PD4-E-M EtherCAT Online Manual

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
Access read only
PDO mapping RX-PDO
Allowed values  
Preset value  
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".

Firmware version FIR-v1738-B501312: The number of entries was changed from 11 to 13.

Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 00 to 0A changed from "no" to "RX-PDO".


Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping RX-PDO
Allowed values  
Preset value 0Ch


Subindex 01h
Name Position Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 00002710h
  • PD4-E601L42-M-65-1: 00000800h
  • PD4-EB59CD-M-65-1: 00007530h


Subindex 02h
Name Position Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 03h
Name Velocity Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 00004E20h
  • PD4-E601L42-M-65-1: 00001B58h
  • PD4-EB59CD-M-65-1: 0000EA60h


Subindex 04h
Name Velocity Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 00000064h
  • PD4-E601L42-M-65-1: 00000004h
  • PD4-EB59CD-M-65-1: 000001F4h


Subindex 05h
Name Flux Current Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 0007A120h
  • PD4-E601L42-M-65-1: 000668A0h
  • PD4-EB59CD-M-65-1: 000061A8h


Subindex 06h
Name Flux Current Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 00001388h
  • PD4-E601L42-M-65-1: 00002EE0h
  • PD4-EB59CD-M-65-1: 00000BB8h


Subindex 07h
Name Torque Current Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 0007A120h
  • PD4-E601L42-M-65-1: 000668A0h
  • PD4-EB59CD-M-65-1: 000061A8h


Subindex 08h
Name Torque Current Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 00001388h
  • PD4-E601L42-M-65-1: 00002EE0h
  • PD4-EB59CD-M-65-1: 00000BB8h


Subindex 09h
Name Torque Current Loop, Proportional Gain (open Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 00027100h
  • PD4-E601L42-M-65-1: 00027100h
  • PD4-EB59CD-M-65-1: 0003A980h


Subindex 0Ah
Name Torque Current Loop, Integral Gain (open Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value
  • PD4-E591L42-M-65-1: 000055F0h
  • PD4-E601L42-M-65-1: 00002710h
  • PD4-EB59CD-M-65-1: 0000AFC8h


Subindex 0Bh
Name Velocity Feed Forward Factor In Per Mille
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 000003E8h


Subindex 0Ch
Name Acceleration Feed Forward Factor
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h

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
  • Subindex 0Bh: (Closed loop) Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1.
  • Subindex 0Ch: (Closed loop) Acceleration feed forward. Default is 0 (feed forward inactive). It applies during deceleration as well.
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