321Ah Current Controller Parameters Function Contains the parameters for the current controller (commutation). As a rule, the values for Iq (subindex 01h/02h) and Id (subindex 03h/04h) should be the same. See chapter Controller structure. Object description Index 321Ah Object name Current 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 04h Subindex 01h Name Proportional Gain Kp For Iq [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002A30h PD6-E891L95-ES-65-1: 00002A30h PD6-EB80CD-E-65-1: 00000258h PD6-EB80CD-ES-65-1: 00000258h PD6-E891S95-E-65-1: 00000820h PD6-E891S95-ES-65-1: 00000820h PD6-E891M95-E-65-1: 000020D0h PD6-E891M95-ES-65-1: 000020D0h PD6-EB80SD-E-65-1: 00000A28h PD6-EB80SD-ES-65-1: 00000A28h PD6-EB80MD-E-65-1: 000004B0h PD6-EB80MD-ES-65-1: 000004B0h PD6-EB80LD-E-65-1: 00000320h PD6-EB80LD-ES-65-1: 00000320h Subindex 02h Name Integrator Time Ti For Iq [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002891h PD6-E891L95-ES-65-1: 00002891h PD6-EB80CD-E-65-1: 00001207h PD6-EB80CD-ES-65-1: 00001207h PD6-E891S95-E-65-1: 00001450h PD6-E891S95-ES-65-1: 00001450h PD6-E891M95-E-65-1: 000023AAh PD6-E891M95-ES-65-1: 000023AAh PD6-EB80SD-E-65-1: 00001223h PD6-EB80SD-ES-65-1: 00001223h PD6-EB80MD-E-65-1: 00001770h PD6-EB80MD-ES-65-1: 00001770h PD6-EB80LD-E-65-1: 00001262h PD6-EB80LD-ES-65-1: 00001262h Subindex 03h Name Proportional Gain Kp For Id [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002A30h PD6-E891L95-ES-65-1: 00002A30h PD6-EB80CD-E-65-1: 00000258h PD6-EB80CD-ES-65-1: 00000258h PD6-E891S95-E-65-1: 00000820h PD6-E891S95-ES-65-1: 00000820h PD6-E891M95-E-65-1: 000020D0h PD6-E891M95-ES-65-1: 000020D0h PD6-EB80SD-E-65-1: 00000A28h PD6-EB80SD-ES-65-1: 00000A28h PD6-EB80MD-E-65-1: 000004B0h PD6-EB80MD-ES-65-1: 000004B0h PD6-EB80LD-E-65-1: 00000320h PD6-EB80LD-ES-65-1: 00000320h Subindex 04h Name Integrator Time Ti For Id [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002891h PD6-E891L95-ES-65-1: 00002891h PD6-EB80CD-E-65-1: 00001207h PD6-EB80CD-ES-65-1: 00001207h PD6-E891S95-E-65-1: 00001450h PD6-E891S95-ES-65-1: 00001450h PD6-E891M95-E-65-1: 000023AAh PD6-E891M95-ES-65-1: 000023AAh PD6-EB80SD-E-65-1: 00001223h PD6-EB80SD-ES-65-1: 00001223h PD6-EB80MD-E-65-1: 00001770h PD6-EB80MD-ES-65-1: 00001770h PD6-EB80LD-E-65-1: 00001262h PD6-EB80LD-ES-65-1: 00001262h
321Ah Current Controller Parameters Function Contains the parameters for the current controller (commutation). As a rule, the values for Iq (subindex 01h/02h) and Id (subindex 03h/04h) should be the same. See chapter Controller structure. Object description Index 321Ah Object name Current 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 04h Subindex 01h Name Proportional Gain Kp For Iq [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002A30h PD6-E891L95-ES-65-1: 00002A30h PD6-EB80CD-E-65-1: 00000258h PD6-EB80CD-ES-65-1: 00000258h PD6-E891S95-E-65-1: 00000820h PD6-E891S95-ES-65-1: 00000820h PD6-E891M95-E-65-1: 000020D0h PD6-E891M95-ES-65-1: 000020D0h PD6-EB80SD-E-65-1: 00000A28h PD6-EB80SD-ES-65-1: 00000A28h PD6-EB80MD-E-65-1: 000004B0h PD6-EB80MD-ES-65-1: 000004B0h PD6-EB80LD-E-65-1: 00000320h PD6-EB80LD-ES-65-1: 00000320h Subindex 02h Name Integrator Time Ti For Iq [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002891h PD6-E891L95-ES-65-1: 00002891h PD6-EB80CD-E-65-1: 00001207h PD6-EB80CD-ES-65-1: 00001207h PD6-E891S95-E-65-1: 00001450h PD6-E891S95-ES-65-1: 00001450h PD6-E891M95-E-65-1: 000023AAh PD6-E891M95-ES-65-1: 000023AAh PD6-EB80SD-E-65-1: 00001223h PD6-EB80SD-ES-65-1: 00001223h PD6-EB80MD-E-65-1: 00001770h PD6-EB80MD-ES-65-1: 00001770h PD6-EB80LD-E-65-1: 00001262h PD6-EB80LD-ES-65-1: 00001262h Subindex 03h Name Proportional Gain Kp For Id [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002A30h PD6-E891L95-ES-65-1: 00002A30h PD6-EB80CD-E-65-1: 00000258h PD6-EB80CD-ES-65-1: 00000258h PD6-E891S95-E-65-1: 00000820h PD6-E891S95-ES-65-1: 00000820h PD6-E891M95-E-65-1: 000020D0h PD6-E891M95-ES-65-1: 000020D0h PD6-EB80SD-E-65-1: 00000A28h PD6-EB80SD-ES-65-1: 00000A28h PD6-EB80MD-E-65-1: 000004B0h PD6-EB80MD-ES-65-1: 000004B0h PD6-EB80LD-E-65-1: 00000320h PD6-EB80LD-ES-65-1: 00000320h Subindex 04h Name Integrator Time Ti For Id [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002891h PD6-E891L95-ES-65-1: 00002891h PD6-EB80CD-E-65-1: 00001207h PD6-EB80CD-ES-65-1: 00001207h PD6-E891S95-E-65-1: 00001450h PD6-E891S95-ES-65-1: 00001450h PD6-E891M95-E-65-1: 000023AAh PD6-E891M95-ES-65-1: 000023AAh PD6-EB80SD-E-65-1: 00001223h PD6-EB80SD-ES-65-1: 00001223h PD6-EB80MD-E-65-1: 00001770h PD6-EB80MD-ES-65-1: 00001770h PD6-EB80LD-E-65-1: 00001262h PD6-EB80LD-ES-65-1: 00001262h
Function Contains the parameters for the current controller (commutation). As a rule, the values for Iq (subindex 01h/02h) and Id (subindex 03h/04h) should be the same. See chapter Controller structure.
Object description Index 321Ah Object name Current 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 04h Subindex 01h Name Proportional Gain Kp For Iq [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002A30h PD6-E891L95-ES-65-1: 00002A30h PD6-EB80CD-E-65-1: 00000258h PD6-EB80CD-ES-65-1: 00000258h PD6-E891S95-E-65-1: 00000820h PD6-E891S95-ES-65-1: 00000820h PD6-E891M95-E-65-1: 000020D0h PD6-E891M95-ES-65-1: 000020D0h PD6-EB80SD-E-65-1: 00000A28h PD6-EB80SD-ES-65-1: 00000A28h PD6-EB80MD-E-65-1: 000004B0h PD6-EB80MD-ES-65-1: 000004B0h PD6-EB80LD-E-65-1: 00000320h PD6-EB80LD-ES-65-1: 00000320h Subindex 02h Name Integrator Time Ti For Iq [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002891h PD6-E891L95-ES-65-1: 00002891h PD6-EB80CD-E-65-1: 00001207h PD6-EB80CD-ES-65-1: 00001207h PD6-E891S95-E-65-1: 00001450h PD6-E891S95-ES-65-1: 00001450h PD6-E891M95-E-65-1: 000023AAh PD6-E891M95-ES-65-1: 000023AAh PD6-EB80SD-E-65-1: 00001223h PD6-EB80SD-ES-65-1: 00001223h PD6-EB80MD-E-65-1: 00001770h PD6-EB80MD-ES-65-1: 00001770h PD6-EB80LD-E-65-1: 00001262h PD6-EB80LD-ES-65-1: 00001262h Subindex 03h Name Proportional Gain Kp For Id [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002A30h PD6-E891L95-ES-65-1: 00002A30h PD6-EB80CD-E-65-1: 00000258h PD6-EB80CD-ES-65-1: 00000258h PD6-E891S95-E-65-1: 00000820h PD6-E891S95-ES-65-1: 00000820h PD6-E891M95-E-65-1: 000020D0h PD6-E891M95-ES-65-1: 000020D0h PD6-EB80SD-E-65-1: 00000A28h PD6-EB80SD-ES-65-1: 00000A28h PD6-EB80MD-E-65-1: 000004B0h PD6-EB80MD-ES-65-1: 000004B0h PD6-EB80LD-E-65-1: 00000320h PD6-EB80LD-ES-65-1: 00000320h Subindex 04h Name Integrator Time Ti For Id [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD6-E891L95-E-65-1: 00002891h PD6-E891L95-ES-65-1: 00002891h PD6-EB80CD-E-65-1: 00001207h PD6-EB80CD-ES-65-1: 00001207h PD6-E891S95-E-65-1: 00001450h PD6-E891S95-ES-65-1: 00001450h PD6-E891M95-E-65-1: 000023AAh PD6-E891M95-ES-65-1: 000023AAh PD6-EB80SD-E-65-1: 00001223h PD6-EB80SD-ES-65-1: 00001223h PD6-EB80MD-E-65-1: 00001770h PD6-EB80MD-ES-65-1: 00001770h PD6-EB80LD-E-65-1: 00001262h PD6-EB80LD-ES-65-1: 00001262h
