3203h Feedback Selection Function In this object, the sources of the presets are defined for the commutation and the velocity and position control. A value change in the Operation enabled state shows no immediate effect. Value changes in objects are buffered and read out upon changing to the Operation enabled state. Object description Index 3203h Object name Feedback Selection Object Code ARRAY Data type UNSIGNED8 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1748-B538662 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 02h Subindex 01h Name 1st Feedback Interface Data type UNSIGNED8 Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Subindex 02h Name 2nd Feedback Interface Data type UNSIGNED8 Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains a bit mask for the respective feedback n. The bits have the following meaning here: Bit 0: If the bit is set to "1", this sensor is used for position feedback. Bit 1: If the bit is set to "1", this sensor is used for velocity feedback. Bit 2: If the bit is set to "1", this sensor is used for commutation feedback in Closed Loop. Subindex 01h always corresponds to the first feedback Sensorless Observer. Subindex 02h corresponds to internal encoder. Which sensor the controller takes into account for the individual controllers (commutation, velocity, position) is implicitly specified by the order of the sensors. The search always begins with the Sensorless Observer and continues in ascending order until all existing sensors have been queried. If a sensor is found whose feedback is set, it is assigned to the corresponding controller and the search ended. In case some bit is set in more than one subindices, the following rules apply: The Sensorless Observer will have priority over encoder for commutation (whenever sensorless feedback angle is available, see 33C1h Sensorless Observer State). The Encoder will have priority over the Sensorless Observer for velocity and position. If no encoder is set for commutation, the motor will start in Open Loop and then transition into Closed Loop (if requested) Sensorless Observer above the speed threshold in 3380h:04h and analogically back to Open Loop if the speed falls bellow 3380h:05h Note: If bit 0 in 3202h is set to "0", closed loop is deactivated; bit 2 (commutation) then has no meaning. Bit 1 for the velocity and bit 0 for the position in the respective subindices are still used for the display of the actual position and speed values.
3203h Feedback Selection Function In this object, the sources of the presets are defined for the commutation and the velocity and position control. A value change in the Operation enabled state shows no immediate effect. Value changes in objects are buffered and read out upon changing to the Operation enabled state. Object description Index 3203h Object name Feedback Selection Object Code ARRAY Data type UNSIGNED8 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1748-B538662 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 02h Subindex 01h Name 1st Feedback Interface Data type UNSIGNED8 Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Subindex 02h Name 2nd Feedback Interface Data type UNSIGNED8 Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains a bit mask for the respective feedback n. The bits have the following meaning here: Bit 0: If the bit is set to "1", this sensor is used for position feedback. Bit 1: If the bit is set to "1", this sensor is used for velocity feedback. Bit 2: If the bit is set to "1", this sensor is used for commutation feedback in Closed Loop. Subindex 01h always corresponds to the first feedback Sensorless Observer. Subindex 02h corresponds to internal encoder. Which sensor the controller takes into account for the individual controllers (commutation, velocity, position) is implicitly specified by the order of the sensors. The search always begins with the Sensorless Observer and continues in ascending order until all existing sensors have been queried. If a sensor is found whose feedback is set, it is assigned to the corresponding controller and the search ended. In case some bit is set in more than one subindices, the following rules apply: The Sensorless Observer will have priority over encoder for commutation (whenever sensorless feedback angle is available, see 33C1h Sensorless Observer State). The Encoder will have priority over the Sensorless Observer for velocity and position. If no encoder is set for commutation, the motor will start in Open Loop and then transition into Closed Loop (if requested) Sensorless Observer above the speed threshold in 3380h:04h and analogically back to Open Loop if the speed falls bellow 3380h:05h Note: If bit 0 in 3202h is set to "0", closed loop is deactivated; bit 2 (commutation) then has no meaning. Bit 1 for the velocity and bit 0 for the position in the respective subindices are still used for the display of the actual position and speed values.
Function In this object, the sources of the presets are defined for the commutation and the velocity and position control. A value change in the Operation enabled state shows no immediate effect. Value changes in objects are buffered and read out upon changing to the Operation enabled state.
Object description Index 3203h Object name Feedback Selection Object Code ARRAY Data type UNSIGNED8 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1748-B538662 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 02h Subindex 01h Name 1st Feedback Interface Data type UNSIGNED8 Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Subindex 02h Name 2nd Feedback Interface Data type UNSIGNED8 Access read / write PDO mapping RX-PDO Allowed values Preset value 00h
Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains a bit mask for the respective feedback n. The bits have the following meaning here: Bit 0: If the bit is set to "1", this sensor is used for position feedback. Bit 1: If the bit is set to "1", this sensor is used for velocity feedback. Bit 2: If the bit is set to "1", this sensor is used for commutation feedback in Closed Loop. Subindex 01h always corresponds to the first feedback Sensorless Observer. Subindex 02h corresponds to internal encoder. Which sensor the controller takes into account for the individual controllers (commutation, velocity, position) is implicitly specified by the order of the sensors. The search always begins with the Sensorless Observer and continues in ascending order until all existing sensors have been queried. If a sensor is found whose feedback is set, it is assigned to the corresponding controller and the search ended. In case some bit is set in more than one subindices, the following rules apply: The Sensorless Observer will have priority over encoder for commutation (whenever sensorless feedback angle is available, see 33C1h Sensorless Observer State). The Encoder will have priority over the Sensorless Observer for velocity and position. If no encoder is set for commutation, the motor will start in Open Loop and then transition into Closed Loop (if requested) Sensorless Observer above the speed threshold in 3380h:04h and analogically back to Open Loop if the speed falls bellow 3380h:05h Note: If bit 0 in 3202h is set to "0", closed loop is deactivated; bit 2 (commutation) then has no meaning. Bit 1 for the velocity and bit 0 for the position in the respective subindices are still used for the display of the actual position and speed values.
