PD6-E/-EB EtherCAT Online Manual

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.
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