321Dh Pre-control Function Contains the parameters for the feed forward. See chapter Controller structure. Object description Index 321Dh Object name Pre-control 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 Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Voltage Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-3A: 000003E8h PD4-E601L42-E-65-3A: 000003E8h PD4-EB59CD-E-65-3A: 000003E8h PD4-EB60SD-E-65-3A: 000003E8h PD4-E591L42-EB-65-3A: 000003E8h PD4-EB59CD-EB-65-3A: 000003E8h PxA56S-E-3-xxBG-xxx: 00000000h PxA56S-E-3-xxBN-xxx: 00000000h PxA56S-E-3-xxCA-xxx: 00000000h PxA56S-E-3-xxCD-xxx: 00000000h PxA56S-E-3-xxCN-xxx: 00000000h PxA56S-E-3-xxEG-xxx: 00000000h PxA56S-E-3-xxFC-xxx: 00000000h PxA56S-E-3-xxGA-xxx: 00000000h PxA56S-E-3-xxKE-xxx: 00000000h PxA56S-E-3-xxMS-xxx: 00000000h PxA56L-E-3-xxBG-xxx: 00000000h PxA56L-E-3-xxBN-xxx: 00000000h PxA56L-E-3-xxCA-xxx: 00000000h PxA56L-E-3-xxCD-xxx: 00000000h PxA56L-E-3-xxCN-xxx: 00000000h PxA56L-E-3-xxEG-xxx: 00000000h PxA56L-E-3-xxFC-xxx: 00000000h PxA56L-E-3-xxGA-xxx: 00000000h PxA56L-E-3-xxKE-xxx: 00000000h PxA56L-E-3-xxMS-xxx: 00000000h Subindex 02h Name Acceleration Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000003E8h Subindex 03h Name Velocity Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000003E8h
321Dh Pre-control Function Contains the parameters for the feed forward. See chapter Controller structure. Object description Index 321Dh Object name Pre-control 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 Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Voltage Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-3A: 000003E8h PD4-E601L42-E-65-3A: 000003E8h PD4-EB59CD-E-65-3A: 000003E8h PD4-EB60SD-E-65-3A: 000003E8h PD4-E591L42-EB-65-3A: 000003E8h PD4-EB59CD-EB-65-3A: 000003E8h PxA56S-E-3-xxBG-xxx: 00000000h PxA56S-E-3-xxBN-xxx: 00000000h PxA56S-E-3-xxCA-xxx: 00000000h PxA56S-E-3-xxCD-xxx: 00000000h PxA56S-E-3-xxCN-xxx: 00000000h PxA56S-E-3-xxEG-xxx: 00000000h PxA56S-E-3-xxFC-xxx: 00000000h PxA56S-E-3-xxGA-xxx: 00000000h PxA56S-E-3-xxKE-xxx: 00000000h PxA56S-E-3-xxMS-xxx: 00000000h PxA56L-E-3-xxBG-xxx: 00000000h PxA56L-E-3-xxBN-xxx: 00000000h PxA56L-E-3-xxCA-xxx: 00000000h PxA56L-E-3-xxCD-xxx: 00000000h PxA56L-E-3-xxCN-xxx: 00000000h PxA56L-E-3-xxEG-xxx: 00000000h PxA56L-E-3-xxFC-xxx: 00000000h PxA56L-E-3-xxGA-xxx: 00000000h PxA56L-E-3-xxKE-xxx: 00000000h PxA56L-E-3-xxMS-xxx: 00000000h Subindex 02h Name Acceleration Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000003E8h Subindex 03h Name Velocity Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000003E8h
Object description Index 321Dh Object name Pre-control 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 Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 03h Subindex 01h Name Voltage Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-3A: 000003E8h PD4-E601L42-E-65-3A: 000003E8h PD4-EB59CD-E-65-3A: 000003E8h PD4-EB60SD-E-65-3A: 000003E8h PD4-E591L42-EB-65-3A: 000003E8h PD4-EB59CD-EB-65-3A: 000003E8h PxA56S-E-3-xxBG-xxx: 00000000h PxA56S-E-3-xxBN-xxx: 00000000h PxA56S-E-3-xxCA-xxx: 00000000h PxA56S-E-3-xxCD-xxx: 00000000h PxA56S-E-3-xxCN-xxx: 00000000h PxA56S-E-3-xxEG-xxx: 00000000h PxA56S-E-3-xxFC-xxx: 00000000h PxA56S-E-3-xxGA-xxx: 00000000h PxA56S-E-3-xxKE-xxx: 00000000h PxA56S-E-3-xxMS-xxx: 00000000h PxA56L-E-3-xxBG-xxx: 00000000h PxA56L-E-3-xxBN-xxx: 00000000h PxA56L-E-3-xxCA-xxx: 00000000h PxA56L-E-3-xxCD-xxx: 00000000h PxA56L-E-3-xxCN-xxx: 00000000h PxA56L-E-3-xxEG-xxx: 00000000h PxA56L-E-3-xxFC-xxx: 00000000h PxA56L-E-3-xxGA-xxx: 00000000h PxA56L-E-3-xxKE-xxx: 00000000h PxA56L-E-3-xxMS-xxx: 00000000h Subindex 02h Name Acceleration Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000003E8h Subindex 03h Name Velocity Pre-control [‰] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000003E8h
