321Bh Velocity Controller Parameters Function Contains the parameters for the velocity controller. See chapter Controller structure. Object description Index 321Bh Object name Velocity 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 02h Subindex 01h Name Proportional Gain Kp [mA/Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000140h PD2-EB42MB-E-x-1: 000000E9h PD2-EB42MB-ES-x-1: 000000E9h PD2-EB42MB-M-x-1: 000000E9h PD2-EB42MB-MS-x-1: 000000E9h PD2-EB42MD-E-x-1: 00000071h PD2-EB42MD-ES-x-1: 00000071h PD2-EB42MD-M-x-1: 00000071h PD2-EB42MD-MS-x-1: 00000071h PD2-EB42LB-E-x-1: 000001F4h PD2-EB42LB-ES-x-1: 000001F4h PD2-EB42LB-M-x-1: 000001F4h PD2-EB42LB-MS-x-1: 000001F4h PD2-EB42LD-E-x-1: 00000088h PD2-EB42LD-ES-x-1: 00000088h PD2-EB42LD-M-x-1: 00000088h PD2-EB42LD-MS-x-1: 00000088h PD2-EB42CD-E-x-1: 00000128h PD2-EB42CD-ES-x-1: 00000128h PD2-EB42CD-M-x-1: 00000128h PD2-EB42CD-MS-x-1: 00000128h PD2-E421M-E-x-1: 00000060h PD2-E421M-ES-x-1: 00000060h PD2-E421M-M-x-1: 00000060h PD2-E421M-MS-x-1: 00000060h PD2-E421L-E-x-1: 0000004Dh PD2-E421L-ES-x-1: 0000004Dh PD2-E421L-M-x-1: 0000004Dh PD2-E421L-MS-x-1: 0000004Dh PD2-E421D-E-x-1: 0000003Ch PD2-E421D-ES-x-1: 0000003Ch PD2-E421D-M-x-1: 0000003Ch PD2-E421D-MS-x-1: 0000003Ch Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000C350h PD2-EB42MB-E-x-1: 00002FDAh PD2-EB42MB-ES-x-1: 00002FDAh PD2-EB42MB-M-x-1: 00002FDAh PD2-EB42MB-MS-x-1: 00002FDAh PD2-EB42MD-E-x-1: 00002FDAh PD2-EB42MD-ES-x-1: 00002FDAh PD2-EB42MD-M-x-1: 00002FDAh PD2-EB42MD-MS-x-1: 00002FDAh PD2-EB42LD-E-x-1: 00002FDAh PD2-EB42LD-ES-x-1: 00002FDAh PD2-EB42LD-M-x-1: 00002FDAh PD2-EB42LD-MS-x-1: 00002FDAh PD2-EB42CD-E-x-1: 00002FDAh PD2-EB42CD-ES-x-1: 00002FDAh PD2-EB42CD-M-x-1: 00002FDAh PD2-EB42CD-MS-x-1: 00002FDAh PD2-E421M-E-x-1: 00002FDAh PD2-E421M-ES-x-1: 00002FDAh PD2-E421M-M-x-1: 00002FDAh PD2-E421M-MS-x-1: 00002FDAh PD2-E421L-E-x-1: 00002FDAh PD2-E421L-ES-x-1: 00002FDAh PD2-E421L-M-x-1: 00002FDAh PD2-E421L-MS-x-1: 00002FDAh PD2-E421D-E-x-1: 00002FDAh PD2-E421D-ES-x-1: 00002FDAh PD2-E421D-M-x-1: 00002FDAh PD2-E421D-MS-x-1: 00002FDAh
321Bh Velocity Controller Parameters Function Contains the parameters for the velocity controller. See chapter Controller structure. Object description Index 321Bh Object name Velocity 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 02h Subindex 01h Name Proportional Gain Kp [mA/Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000140h PD2-EB42MB-E-x-1: 000000E9h PD2-EB42MB-ES-x-1: 000000E9h PD2-EB42MB-M-x-1: 000000E9h PD2-EB42MB-MS-x-1: 000000E9h PD2-EB42MD-E-x-1: 00000071h PD2-EB42MD-ES-x-1: 00000071h PD2-EB42MD-M-x-1: 00000071h PD2-EB42MD-MS-x-1: 00000071h PD2-EB42LB-E-x-1: 000001F4h PD2-EB42LB-ES-x-1: 000001F4h PD2-EB42LB-M-x-1: 000001F4h PD2-EB42LB-MS-x-1: 000001F4h PD2-EB42LD-E-x-1: 00000088h PD2-EB42LD-ES-x-1: 00000088h PD2-EB42LD-M-x-1: 00000088h PD2-EB42LD-MS-x-1: 00000088h PD2-EB42CD-E-x-1: 00000128h PD2-EB42CD-ES-x-1: 00000128h PD2-EB42CD-M-x-1: 00000128h PD2-EB42CD-MS-x-1: 00000128h PD2-E421M-E-x-1: 00000060h PD2-E421M-ES-x-1: 00000060h PD2-E421M-M-x-1: 00000060h PD2-E421M-MS-x-1: 00000060h PD2-E421L-E-x-1: 0000004Dh PD2-E421L-ES-x-1: 0000004Dh PD2-E421L-M-x-1: 0000004Dh PD2-E421L-MS-x-1: 0000004Dh PD2-E421D-E-x-1: 0000003Ch PD2-E421D-ES-x-1: 0000003Ch PD2-E421D-M-x-1: 0000003Ch PD2-E421D-MS-x-1: 0000003Ch Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000C350h PD2-EB42MB-E-x-1: 00002FDAh PD2-EB42MB-ES-x-1: 00002FDAh PD2-EB42MB-M-x-1: 00002FDAh PD2-EB42MB-MS-x-1: 00002FDAh PD2-EB42MD-E-x-1: 00002FDAh PD2-EB42MD-ES-x-1: 00002FDAh PD2-EB42MD-M-x-1: 00002FDAh PD2-EB42MD-MS-x-1: 00002FDAh PD2-EB42LD-E-x-1: 00002FDAh PD2-EB42LD-ES-x-1: 00002FDAh PD2-EB42LD-M-x-1: 00002FDAh PD2-EB42LD-MS-x-1: 00002FDAh PD2-EB42CD-E-x-1: 00002FDAh PD2-EB42CD-ES-x-1: 00002FDAh PD2-EB42CD-M-x-1: 00002FDAh PD2-EB42CD-MS-x-1: 00002FDAh PD2-E421M-E-x-1: 00002FDAh PD2-E421M-ES-x-1: 00002FDAh PD2-E421M-M-x-1: 00002FDAh PD2-E421M-MS-x-1: 00002FDAh PD2-E421L-E-x-1: 00002FDAh PD2-E421L-ES-x-1: 00002FDAh PD2-E421L-M-x-1: 00002FDAh PD2-E421L-MS-x-1: 00002FDAh PD2-E421D-E-x-1: 00002FDAh PD2-E421D-ES-x-1: 00002FDAh PD2-E421D-M-x-1: 00002FDAh PD2-E421D-MS-x-1: 00002FDAh
Object description Index 321Bh Object name Velocity 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 02h Subindex 01h Name Proportional Gain Kp [mA/Hz] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000140h PD2-EB42MB-E-x-1: 000000E9h PD2-EB42MB-ES-x-1: 000000E9h PD2-EB42MB-M-x-1: 000000E9h PD2-EB42MB-MS-x-1: 000000E9h PD2-EB42MD-E-x-1: 00000071h PD2-EB42MD-ES-x-1: 00000071h PD2-EB42MD-M-x-1: 00000071h PD2-EB42MD-MS-x-1: 00000071h PD2-EB42LB-E-x-1: 000001F4h PD2-EB42LB-ES-x-1: 000001F4h PD2-EB42LB-M-x-1: 000001F4h PD2-EB42LB-MS-x-1: 000001F4h PD2-EB42LD-E-x-1: 00000088h PD2-EB42LD-ES-x-1: 00000088h PD2-EB42LD-M-x-1: 00000088h PD2-EB42LD-MS-x-1: 00000088h PD2-EB42CD-E-x-1: 00000128h PD2-EB42CD-ES-x-1: 00000128h PD2-EB42CD-M-x-1: 00000128h PD2-EB42CD-MS-x-1: 00000128h PD2-E421M-E-x-1: 00000060h PD2-E421M-ES-x-1: 00000060h PD2-E421M-M-x-1: 00000060h PD2-E421M-MS-x-1: 00000060h PD2-E421L-E-x-1: 0000004Dh PD2-E421L-ES-x-1: 0000004Dh PD2-E421L-M-x-1: 0000004Dh PD2-E421L-MS-x-1: 0000004Dh PD2-E421D-E-x-1: 0000003Ch PD2-E421D-ES-x-1: 0000003Ch PD2-E421D-M-x-1: 0000003Ch PD2-E421D-MS-x-1: 0000003Ch Subindex 02h Name Integrator Time Ti [μs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 0000C350h PD2-EB42MB-E-x-1: 00002FDAh PD2-EB42MB-ES-x-1: 00002FDAh PD2-EB42MB-M-x-1: 00002FDAh PD2-EB42MB-MS-x-1: 00002FDAh PD2-EB42MD-E-x-1: 00002FDAh PD2-EB42MD-ES-x-1: 00002FDAh PD2-EB42MD-M-x-1: 00002FDAh PD2-EB42MD-MS-x-1: 00002FDAh PD2-EB42LD-E-x-1: 00002FDAh PD2-EB42LD-ES-x-1: 00002FDAh PD2-EB42LD-M-x-1: 00002FDAh PD2-EB42LD-MS-x-1: 00002FDAh PD2-EB42CD-E-x-1: 00002FDAh PD2-EB42CD-ES-x-1: 00002FDAh PD2-EB42CD-M-x-1: 00002FDAh PD2-EB42CD-MS-x-1: 00002FDAh PD2-E421M-E-x-1: 00002FDAh PD2-E421M-ES-x-1: 00002FDAh PD2-E421M-M-x-1: 00002FDAh PD2-E421M-MS-x-1: 00002FDAh PD2-E421L-E-x-1: 00002FDAh PD2-E421L-ES-x-1: 00002FDAh PD2-E421L-M-x-1: 00002FDAh PD2-E421L-MS-x-1: 00002FDAh PD2-E421D-E-x-1: 00002FDAh PD2-E421D-ES-x-1: 00002FDAh PD2-E421D-M-x-1: 00002FDAh PD2-E421D-MS-x-1: 00002FDAh
