3210h Motor Drive Parameter Set Function Contains the P and I values of the current, distance and position controllers for the open loop (only the current controller is activated) and closed loop. Object description Index 3210h Object Name Motor Drive Parameter Set Object Code ARRAY Data type INTEGER32 Saveable yes, category: application Firmware Version FIR-v1426 Change History Amount of subentries has changed from 9 to 11 Firmware Version FIR-v1626: Entry "Name" modified from "S_P" to "Position Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "S_I" to "Position Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "V_P" to "Velocity Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "V_I" to "Velocity Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Id_P" to "Flux Current Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Id_I" to "Flux Current Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Iq_P" to "Torque Current Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Iq_I" to "Torque Current Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive - Stepper Motor, Open Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "I_I" to "Torque Current Loop, Integral Gain (dspDrive - Stepper Motor, Open Loop)". Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 0Ah Sub-index 01h Name Position Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000800h Sub-index 02h Name Position Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00001B58h Sub-index 04h Name Velocity Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000004h Sub-index 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 000668A0h Sub-index 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00002EE0h Sub-index 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 000668A0h Sub-index 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00002EE0h Sub-index 09h Name Torque Current Loop, Proportional Gain (dspDrive - Stepper Motor, Open Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 0001D4C0h Sub-index 0Ah Name Torque Current Loop, Integral Gain (dspDrive - Stepper Motor, Open Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 0000AFC8h Description Sub-index 00h: Number of entries Sub-index 01h: Proportional value of the S (position) control Sub-index 02h: Integral value of the S (position) control Sub-index 03h: Proportional value of the V (velocity) control Sub-index 04h: Integral value of the V (velocity) control Sub-index 05h: (Closed Loop) Proportional value of the current controller for the field-forming component Sub-index 06h: (Closed Loop) Integral value of the current controller for the field-forming component Sub-index 07h: (Closed Loop) Proportional value of the current controller for the torque-forming component Sub-index 08h: (Closed Loop) Integral value of the current controller for the torque-forming component Sub-index 09h: (Open Loop) Proportional value of the current controller for the torque-forming component Sub-index 0Ah: (Open Loop) Integral value of the current controller for the torque-forming component
3210h Motor Drive Parameter Set Function Contains the P and I values of the current, distance and position controllers for the open loop (only the current controller is activated) and closed loop. Object description Index 3210h Object Name Motor Drive Parameter Set Object Code ARRAY Data type INTEGER32 Saveable yes, category: application Firmware Version FIR-v1426 Change History Amount of subentries has changed from 9 to 11 Firmware Version FIR-v1626: Entry "Name" modified from "S_P" to "Position Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "S_I" to "Position Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "V_P" to "Velocity Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "V_I" to "Velocity Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Id_P" to "Flux Current Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Id_I" to "Flux Current Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Iq_P" to "Torque Current Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Iq_I" to "Torque Current Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive - Stepper Motor, Open Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "I_I" to "Torque Current Loop, Integral Gain (dspDrive - Stepper Motor, Open Loop)". Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 0Ah Sub-index 01h Name Position Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000800h Sub-index 02h Name Position Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00001B58h Sub-index 04h Name Velocity Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000004h Sub-index 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 000668A0h Sub-index 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00002EE0h Sub-index 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 000668A0h Sub-index 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00002EE0h Sub-index 09h Name Torque Current Loop, Proportional Gain (dspDrive - Stepper Motor, Open Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 0001D4C0h Sub-index 0Ah Name Torque Current Loop, Integral Gain (dspDrive - Stepper Motor, Open Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 0000AFC8h Description Sub-index 00h: Number of entries Sub-index 01h: Proportional value of the S (position) control Sub-index 02h: Integral value of the S (position) control Sub-index 03h: Proportional value of the V (velocity) control Sub-index 04h: Integral value of the V (velocity) control Sub-index 05h: (Closed Loop) Proportional value of the current controller for the field-forming component Sub-index 06h: (Closed Loop) Integral value of the current controller for the field-forming component Sub-index 07h: (Closed Loop) Proportional value of the current controller for the torque-forming component Sub-index 08h: (Closed Loop) Integral value of the current controller for the torque-forming component Sub-index 09h: (Open Loop) Proportional value of the current controller for the torque-forming component Sub-index 0Ah: (Open Loop) Integral value of the current controller for the torque-forming component
Function Contains the P and I values of the current, distance and position controllers for the open loop (only the current controller is activated) and closed loop.
Object description Index 3210h Object Name Motor Drive Parameter Set Object Code ARRAY Data type INTEGER32 Saveable yes, category: application Firmware Version FIR-v1426 Change History Amount of subentries has changed from 9 to 11 Firmware Version FIR-v1626: Entry "Name" modified from "S_P" to "Position Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "S_I" to "Position Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "V_P" to "Velocity Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "V_I" to "Velocity Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Id_P" to "Flux Current Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Id_I" to "Flux Current Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Iq_P" to "Torque Current Loop, Proportional Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "Iq_I" to "Torque Current Loop, Integral Gain (closed Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive - Stepper Motor, Open Loop)". Firmware Version FIR-v1626: Entry "Name" modified from "I_I" to "Torque Current Loop, Integral Gain (dspDrive - Stepper Motor, Open Loop)".
Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 0Ah Sub-index 01h Name Position Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000800h Sub-index 02h Name Position Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00001B58h Sub-index 04h Name Velocity Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000004h Sub-index 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 000668A0h Sub-index 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00002EE0h Sub-index 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 000668A0h Sub-index 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 00002EE0h Sub-index 09h Name Torque Current Loop, Proportional Gain (dspDrive - Stepper Motor, Open Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 0001D4C0h Sub-index 0Ah Name Torque Current Loop, Integral Gain (dspDrive - Stepper Motor, Open Loop) Data type INTEGER32 Access Read/write PDO Mapping No Admissible Values Specified Value 0000AFC8h
Description Sub-index 00h: Number of entries Sub-index 01h: Proportional value of the S (position) control Sub-index 02h: Integral value of the S (position) control Sub-index 03h: Proportional value of the V (velocity) control Sub-index 04h: Integral value of the V (velocity) control Sub-index 05h: (Closed Loop) Proportional value of the current controller for the field-forming component Sub-index 06h: (Closed Loop) Integral value of the current controller for the field-forming component Sub-index 07h: (Closed Loop) Proportional value of the current controller for the torque-forming component Sub-index 08h: (Closed Loop) Integral value of the current controller for the torque-forming component Sub-index 09h: (Open Loop) Proportional value of the current controller for the torque-forming component Sub-index 0Ah: (Open Loop) Integral value of the current controller for the torque-forming component
