PD6-E/-EB Modbus RTU Online Manual

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.

Note:

For firmware versions from FIR-v19xx upwards, the new schema for the Controller structure applies.

The old control parameters (object 3210_h) 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 3210_h:07_h (for closed loop) or 3210_h:09_h (for open loop) to "0". The old values are converted and entered in the new object 320E_h or 320F_h. You must save both objects (see Saving objects).

Object description


Index	3210_h
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	00_h
Name	Number Of Entries
Data type	UNSIGNED8
Access	read only
PDO mapping	RX-PDO
Allowed values
Preset value	0C_h


Subindex	01_h
Name	Position Loop, Proportional Gain (closed Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 00003A98_h PD6-E891L95-ES-65-10: 00003A98_h PD6-EB80CD-E-65-10: 00000800_h PD6-EB80CD-ES-65-10: 00000800_h


Subindex	02_h
Name	Position Loop, Integral Gain (closed Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	00000000_h


Subindex	03_h
Name	Velocity Loop, Proportional Gain (closed Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 00002710_h PD6-E891L95-ES-65-10: 00002710_h PD6-EB80CD-E-65-10: 00002EE0_h PD6-EB80CD-ES-65-10: 00002EE0_h


Subindex	04_h
Name	Velocity Loop, Integral Gain (closed Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 00000050_h PD6-E891L95-ES-65-10: 00000050_h PD6-EB80CD-E-65-10: 0000001E_h PD6-EB80CD-ES-65-10: 0000001E_h


Subindex	05_h
Name	Flux Current Loop, Proportional Gain (closed Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 0007A120_h PD6-E891L95-ES-65-10: 0007A120_h PD6-EB80CD-E-65-10: 00881EE0_h PD6-EB80CD-ES-65-10: 00881EE0_h


Subindex	06_h
Name	Flux Current Loop, Integral Gain (closed Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 0000C350_h PD6-E891L95-ES-65-10: 0000C350_h PD6-EB80CD-E-65-10: 0007C740_h PD6-EB80CD-ES-65-10: 0007C740_h


Subindex	07_h
Name	Torque Current Loop, Proportional Gain (closed Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 0007A120_h PD6-E891L95-ES-65-10: 0007A120_h PD6-EB80CD-E-65-10: 00000000_h PD6-EB80CD-ES-65-10: 00000000_h


Subindex	08_h
Name	Torque Current Loop, Integral Gain (closed Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 0000C350_h PD6-E891L95-ES-65-10: 0000C350_h PD6-EB80CD-E-65-10: 0007C740_h PD6-EB80CD-ES-65-10: 0007C740_h


Subindex	09_h
Name	Torque Current Loop, Proportional Gain (open Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 000F4240_h PD6-E891L95-ES-65-10: 000F4240_h PD6-EB80CD-E-65-10: 004DC880_h PD6-EB80CD-ES-65-10: 004DC880_h


Subindex	0A_h
Name	Torque Current Loop, Integral Gain (open Loop)
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	PD6-E891L95-E-65-10: 00000064_h PD6-E891L95-ES-65-10: 00000064_h PD6-EB80CD-E-65-10: 001D2B30_h PD6-EB80CD-ES-65-10: 001D2B30_h


Subindex	0B_h
Name	Velocity Feed Forward Factor In Per Mille
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	000003E8_h


Subindex	0C_h
Name	Acceleration Feed Forward Factor
Data type	UNSIGNED32
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	00000000_h

Description

Subindex 00_h: Number of entries
Subindex 01_h: Proportional component of the S-controller (position)
Subindex 02_h: Integral component of the S-controller (position)
Subindex 03_h: Proportional component of the V-controller (speed)
Subindex 04_h: Integral component of the V-controller (speed)
Subindex 05_h: (Closed loop) Proportional component of the current controller of the field-forming component
Subindex 06_h: (Closed loop) Integral component of the current controller of the field-forming component
Subindex 07_h: (Closed loop) Proportional component of the current controller of the torque-forming component
Subindex 08_h: (Closed loop) Integral component of the current controller of the torque-forming component
Subindex 09_h: (Open loop) Proportional component of the current controller of the field-building component
Subindex 0A_h: (Open loop) Integral component of the current controller of the field-forming component
Subindex 0B_h: (Closed loop) Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1.
Subindex 0C_h: (Closed loop) Acceleration feed forward. Default is 0 (feed forward inactive). It applies during deceleration as well.