PD6-E/-EB EtherCAT Online Manual

321Ah Current Controller Parameters

Function

Contains the parameters for the current controller (commutation). As a rule, the values for Iq (subindex 01h/02h) and Id (subindex 03h/04h) should be the same. See chapter Controller structure.

Object description

Index 321Ah
Object name Current Controller Parameters
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v2213-B1028181
Change history

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 04h
Subindex 01h
Name Proportional Gain Kp For Iq [mV/A]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD6-E891L95-E-65-1: 00002A30h
  • PD6-E891L95-ES-65-1: 00002A30h
  • PD6-EB80CD-E-65-1: 00000258h
  • PD6-EB80CD-ES-65-1: 00000258h
  • PD6-E891S95-E-65-1: 00000820h
  • PD6-E891S95-ES-65-1: 00000820h
  • PD6-E891M95-E-65-1: 000020D0h
  • PD6-E891M95-ES-65-1: 000020D0h
  • PD6-EB80SD-E-65-1: 00000A28h
  • PD6-EB80SD-ES-65-1: 00000A28h
  • PD6-EB80MD-E-65-1: 000004B0h
  • PD6-EB80MD-ES-65-1: 000004B0h
  • PD6-EB80LD-E-65-1: 00000320h
  • PD6-EB80LD-ES-65-1: 00000320h
Subindex 02h
Name Integrator Time Ti For Iq [μs]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD6-E891L95-E-65-1: 00002891h
  • PD6-E891L95-ES-65-1: 00002891h
  • PD6-EB80CD-E-65-1: 00001207h
  • PD6-EB80CD-ES-65-1: 00001207h
  • PD6-E891S95-E-65-1: 00001450h
  • PD6-E891S95-ES-65-1: 00001450h
  • PD6-E891M95-E-65-1: 000023AAh
  • PD6-E891M95-ES-65-1: 000023AAh
  • PD6-EB80SD-E-65-1: 00001223h
  • PD6-EB80SD-ES-65-1: 00001223h
  • PD6-EB80MD-E-65-1: 00001770h
  • PD6-EB80MD-ES-65-1: 00001770h
  • PD6-EB80LD-E-65-1: 00001262h
  • PD6-EB80LD-ES-65-1: 00001262h
Subindex 03h
Name Proportional Gain Kp For Id [mV/A]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD6-E891L95-E-65-1: 00002A30h
  • PD6-E891L95-ES-65-1: 00002A30h
  • PD6-EB80CD-E-65-1: 00000258h
  • PD6-EB80CD-ES-65-1: 00000258h
  • PD6-E891S95-E-65-1: 00000820h
  • PD6-E891S95-ES-65-1: 00000820h
  • PD6-E891M95-E-65-1: 000020D0h
  • PD6-E891M95-ES-65-1: 000020D0h
  • PD6-EB80SD-E-65-1: 00000A28h
  • PD6-EB80SD-ES-65-1: 00000A28h
  • PD6-EB80MD-E-65-1: 000004B0h
  • PD6-EB80MD-ES-65-1: 000004B0h
  • PD6-EB80LD-E-65-1: 00000320h
  • PD6-EB80LD-ES-65-1: 00000320h
Subindex 04h
Name Integrator Time Ti For Id [μs]
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
  • PD6-E891L95-E-65-1: 00002891h
  • PD6-E891L95-ES-65-1: 00002891h
  • PD6-EB80CD-E-65-1: 00001207h
  • PD6-EB80CD-ES-65-1: 00001207h
  • PD6-E891S95-E-65-1: 00001450h
  • PD6-E891S95-ES-65-1: 00001450h
  • PD6-E891M95-E-65-1: 000023AAh
  • PD6-E891M95-ES-65-1: 000023AAh
  • PD6-EB80SD-E-65-1: 00001223h
  • PD6-EB80SD-ES-65-1: 00001223h
  • PD6-EB80MD-E-65-1: 00001770h
  • PD6-EB80MD-ES-65-1: 00001770h
  • PD6-EB80LD-E-65-1: 00001262h
  • PD6-EB80LD-ES-65-1: 00001262h
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