C5-E EtherNetIP/USB Online Manual

3203h Feedback Selection

Function

In this object, the sources of the presets are defined for the commutation and the velocity and position control.

A value change in the Operation enabled state shows no immediate effect. Value changes in objects are buffered and read out upon changing to the Operation enabled state.

Object description

Index 3203h
Object name Feedback Selection
Object Code ARRAY
Data type UNSIGNED8
Savable yes, category: tuning
Access read only
PDO mapping RX-PDO
Allowed values
Preset value
Firmware version FIR-v1748-B538662
Change history

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping RX-PDO
Allowed values
Preset value 03h
Subindex 01h
Name 1st Feedback Interface
Data type UNSIGNED8
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00h
Subindex 02h
Name 2nd Feedback Interface
Data type UNSIGNED8
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00h
Subindex 03h
Name 3rd Feedback Interface
Data type UNSIGNED8
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00h

Description

The subindices have the following function:

  • 00h: Value="1" to "n", where "n" is the number of existing feedbacks.
  • nh:

    Subindex n contains a bit mask for the respective feedback n. The bits have the following meaning here:

  • Bit 0: If the bit is set to "1", this sensor is used for position feedback.
  • Bit 1: If the bit is set to "1", this sensor is used for velocity feedback.
  • Bit 2: If the bit is set to "1", this sensor is used for commutation feedback in Closed Loop.

Subindex 01h always corresponds to the first (and always existing) sensorless feedback. The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors.

Which sensor the controller takes into account for the individual controllers (commutation, velocity , position) is implicitly specified by the order of the sensors.

The search always begins with sensor 2 and continues in ascending order until all existing sensors have been queried. If a sensor is found whose feedback is set, it is assigned to the corresponding controller and the search ended.

Note: If bit 0 in 3202h is set to "0", closed loop is deactivated; bit 2 (commutation) then has no meaning. Bit 1 for the velocity and bit 0 for the position in the respective subindicies are still used for the display of the actual position and speed values.
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