C5-E EtherNetIP/USB Online Manual

320Fh Open Loop Controller Parameter

Function

Contains the control parameters for open 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 320Fh
Object name Open Loop Controller Parameter
Object Code RECORD
Data type OPEN_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 05h
Subindex 01h
Name Current Controller Kp
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 02h
Name Current Controller Tn
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00002710h
Subindex 03h
Name Reserved
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 03E8h
Subindex 04h
Name Max Current Deviation
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 0000h
Subindex 05h
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 current controller in tenths of a percent
  • Subindex 02h: Reset time (integral component) of the current controller in microseconds
  • Subindex 03h: Reserved
  • Subindex 04h: Maximum control deviation of the current controller in mA
  • Subindex 05h: Maximal permissible PWM voltage in tenths of a percent of the available voltage
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