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 PD4-E591L42-E-65-3A: 00000280h PD4-E601L42-E-65-3A: 000000E0h PD4-EB59CD-E-65-3A: 00000780h PD4-EB60SD-E-65-3A: 00000780h PD4-E591L42-EB-65-3A: 00000280h PD4-EB59CD-EB-65-3A: 00000780h PxA56S-E-3-xxBG-xxx: 00000280h PxA56S-E-3-xxBN-xxx: 00000280h PxA56S-E-3-xxCA-xxx: 00000280h PxA56S-E-3-xxCD-xxx: 00000280h PxA56S-E-3-xxCN-xxx: 00000280h PxA56S-E-3-xxEG-xxx: 00000280h PxA56S-E-3-xxFC-xxx: 00000280h PxA56S-E-3-xxGA-xxx: 00000280h PxA56S-E-3-xxKE-xxx: 00000280h PxA56S-E-3-xxMS-xxx: 00000280h PxA56L-E-3-xxBG-xxx: 00000280h PxA56L-E-3-xxBN-xxx: 00000280h PxA56L-E-3-xxCA-xxx: 00000280h PxA56L-E-3-xxCD-xxx: 00000280h PxA56L-E-3-xxCN-xxx: 00000280h PxA56L-E-3-xxEG-xxx: 00000280h PxA56L-E-3-xxFC-xxx: 00000280h PxA56L-E-3-xxGA-xxx: 00000280h PxA56L-E-3-xxKE-xxx: 00000280h PxA56L-E-3-xxMS-xxx: 00000280h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-3A: 0000C350h PD4-E601L42-E-65-3A: 0006ACFCh PD4-EB59CD-E-65-3A: 00007530h PD4-EB60SD-E-65-3A: 00007530h PD4-E591L42-EB-65-3A: 0000C350h PD4-EB59CD-EB-65-3A: 00007530h PxA56S-E-3-xxBG-xxx: 0000C350h PxA56S-E-3-xxBN-xxx: 0000C350h PxA56S-E-3-xxCA-xxx: 0000C350h PxA56S-E-3-xxCD-xxx: 0000C350h PxA56S-E-3-xxCN-xxx: 0000C350h PxA56S-E-3-xxEG-xxx: 0000C350h PxA56S-E-3-xxFC-xxx: 0000C350h PxA56S-E-3-xxGA-xxx: 0000C350h PxA56S-E-3-xxKE-xxx: 0000C350h PxA56S-E-3-xxMS-xxx: 0000C350h PxA56L-E-3-xxBG-xxx: 0000C350h PxA56L-E-3-xxBN-xxx: 0000C350h PxA56L-E-3-xxCA-xxx: 0000C350h PxA56L-E-3-xxCD-xxx: 0000C350h PxA56L-E-3-xxCN-xxx: 0000C350h PxA56L-E-3-xxEG-xxx: 0000C350h PxA56L-E-3-xxFC-xxx: 0000C350h PxA56L-E-3-xxGA-xxx: 0000C350h PxA56L-E-3-xxKE-xxx: 0000C350h PxA56L-E-3-xxMS-xxx: 0000C350h
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 PD4-E591L42-E-65-3A: 00000280h PD4-E601L42-E-65-3A: 000000E0h PD4-EB59CD-E-65-3A: 00000780h PD4-EB60SD-E-65-3A: 00000780h PD4-E591L42-EB-65-3A: 00000280h PD4-EB59CD-EB-65-3A: 00000780h PxA56S-E-3-xxBG-xxx: 00000280h PxA56S-E-3-xxBN-xxx: 00000280h PxA56S-E-3-xxCA-xxx: 00000280h PxA56S-E-3-xxCD-xxx: 00000280h PxA56S-E-3-xxCN-xxx: 00000280h PxA56S-E-3-xxEG-xxx: 00000280h PxA56S-E-3-xxFC-xxx: 00000280h PxA56S-E-3-xxGA-xxx: 00000280h PxA56S-E-3-xxKE-xxx: 00000280h PxA56S-E-3-xxMS-xxx: 00000280h PxA56L-E-3-xxBG-xxx: 00000280h PxA56L-E-3-xxBN-xxx: 00000280h PxA56L-E-3-xxCA-xxx: 00000280h PxA56L-E-3-xxCD-xxx: 00000280h PxA56L-E-3-xxCN-xxx: 00000280h PxA56L-E-3-xxEG-xxx: 00000280h PxA56L-E-3-xxFC-xxx: 00000280h PxA56L-E-3-xxGA-xxx: 00000280h PxA56L-E-3-xxKE-xxx: 00000280h PxA56L-E-3-xxMS-xxx: 00000280h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-3A: 0000C350h PD4-E601L42-E-65-3A: 0006ACFCh PD4-EB59CD-E-65-3A: 00007530h PD4-EB60SD-E-65-3A: 00007530h PD4-E591L42-EB-65-3A: 0000C350h PD4-EB59CD-EB-65-3A: 00007530h PxA56S-E-3-xxBG-xxx: 0000C350h PxA56S-E-3-xxBN-xxx: 0000C350h PxA56S-E-3-xxCA-xxx: 0000C350h PxA56S-E-3-xxCD-xxx: 0000C350h PxA56S-E-3-xxCN-xxx: 0000C350h PxA56S-E-3-xxEG-xxx: 0000C350h PxA56S-E-3-xxFC-xxx: 0000C350h PxA56S-E-3-xxGA-xxx: 0000C350h PxA56S-E-3-xxKE-xxx: 0000C350h PxA56S-E-3-xxMS-xxx: 0000C350h PxA56L-E-3-xxBG-xxx: 0000C350h PxA56L-E-3-xxBN-xxx: 0000C350h PxA56L-E-3-xxCA-xxx: 0000C350h PxA56L-E-3-xxCD-xxx: 0000C350h PxA56L-E-3-xxCN-xxx: 0000C350h PxA56L-E-3-xxEG-xxx: 0000C350h PxA56L-E-3-xxFC-xxx: 0000C350h PxA56L-E-3-xxGA-xxx: 0000C350h PxA56L-E-3-xxKE-xxx: 0000C350h PxA56L-E-3-xxMS-xxx: 0000C350h
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 PD4-E591L42-E-65-3A: 00000280h PD4-E601L42-E-65-3A: 000000E0h PD4-EB59CD-E-65-3A: 00000780h PD4-EB60SD-E-65-3A: 00000780h PD4-E591L42-EB-65-3A: 00000280h PD4-EB59CD-EB-65-3A: 00000780h PxA56S-E-3-xxBG-xxx: 00000280h PxA56S-E-3-xxBN-xxx: 00000280h PxA56S-E-3-xxCA-xxx: 00000280h PxA56S-E-3-xxCD-xxx: 00000280h PxA56S-E-3-xxCN-xxx: 00000280h PxA56S-E-3-xxEG-xxx: 00000280h PxA56S-E-3-xxFC-xxx: 00000280h PxA56S-E-3-xxGA-xxx: 00000280h PxA56S-E-3-xxKE-xxx: 00000280h PxA56S-E-3-xxMS-xxx: 00000280h PxA56L-E-3-xxBG-xxx: 00000280h PxA56L-E-3-xxBN-xxx: 00000280h PxA56L-E-3-xxCA-xxx: 00000280h PxA56L-E-3-xxCD-xxx: 00000280h PxA56L-E-3-xxCN-xxx: 00000280h PxA56L-E-3-xxEG-xxx: 00000280h PxA56L-E-3-xxFC-xxx: 00000280h PxA56L-E-3-xxGA-xxx: 00000280h PxA56L-E-3-xxKE-xxx: 00000280h PxA56L-E-3-xxMS-xxx: 00000280h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-3A: 0000C350h PD4-E601L42-E-65-3A: 0006ACFCh PD4-EB59CD-E-65-3A: 00007530h PD4-EB60SD-E-65-3A: 00007530h PD4-E591L42-EB-65-3A: 0000C350h PD4-EB59CD-EB-65-3A: 00007530h PxA56S-E-3-xxBG-xxx: 0000C350h PxA56S-E-3-xxBN-xxx: 0000C350h PxA56S-E-3-xxCA-xxx: 0000C350h PxA56S-E-3-xxCD-xxx: 0000C350h PxA56S-E-3-xxCN-xxx: 0000C350h PxA56S-E-3-xxEG-xxx: 0000C350h PxA56S-E-3-xxFC-xxx: 0000C350h PxA56S-E-3-xxGA-xxx: 0000C350h PxA56S-E-3-xxKE-xxx: 0000C350h PxA56S-E-3-xxMS-xxx: 0000C350h PxA56L-E-3-xxBG-xxx: 0000C350h PxA56L-E-3-xxBN-xxx: 0000C350h PxA56L-E-3-xxCA-xxx: 0000C350h PxA56L-E-3-xxCD-xxx: 0000C350h PxA56L-E-3-xxCN-xxx: 0000C350h PxA56L-E-3-xxEG-xxx: 0000C350h PxA56L-E-3-xxFC-xxx: 0000C350h PxA56L-E-3-xxGA-xxx: 0000C350h PxA56L-E-3-xxKE-xxx: 0000C350h PxA56L-E-3-xxMS-xxx: 0000C350h
