PD2-C-IP CANopen Online Manual

3212h Motor Drive Flags

Function

This object determines whether or not the output voltage for the motor is active in the "switched on" mode of the CiA 402 state machine. The direction of the rotating field can also be changed.

Note: Changes in subindex 02 do not take effect until after the controller is restarted. Afterwards, auto setup must again be performed.

Object description

Index 3212h
Object name Motor Drive Flags
Object Code ARRAY
Data type INTEGER8
Savable yes, category: application
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v1450
Change history

Firmware version FIR-v1512: The number of entries was changed from 2 to 3.

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 03h
Subindex 01h
Name Enable Legacy Power Mode
Data type INTEGER8
Access read / write
PDO mapping no
Allowed values
Preset value 00h
Subindex 02h
Name Override Field Inversion
Data type INTEGER8
Access read / write
PDO mapping no
Allowed values
Preset value 00h
Subindex 03h
Name Do Not Touch Controller Settings
Data type INTEGER8
Access read / write
PDO mapping no
Allowed values
Preset value 00h

Description

Valid values for subindex 01h:
  • Value = "0": In the "Switched on" state of the CiA 402 Power State Machine, the output voltage for the motor (PWM) is permanently set to 50%; no holding torque is built up.
  • Value = "1": In the "Switched on" state of the CiA 402 Power State Machine, the output voltage for the motor (PWM) is active via the controller; holding torque is built up. The motor remains at a standstill.
Valid values for subindex 02h:
  • Value = "0": Use default values of the firmware
  • Value = "1": Force non-inversion of the rotating field (mathematically positive)
  • Value = "-1": Force inversion of the rotating field (mathematically negative)
Valid values for subindex 03h:
  • Value = "0": Auto setup detects the motor type (stepper motor or BLDC motor) and uses the corresponding pre-configured parameter set.
  • Value = "1": Perform auto setup with the values for the controller that were entered in object 3210h before the auto setup; the values in 3210h are not changed.
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