C5-E CANopen/USB 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.

Note:

For firmware versions from FIR-v22xx upwards, the new schema for the Controller structure applies.

The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. Object 320Eh used in firmware versions FIR-v19xx to FIR-v21xx has been removed. For new applications, Nanotec recommends using the new control parameters.

To use the new parameters, set 3212h:04h to "1" . The old values are converted and entered in the new objects 321Ah to 321Eh. You must save all objects (see Saving objects).

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 Number Of Entries
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 00000800h
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 00002EE0h
Subindex 04h
Name Velocity Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0000001Eh
Subindex 05h
Name Flux Current Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00881EE0h
Subindex 06h
Name Flux Current Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0007C740h
Subindex 07h
Name Torque Current Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00881EE0h
Subindex 08h
Name Torque Current Loop, Integral Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0007C740h
Subindex 09h
Name Torque Current Loop, Proportional Gain (open Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 004DC880h
Subindex 0Ah
Name Torque Current Loop, Integral Gain (open Loop)
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 001D2B30h
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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