NANOTEC PD4-C - 3210 H Motor Drive Parameter Set

9 Description of the object dictionary
Access read / write
PDO mapping no
Allowed values
Preset value 00000001
h
Subindex 04
h
Name Position
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values
Preset value 00000001
h
Description
The following subindices have a function:
●
01
h
: Not used
●
02
h
: Not used
●
03
h
: Changes the source of object 6044
h
:
○
Value = "-1": The internally calculated set value is entered in object 6044
h
○
Value = "0": The value is kept at 0
○
Value = "1": The encoder value is entered in object 6044
h
●
04
h
: Changes the source of object 6064
h
:
○
Value = "-1": The internally calculated set value is entered in object 6064
h
○
Value = "0": The value is kept at 0
○
Value = "1": The encoder value is entered in object 6064
h
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 3210
h
Object name Motor Drive Parameter Set
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
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)".
Version: 2.0.1 / FIR-v1650 169