PD4-E CANopen Online Manual

321Ch Position Controller Parameters

Object description

Index 321Ch
Object name Position 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 02h
Subindex 01h
Name Proportional Gain Kp [Hz]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD4-E591L42-E-65-2: 000000EEh
  • PD4-E601L42-E-65-2: 00000032h
  • PD4-EB59CD-E-65-2: 000002CBh
  • PD4-EB60SD-E-65-2: 000002CBh
  • PD4-EB59CD-EB-65-2: 000002CBh
  • PD4-E591L42-EB-65-2: 000000EEh
  • PD4-EB59MB-E-65-2: 000002CBh
  • PxA56S-E-2-xxBN-xxx: 000001F4h
  • PxA56S-E-2-xxCA-xxx: 000001F4h
  • PxA56S-E-2-xxGA-xxx: 000001F4h
  • PxA56S-E-2-xxKE-xxx: 000001F4h
Subindex 02h
Name Integrator Time Ti [μs]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
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