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 PD4-E591L42-E-65-4A: 00002F7Eh PD4-E601L42-E-65-4A: 000027E4h PD4-EB59CD-E-65-4A: 000001AEh PD4-EB60SD-E-65-4A: 000001AEh PD4-E591L42-EB-65-4A: 00002F7Eh PD4-EB59CD-EB-65-4A: 000001AEh PxA56S-E-4-xxBN-xxx: 000011F8h PxA56S-E-4-xxCA-xxx: 000011F8h PxA56S-E-4-xxGA-xxx: 000011F8h PxA56S-E-4-xxKE-xxx: 000011F8h Subindex 02h Name Integrator Time Ti For Iq [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00000C35h PD4-E601L42-E-65-4A: 00000446h PD4-EB59CD-E-65-4A: 00000104h PD4-EB60SD-E-65-4A: 00000104h PD4-E591L42-EB-65-4A: 00000C35h PD4-EB59CD-EB-65-4A: 00000104h PxA56S-E-4-xxBN-xxx: 00000C95h PxA56S-E-4-xxCA-xxx: 00000C95h PxA56S-E-4-xxGA-xxx: 00000C95h PxA56S-E-4-xxKE-xxx: 00000C95h Subindex 03h Name Proportional Gain Kp For Id [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00002F7Eh PD4-E601L42-E-65-4A: 000027E4h PD4-EB59CD-E-65-4A: 000001AEh PD4-EB60SD-E-65-4A: 000001AEh PD4-E591L42-EB-65-4A: 00002F7Eh PD4-EB59CD-EB-65-4A: 000001AEh PxA56S-E-4-xxBN-xxx: 000011F8h PxA56S-E-4-xxCA-xxx: 000011F8h PxA56S-E-4-xxGA-xxx: 000011F8h PxA56S-E-4-xxKE-xxx: 000011F8h Subindex 04h Name Integrator Time Ti For Id [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00000C35h PD4-E601L42-E-65-4A: 00000446h PD4-EB59CD-E-65-4A: 00000104h PD4-EB60SD-E-65-4A: 00000104h PD4-E591L42-EB-65-4A: 00000C35h PD4-EB59CD-EB-65-4A: 00000104h PxA56S-E-4-xxBN-xxx: 00000C95h PxA56S-E-4-xxCA-xxx: 00000C95h PxA56S-E-4-xxGA-xxx: 00000C95h PxA56S-E-4-xxKE-xxx: 00000C95h
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 PD4-E591L42-E-65-4A: 00002F7Eh PD4-E601L42-E-65-4A: 000027E4h PD4-EB59CD-E-65-4A: 000001AEh PD4-EB60SD-E-65-4A: 000001AEh PD4-E591L42-EB-65-4A: 00002F7Eh PD4-EB59CD-EB-65-4A: 000001AEh PxA56S-E-4-xxBN-xxx: 000011F8h PxA56S-E-4-xxCA-xxx: 000011F8h PxA56S-E-4-xxGA-xxx: 000011F8h PxA56S-E-4-xxKE-xxx: 000011F8h Subindex 02h Name Integrator Time Ti For Iq [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00000C35h PD4-E601L42-E-65-4A: 00000446h PD4-EB59CD-E-65-4A: 00000104h PD4-EB60SD-E-65-4A: 00000104h PD4-E591L42-EB-65-4A: 00000C35h PD4-EB59CD-EB-65-4A: 00000104h PxA56S-E-4-xxBN-xxx: 00000C95h PxA56S-E-4-xxCA-xxx: 00000C95h PxA56S-E-4-xxGA-xxx: 00000C95h PxA56S-E-4-xxKE-xxx: 00000C95h Subindex 03h Name Proportional Gain Kp For Id [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00002F7Eh PD4-E601L42-E-65-4A: 000027E4h PD4-EB59CD-E-65-4A: 000001AEh PD4-EB60SD-E-65-4A: 000001AEh PD4-E591L42-EB-65-4A: 00002F7Eh PD4-EB59CD-EB-65-4A: 000001AEh PxA56S-E-4-xxBN-xxx: 000011F8h PxA56S-E-4-xxCA-xxx: 000011F8h PxA56S-E-4-xxGA-xxx: 000011F8h PxA56S-E-4-xxKE-xxx: 000011F8h Subindex 04h Name Integrator Time Ti For Id [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00000C35h PD4-E601L42-E-65-4A: 00000446h PD4-EB59CD-E-65-4A: 00000104h PD4-EB60SD-E-65-4A: 00000104h PD4-E591L42-EB-65-4A: 00000C35h PD4-EB59CD-EB-65-4A: 00000104h PxA56S-E-4-xxBN-xxx: 00000C95h PxA56S-E-4-xxCA-xxx: 00000C95h PxA56S-E-4-xxGA-xxx: 00000C95h PxA56S-E-4-xxKE-xxx: 00000C95h
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 PD4-E591L42-E-65-4A: 00002F7Eh PD4-E601L42-E-65-4A: 000027E4h PD4-EB59CD-E-65-4A: 000001AEh PD4-EB60SD-E-65-4A: 000001AEh PD4-E591L42-EB-65-4A: 00002F7Eh PD4-EB59CD-EB-65-4A: 000001AEh PxA56S-E-4-xxBN-xxx: 000011F8h PxA56S-E-4-xxCA-xxx: 000011F8h PxA56S-E-4-xxGA-xxx: 000011F8h PxA56S-E-4-xxKE-xxx: 000011F8h Subindex 02h Name Integrator Time Ti For Iq [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00000C35h PD4-E601L42-E-65-4A: 00000446h PD4-EB59CD-E-65-4A: 00000104h PD4-EB60SD-E-65-4A: 00000104h PD4-E591L42-EB-65-4A: 00000C35h PD4-EB59CD-EB-65-4A: 00000104h PxA56S-E-4-xxBN-xxx: 00000C95h PxA56S-E-4-xxCA-xxx: 00000C95h PxA56S-E-4-xxGA-xxx: 00000C95h PxA56S-E-4-xxKE-xxx: 00000C95h Subindex 03h Name Proportional Gain Kp For Id [mV/A] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00002F7Eh PD4-E601L42-E-65-4A: 000027E4h PD4-EB59CD-E-65-4A: 000001AEh PD4-EB60SD-E-65-4A: 000001AEh PD4-E591L42-EB-65-4A: 00002F7Eh PD4-EB59CD-EB-65-4A: 000001AEh PxA56S-E-4-xxBN-xxx: 000011F8h PxA56S-E-4-xxCA-xxx: 000011F8h PxA56S-E-4-xxGA-xxx: 000011F8h PxA56S-E-4-xxKE-xxx: 000011F8h Subindex 04h Name Integrator Time Ti For Id [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value PD4-E591L42-E-65-4A: 00000C35h PD4-E601L42-E-65-4A: 00000446h PD4-EB59CD-E-65-4A: 00000104h PD4-EB60SD-E-65-4A: 00000104h PD4-E591L42-EB-65-4A: 00000C35h PD4-EB59CD-EB-65-4A: 00000104h PxA56S-E-4-xxBN-xxx: 00000C95h PxA56S-E-4-xxCA-xxx: 00000C95h PxA56S-E-4-xxGA-xxx: 00000C95h PxA56S-E-4-xxKE-xxx: 00000C95h
