: 00000140h PD6-E891M95-ES-65-5: 00000140h PD6-EB80SD-E-65-5: 00000280h PD6-EB80SD-ES-65-5: 00000280h PD6-EB80MD-E-65-5: 00000280h PD6-EB80MD-ES-65-5: 00000280h PD6-EB80LD-E-65-5: 00000280h PD6-EB80LD-ES-65-5: 00000280h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-5: 00007A12h PD6-E891L95-ES-65-5: 00007A12h PD6-EB80CD-E-65-5: 0000F424h PD6-EB80CD-ES-65-5: 0000F424h PD6-E891S95-E-65-5: 00007A12h PD6-E891S95-ES-65-5: 00007A12h PD6-E891M95-E-65-5: 00007A12h PD6-E891M95-ES-65-5: 00007A12h PD6-EB80SD-E-65-5: 0000F424h PD6-EB80SD-ES-65-5: 0000F424h PD6-EB80MD-E-65-5: 0000F424h PD6-EB80MD-ES-65-5: 0000F424h PD6-EB80LD-E-65-5: 0000F424h PD6-EB80LD-ES-65-5: 0000F424h
