3.1.9.1.49 0x2010 Torque controller
Range of all torque controller gains is 0 to 100,000,000
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Controller Kp
(disabled)
0x2010:1 REAL 32 0 1159479296 readwrite
In the case of using predictive controllers for current loop the unit is undefined, and the default value is
2500. Moreover, Increasing this parameter directly amplifies the amplitude of applied voltages, and as a
result has an effect similar to Kp in the case of using a PID controller.
Range of this torque controller gain is 0 to 100,000,000.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Controller Ki
(disabled)
0x2010:2 REAL 32 0 1193033728 readwrite
The unit of this gain is 0.16 [uV/(Second * Amp_rms)]. The default value is 40000. Range of this torque
controller gain is 0 to 100,000,000.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Controller Kd
(disabled)
0x2010:3 REAL 32 0 0 readwrite
This parameter is undefined for predictive current controller.
Range of this torque controller gain is 0 to 100,000,000.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Field weakening
enabled
0x2010:4 UDINT 32
Disabled 0
Enabled 1
readwrite
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