PD2-C-IP CANopen 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
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".

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 0Ah
Subindex 01h
Name Position Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 00001770h
  • PD2-C4118L1804-E-08: 00001770h
  • PD2-CB42M024040-E-08: 00007530h
  • PD2-CB42C048040-E-08: 00007530h
  • PD2-C411L18-E-65-08: 00001770h
  • PD2-CB42CD-E-65-08: 00007530h
Subindex 02h
Name Position Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 03h
Name Velocity Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 00002710h
  • PD2-C4118L1804-E-08: 00002710h
  • PD2-CB42M024040-E-08: 00004E20h
  • PD2-CB42C048040-E-08: 00004E20h
  • PD2-C411L18-E-65-08: 00002710h
  • PD2-CB42CD-E-65-08: 00004E20h
Subindex 04h
Name Velocity Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 00000032h
  • PD2-C4118L1804-E-08: 00000032h
  • PD2-CB42M024040-E-08: 00000064h
  • PD2-CB42C048040-E-08: 00000064h
  • PD2-C411L18-E-65-08: 00000032h
  • PD2-CB42CD-E-65-08: 00000064h
Subindex 05h
Name Flux Current Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 001E8480h
  • PD2-C4118L1804-E-08: 001E8480h
  • PD2-CB42M024040-E-08: 0007A120h
  • PD2-CB42C048040-E-08: 0007A120h
  • PD2-C411L18-E-65-08: 001E8480h
  • PD2-CB42CD-E-65-08: 0007A120h
Subindex 06h
Name Flux Current Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 00002710h
  • PD2-C4118L1804-E-08: 00002710h
  • PD2-CB42M024040-E-08: 00001770h
  • PD2-CB42C048040-E-08: 00001770h
  • PD2-C411L18-E-65-08: 00002710h
  • PD2-CB42CD-E-65-08: 00001770h
Subindex 07h
Name Torque Current Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 001E8480h
  • PD2-C4118L1804-E-08: 001E8480h
  • PD2-CB42M024040-E-08: 0007A120h
  • PD2-CB42C048040-E-08: 0007A120h
  • PD2-C411L18-E-65-08: 001E8480h
  • PD2-CB42CD-E-65-08: 0007A120h
Subindex 08h
Name Torque Current Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 00002710h
  • PD2-C4118L1804-E-08: 00002710h
  • PD2-CB42M024040-E-08: 00001770h
  • PD2-CB42C048040-E-08: 00001770h
  • PD2-C411L18-E-65-08: 00002710h
  • PD2-CB42CD-E-65-08: 00001770h
Subindex 09h
Name Torque Current Loop, Proportional Gain (open Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 00027100h
  • PD2-C4118L1804-E-08: 00027100h
  • PD2-CB42M024040-E-08: 00000000h
  • PD2-CB42C048040-E-08: 00000000h
  • PD2-C411L18-E-65-08: 00027100h
  • PD2-CB42CD-E-65-08: 00000000h
Subindex 0Ah
Name Torque Current Loop, Integral Gain (open Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD2-C4118X1404-E-08: 000055F0h
  • PD2-C4118L1804-E-08: 000055F0h
  • PD2-CB42M024040-E-08: 00000000h
  • PD2-CB42C048040-E-08: 00000000h
  • PD2-C411L18-E-65-08: 000055F0h
  • PD2-CB42CD-E-65-08: 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
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