C5-E EtherNetIP/USB Online Manual

320Eh Closed Loop Controller Parameter

Function

Contains the control parameters for closed loop .

Note:

For firmware versions from FIR-v19xx upwards, the new schema for the Controller structure applies.

The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. For new applications, Nanotec recommends using the new control parameters.

To use the new parameters, you must set 3210h:07h (for closed loop) or 3210h:09h (for open loop) to "0". The old values are converted and entered in the new object 320Eh or 320Fh. You must save both objects (see Saving objects).

Object description

Index 320Eh
Object name Closed Loop Controller Parameter
Object Code RECORD
Data type CLOSED_LOOP_CONTROLLER_PARAMETER
Savable yes, category: drive
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v1825-B577172
Change history

Firmware version FIR-v1913-B623284: "Name" entry changed from "PWM Feed Forward" to "Reserved."

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 0Fh
Subindex 01h
Name Position Controller Kp
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 02h
Name Position Controller Tn
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 03h
Name Velocity Feed Forward
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 04h
Name Max Position Deviation
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 05h
Name Max Motor Speed
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00007530h
Subindex 06h
Name Velocity Controller Kp
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 07h
Name Velocity Controller Tn
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00002710h
Subindex 08h
Name Acceleration Feed Forward
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 09h
Name Max Velocity Deviation
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 0Ah
Name Max Current
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 0Bh
Name Current Controller Kp
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 0Ch
Name Current Controller Tn
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00002710h
Subindex 0Dh
Name Reserved
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 0Eh
Name Max Current Deviation
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 0000h
Subindex 0Fh
Name Max Voltage Via PWM
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h

Description

  • Subindex 00h: Number of entries
  • Subindex 01h: Gain factor (proportional component) of the position controller in tenths of a percent
  • Subindex 02h: Reset time (integral component) of the position controller in microseconds
  • Subindex 03h: Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1.
  • Subindex 04h: Maximum control deviation of the position controller in user-defined units
  • Subindex 05h: Maximum permissible speed of the motor in user-defined units. See 6080h.
  • Subindex 06h: Gain factor (proportional component) of the speed controller in tenths of a percent
  • Subindex 07h: Reset time (integral component) of the speed controller in microseconds
  • Subindex 08h: Acceleration feed forward in tenths of a percent of the value of 320Dh
  • Subindex 09h: Maximum control deviation of the speed controller in user-defined units
  • Subindex 0Ah: Maximum current in tenths of a percent of the set rated current, see object 6073h
  • Subindex 0Bh: Gain factor (proportional component) of the current controller in tenths of a percent
  • Subindex 0Ch: Reset time (integral component) of the current controller in microseconds
  • Subindex 0Dh: Reserved
  • Subindex 0Eh: Maximum control deviation of the current controller in mA
  • Subindex 0Fh: Maximal permissible PWM voltage (duty cycle) in tenths of a percent of the available voltage
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