C5-E Modbus TCP/USB Online Manual

3203h Feedback Selection

Function

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

Object description

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

Firmware version FIR-v1748-B538662: The number of entries was changed from 5 to 4.

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", feedback n is used for position control.
    • Bit 1: If the bit is set to "1", feedback n is used for speed control.
    • Bit 2: If the bit is set to "1", feedback n is used for the commutation in Closed Loop.

    Subindex 01h always corresponds to the first (and always existing) sensorless feedback.

Which feedback the controller takes into account for the individual controllers (commutation, speed, position) is implicitly specified by the order of the feedbacks.

The search always begins with feedback 2 and continues in ascending order until all existing product-specific feedbacks have been queried. If a feedback is found whose parameterization 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 speed 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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