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.
For firmware versions from FIR-v22xx upwards, the new schema for the Controller structure applies.
The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. Object 320Eh used in firmware versions FIR-v19xx to FIR-v21xx has been removed. For new applications, Nanotec recommends using the new control parameters.
To use the new parameters, set 3212h:04h to "1" . The old values are converted and entered in the new objects 321Ah to 321Eh. You must save all objects (see Saving objects).
Object description
Index | 3210h |
Object name | Motor Drive Parameter Set |
Object Code | ARRAY |
Data type | UNSIGNED32 |
Savable | yes, category: application |
Access | read only |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | |
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)". 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". Firmware version FIR-v1738-B501312: The number of entries was changed from 11 to 13. Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 00 to 0A changed from "no" to "RX-PDO". |
Value description
Subindex | 00h |
Name | Number Of Entries |
Data type | UNSIGNED8 |
Access | read only |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 0Ch |
Subindex | 01h |
Name | Position Loop, Proportional Gain (closed Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00000800h |
Subindex | 02h |
Name | Position Loop, Integral Gain (closed Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00000000h |
Subindex | 03h |
Name | Velocity Loop, Proportional Gain (closed Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00002EE0h |
Subindex | 04h |
Name | Velocity Loop, Integral Gain (closed Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 0000001Eh |
Subindex | 05h |
Name | Flux Current Loop, Proportional Gain (closed Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00881EE0h |
Subindex | 06h |
Name | Flux Current Loop, Integral Gain (closed Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 0007C740h |
Subindex | 07h |
Name | Torque Current Loop, Proportional Gain (closed Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00881EE0h |
Subindex | 08h |
Name | Torque Current Loop, Integral Gain (closed Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 0007C740h |
Subindex | 09h |
Name | Torque Current Loop, Proportional Gain (open Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 004DC880h |
Subindex | 0Ah |
Name | Torque Current Loop, Integral Gain (open Loop) |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 001D2B30h |
Subindex | 0Bh |
Name | Velocity Feed Forward Factor In Per Mille |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 000003E8h |
Subindex | 0Ch |
Name | Acceleration Feed Forward Factor |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00000000h |
Description
- Subindex 00h: Number of entries
- Subindex 01h: Proportional component of the S-controller (position)
- Subindex 02h: Integral component of the S-controller (position)
- Subindex 03h: Proportional component of the V-controller (speed)
- Subindex 04h: Integral component of the V-controller (speed)
- Subindex 05h: (Closed loop) Proportional component of the current controller of the field-forming component
- Subindex 06h: (Closed loop) Integral component of the current controller of the field-forming component
- Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-forming component
- Subindex 08h: (Closed loop) Integral component of the current controller of the torque-forming component
- Subindex 09h: (Open-loop) Proportional component of the current controller of the field-building component
- Subindex 0Ah: (Open-loop) Integral component of the current controller of the field-forming component
- Subindex 0Bh: (Closed loop) Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1.
- Subindex 0Ch: (Closed loop) Acceleration feed forward. Default is 0 (feed forward inactive). It applies during deceleration as well.