320Eh Closed Loop Controller Parameter

Contains the control parameters for closed loop.

• Subindex 00_h: Number of entries
• Subindex 01_h: Gain factor (proportional component) of the position controller in tenths of a percent
• Subindex 02_h: Reset time (integral component) of the position controller in microseconds
• Subindex 03_h: Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1.
• Subindex 04_h: Maximum control deviation of the position controller in user-defined units
• Subindex 05_h: Maximum permissible speed of the motor in user-defined units. See 6080_h.
• Subindex 06_h: Gain factor (proportional component) of the velocity controller in tenths of a percent
• Subindex 07_h: Reset time (integral component) of the velocity controller in microseconds
• Subindex 08_h: Acceleration feed forward in tenths of a percent of the value of 320D_h
• Subindex 09_h: Maximum control deviation of the velocity controller in user-defined units
• Subindex 0A_h: Maximum current in tenths of a percent of the set rated current, see object 6073_h
• Subindex 0B_h: Gain factor (proportional component) of the current controller in tenths of a percent
• Subindex 0C_h: Reset time (integral component) of the current controller in microseconds
• Subindex 0D_h: Voltage feed forward in tenths of a percent of the voltage that is needed to produce the rated current
• Subindex 0E_h: Maximum control deviation of the current controller in tenths of a percent

• Subindex 0F_h: Maximum permissible PWM voltage (duty cycle). Values ≤ 1000 are interpreted as per mil values (of the available voltage). Values > 1000 as millivolt.

  Also dependent on this value is whether the overmodulation of the voltage vector is used. If overmodulation is used, a higher torque can be achieved. The resulting voltage is no longer sinusoidal, which can result in harmonics and higher losses.

  Value in mV	Overmodulation
  1001…U o_low	None; the voltage vector describes a circle.
  U o_low…U o_high	The voltage vector describes a circle that is increasingly flattened on four/six sides in proportion to the set value.
  ≥U o_high	Full; the voltage vector describes a square or a hexagon.

  U _{o_low}

  The lowest voltage above which overmodulation occurs. Is calculated as follows:

  Operating voltage*0.9425

  U _{o_high}

  The maximum overmodulation occurs above this voltage. Is calculated as follows:

  With two-phase stepper motors: operating voltage*1.063

  With three-phase BLDC motors: operating voltage*0.99