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-C8918L9504-E-09: 00000320h PD6-CB80M048030-E-09: 000003C0h PD6-CB87S048030-E-09: 000003C0h PD6-C8918M9504-E-09: 00000320h PD6-C8918S6404-E-09: 00000320h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-C8918L9504-E-09: 0001312Dh PD6-CB80M048030-E-09: 000061A8h PD6-CB87S048030-E-09: 0000C350h PD6-C8918M9504-E-09: 0001312Dh PD6-C8918S6404-E-09: 0001312Dh
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-C8918L9504-E-09: 00000320h PD6-CB80M048030-E-09: 000003C0h PD6-CB87S048030-E-09: 000003C0h PD6-C8918M9504-E-09: 00000320h PD6-C8918S6404-E-09: 00000320h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-C8918L9504-E-09: 0001312Dh PD6-CB80M048030-E-09: 000061A8h PD6-CB87S048030-E-09: 0000C350h PD6-C8918M9504-E-09: 0001312Dh PD6-C8918S6404-E-09: 0001312Dh
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-C8918L9504-E-09: 00000320h PD6-CB80M048030-E-09: 000003C0h PD6-CB87S048030-E-09: 000003C0h PD6-C8918M9504-E-09: 00000320h PD6-C8918S6404-E-09: 00000320h Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-C8918L9504-E-09: 0001312Dh PD6-CB80M048030-E-09: 000061A8h PD6-CB87S048030-E-09: 0000C350h PD6-C8918M9504-E-09: 0001312Dh PD6-C8918S6404-E-09: 0001312Dh
