NP5 EtherCAT 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."

Firmware version FIR-v2013-B726332: "Name" entry changed from "Max Current Deviation" to "Max Current Deviation [‰]".

Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32".

Firmware Version FIR-v2013-B726332: "Name" entry changed from "Max Voltage Via PWM" to "Max Voltage [mV]".

Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32".

Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16".

Firmware version FIR-v2039-B807052: "Name" entry changed from "Reserved" to "Voltage Feed Forward [‰]".

Value description

Subindex 00h
Name Number Of Entries
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 0000h
Subindex 02h
Name Position Controller Tn [µs]
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 0000h
Subindex 07h
Name Velocity Controller Tn [µs]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
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 0000h
Subindex 0Ch
Name Current Controller Tn [µs]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 0Dh
Name Voltage Feed Forward [‰]
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 [mV]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 000186A0h

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 velocity controller in tenths of a percent
  • Subindex 07h: Reset time (integral component) of the velocity 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 velocity 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: Voltage feed forward in tenths of a percent of the voltage that is needed to produce the rated current
  • Subindex 0Eh: Maximum control deviation of the current controller in tenths of a percent
  • Subindex 0Fh: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt.

    Also dependent on this value is whether the overmodulation of the voltage vector is used. If overmodulation is used, a higher torque can be achieved. The resulting voltage is no longer sinusoidal, which can result in harmonics and higher losses.

    Value in mV Overmodulation
    1001…U o_low None; the voltage vector describes a circle.
    U o_low…U o_high The voltage vector describes a circle that is increasingly flattened on four/six sides in proportion to the set value.
    ≥U o_high Full; the voltage vector describes a square or a hexagon.
    U o_low
    The lowest voltage above which overmodulation occurs. Is calculated as follows:
    Operating voltage*0.9425
    U o_high
    The maximum overmodulation occurs above this voltage. Is calculated as follows:
    With two-phase stepper motors: operating voltage*1.063
    With three-phase BLDC motors: operating voltage*0.99
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