321Ch Position Controller Parameters Function Contains the parameters for the position controller. See chapter Controller structure. Object description Index 321Ch Object name Position 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 [Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-5: 000000EEh PD4-E601L42-E-65-5: 00000032h PD4-EB59CD-E-65-5: 000002CBh PD4-EB60SD-E-65-5: 000002CBh PD4-E591L42-EB-65-5: 000000EEh PD4-EB59CD-EB-65-5: 000002CBh Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h
321Ch Position Controller Parameters Function Contains the parameters for the position controller. See chapter Controller structure. Object description Index 321Ch Object name Position 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 [Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-5: 000000EEh PD4-E601L42-E-65-5: 00000032h PD4-EB59CD-E-65-5: 000002CBh PD4-EB60SD-E-65-5: 000002CBh PD4-E591L42-EB-65-5: 000000EEh PD4-EB59CD-EB-65-5: 000002CBh Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h
Object description Index 321Ch Object name Position 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 [Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-5: 000000EEh PD4-E601L42-E-65-5: 00000032h PD4-EB59CD-E-65-5: 000002CBh PD4-EB60SD-E-65-5: 000002CBh PD4-E591L42-EB-65-5: 000000EEh PD4-EB59CD-EB-65-5: 000002CBh Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h
