NP5 EtherCAT 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."

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".

Value description

Subindex 00h
Name Number Of Entries
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 0000h
Subindex 02h
Name Current Controller Tn [µs]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 03h
Name Reserved
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 0000h
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 [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 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: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt.
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