320Fh Open Loop Controller Parameter
Function
Contains the control parameters for open loop .
For firmware versions from FIR-v19xx upwards, the new schema for the Controller structure applies.
The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. For new applications, Nanotec recommends using the new control parameters.
To use the new parameters, you must set 3210h:07h (for closed loop) or 3210h:09h (for open loop) to "0". The old values are converted and entered in the new object 320Eh or 320Fh. You must save both objects (see Saving objects).
Object description
| Index | 320Fh |
| Object name | Open Loop Controller Parameter |
| Object Code | RECORD |
| Data type | OPEN_LOOP_CONTROLLER_PARAMETER |
| Savable | yes, category: drive |
| Access | read only |
| PDO mapping | no |
| Allowed values | |
| Preset value | |
| Firmware version | FIR-v1825-B577172 |
| Change history |
Firmware version FIR-v1913-B623284: "Name" entry changed from "PWM Feed Forward" to "Reserved." Firmware Version FIR-v2013-B726332: "Name" entry changed from "Max Voltage Via PWM" to "Max Voltage [mV]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". |
Value description
| Subindex | 00h |
| Name | Number Of Entries |
| Data type | UNSIGNED8 |
| Access | read only |
| PDO mapping | no |
| Allowed values | |
| Preset value | 05h |
| Subindex | 01h |
| Name | Current Controller Kp [‰] |
| Data type | UNSIGNED16 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 0000h |
| Subindex | 02h |
| Name | Current Controller Tn [µs] |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 00000000h |
| Subindex | 03h |
| Name | Reserved |
| Data type | UNSIGNED16 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 0000h |
| Subindex | 04h |
| Name | Max Current Deviation [‰] |
| Data type | UNSIGNED16 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 0000h |
| Subindex | 05h |
| Name | Max Voltage [mV] |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 000186A0h |
Description
- Subindex 00h: Number of entries
- Subindex 01h: Gain factor (proportional component) of the current controller in tenths of a percent
- Subindex 02h: Reset time (integral component) of the current controller in microseconds
- Subindex 03h: Reserved
- Subindex 04h: Maximum control deviation of the current controller in mA
- Subindex 05h: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt.