3210h Motor Drive Parameter Set Function Contains the P and I components of the current, speed and position controllers for open loop (only current controller activated) and closed loop. Object description Index 3210h Object name Motor Drive Parameter Set Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Name" entry changed from "S_P" to "Position Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "S_I" to "Position Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "V_P" to "Velocity Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "V_I" to "Velocity Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_P" to "Flux Current Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_I" to "Flux Current Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_P" to "Torque Current Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_I" to "Torque Current Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open loop)". Firmware version FIR-v1626: "Name" entry changed from "I_I" to "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open loop)" to "Torque Current Loop, Proportional Gain (open loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open loop)" to "Torque Current Loop, Integral Gain (open loop)". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Value description Subindex 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 0Ah Subindex 01h Name Position Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000800h Subindex 02h Name Position Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000001Eh Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000668A0h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000668A0h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0003A980h Subindex 0Ah Name Torque Current Loop, Integral Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000AFC8h Description Subindex 00h: Number of entries Subindex 01h: Proportional component of the S-controller (position) Subindex 02h: Integral component of the S-controller (position) Subindex 03h: Proportional component of the V-controller (speed) Subindex 04h: Integral component of the V-controller (speed) Subindex 05h: (Closed loop) Proportional component of the current controller of the field-forming component Subindex 06h: (Closed loop) Integral component of the current controller of the field-forming component Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-forming component Subindex 08h: (Closed loop) Integral component of the current controller of the torque-forming component Subindex 09h: (Open loop) Proportional component of the current controller of the field-building component Subindex 0Ah: (Open loop) Integral component of the current controller of the field-forming component
3210h Motor Drive Parameter Set Function Contains the P and I components of the current, speed and position controllers for open loop (only current controller activated) and closed loop. Object description Index 3210h Object name Motor Drive Parameter Set Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Name" entry changed from "S_P" to "Position Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "S_I" to "Position Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "V_P" to "Velocity Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "V_I" to "Velocity Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_P" to "Flux Current Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_I" to "Flux Current Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_P" to "Torque Current Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_I" to "Torque Current Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open loop)". Firmware version FIR-v1626: "Name" entry changed from "I_I" to "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open loop)" to "Torque Current Loop, Proportional Gain (open loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open loop)" to "Torque Current Loop, Integral Gain (open loop)". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Value description Subindex 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 0Ah Subindex 01h Name Position Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000800h Subindex 02h Name Position Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000001Eh Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000668A0h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000668A0h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0003A980h Subindex 0Ah Name Torque Current Loop, Integral Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000AFC8h Description Subindex 00h: Number of entries Subindex 01h: Proportional component of the S-controller (position) Subindex 02h: Integral component of the S-controller (position) Subindex 03h: Proportional component of the V-controller (speed) Subindex 04h: Integral component of the V-controller (speed) Subindex 05h: (Closed loop) Proportional component of the current controller of the field-forming component Subindex 06h: (Closed loop) Integral component of the current controller of the field-forming component Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-forming component Subindex 08h: (Closed loop) Integral component of the current controller of the torque-forming component Subindex 09h: (Open loop) Proportional component of the current controller of the field-building component Subindex 0Ah: (Open loop) Integral component of the current controller of the field-forming component
Function Contains the P and I components of the current, speed and position controllers for open loop (only current controller activated) and closed loop.
Object description Index 3210h Object name Motor Drive Parameter Set Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1626: "Name" entry changed from "S_P" to "Position Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "S_I" to "Position Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "V_P" to "Velocity Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "V_I" to "Velocity Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_P" to "Flux Current Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Id_I" to "Flux Current Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_P" to "Torque Current Loop, Proportional Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "Iq_I" to "Torque Current Loop, Integral Gain (closed loop)". Firmware version FIR-v1626: "Name" entry changed from "I_P" to "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open loop)". Firmware version FIR-v1626: "Name" entry changed from "I_I" to "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Proportional Gain (dspDrive – Stepper Motor, open loop)" to "Torque Current Loop, Proportional Gain (open loop)". Firmware version FIR-v1650-B472161: "Name" entry changed from "Torque Current Loop, Integral Gain (dspDrive – Stepper Motor, open loop)" to "Torque Current Loop, Integral Gain (open loop)". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32". Firmware version FIR-v1650-B472161: "Data type" entry changed from "INTEGER32" to "UNSIGNED32".
Value description Subindex 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 0Ah Subindex 01h Name Position Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000800h Subindex 02h Name Position Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 03h Name Velocity Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 04h Name Velocity Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000001Eh Subindex 05h Name Flux Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000668A0h Subindex 06h Name Flux Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 07h Name Torque Current Loop, Proportional Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 000668A0h Subindex 08h Name Torque Current Loop, Integral Gain (closed Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00002EE0h Subindex 09h Name Torque Current Loop, Proportional Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0003A980h Subindex 0Ah Name Torque Current Loop, Integral Gain (open Loop) Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000AFC8h
Description Subindex 00h: Number of entries Subindex 01h: Proportional component of the S-controller (position) Subindex 02h: Integral component of the S-controller (position) Subindex 03h: Proportional component of the V-controller (speed) Subindex 04h: Integral component of the V-controller (speed) Subindex 05h: (Closed loop) Proportional component of the current controller of the field-forming component Subindex 06h: (Closed loop) Integral component of the current controller of the field-forming component Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-forming component Subindex 08h: (Closed loop) Integral component of the current controller of the torque-forming component Subindex 09h: (Open loop) Proportional component of the current controller of the field-building component Subindex 0Ah: (Open loop) Integral component of the current controller of the field-forming component
