NANOTEC PD4-C - Page 170

9 Description of the object dictionary
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".
Value description
Subindex 00
h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 0A
h
Subindex 01
h
Name Position Loop, Proportional Gain (closed Loop)
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value
●
PD4-C5918M4204-E-01: 00002710
h
●
PD4-C6018L4204-E-01: 00000800
h
●
PD4-CB59M024035-E-01: 00007530
h
●
PD4-C5918L4204-E-01: 00002710
h
Version: 2.0.1 / FIR-v1650 170