3203h Feedback Selection
Function
In this object, the sources of the presets are defined for the commutation and the velocity and position control.
A value change in the Operation enabled state shows no immediate effect. Value changes in objects are buffered and read out upon changing to the Operation enabled state.
Object description
Index | 3203h |
Object name | Feedback Selection |
Object Code | ARRAY |
Data type | UNSIGNED8 |
Savable | yes, category: tuning |
Access | read only |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | |
Firmware version | FIR-v1748-B538662 |
Change history |
Value description
Subindex | 00h |
Name | Number Of Entries |
Data type | UNSIGNED8 |
Access | read only |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 03h |
Subindex | 01h |
Name | 1st Feedback Interface |
Data type | UNSIGNED8 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00h |
Subindex | 02h |
Name | 2nd Feedback Interface |
Data type | UNSIGNED8 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00h |
Subindex | 03h |
Name | 3rd Feedback Interface |
Data type | UNSIGNED8 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 00h |
Description
The subindices have the following function:
- 00h: Value="1" to "n", where "n" is the number of existing feedbacks.
- nh:
Subindex n contains a bit mask for the respective feedback n. The bits have the following meaning here:
- Bit 0: If the bit is set to "1", this sensor is used for position feedback.
- Bit 1: If the bit is set to "1", this sensor is used for velocity feedback.
- Bit 2: If the bit is set to "1", this sensor is used for commutation feedback in Closed-Loop.
Subindex 01h always corresponds to the first (and always existing) sensorless feedback.
Which sensor the controller takes into account for the individual controllers (commutation, velocity, position) is implicitly specified by the order of the sensors.
The search always begins with sensor 2 and continues in ascending order until all existing sensors have been queried. If a sensor is found whose feedback is set, it is assigned to the corresponding controller and the search ended.