320Eh Closed Loop Controller Parameter Function Contains the control parameters for closed loop. Object description Index 320Eh Object name Closed Loop Controller Parameter Object Code RECORD Data type CLOSED_LOOP_CONTROLLER_PARAMETER Savable yes, category: movement 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 Current Deviation" to "Max Current Deviation [‰]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". 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". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2039-B807052: "Name" entry changed from "Reserved" to "Voltage Feed Forward [‰]". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Position Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Position Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Max Position Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Max Motor Speed Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Velocity Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Velocity Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Acceleration Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Max Velocity Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Max Current [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Voltage Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Eh Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Fh Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the position controller in tenths of a percent Subindex 02h: Reset time (integral component) of the position controller in microseconds Subindex 03h: Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 04h: Maximum control deviation of the position controller in user-defined units Subindex 05h: Maximum permissible speed of the motor in user-defined units. See 6080h. Subindex 06h: Gain factor (proportional component) of the velocity controller in tenths of a percent Subindex 07h: Reset time (integral component) of the velocity controller in microseconds Subindex 08h: Acceleration feed forward in tenths of a percent of the value of 320Dh Subindex 09h: Maximum control deviation of the velocity controller in user-defined units Subindex 0Ah: Maximum current in tenths of a percent of the set rated current, see object 6073h Subindex 0Bh: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 0Ch: Reset time (integral component) of the current controller in microseconds Subindex 0Dh: Voltage feed forward in tenths of a percent of the voltage that is needed to produce the rated current Subindex 0Eh: Maximum control deviation of the current controller in tenths of a percent Subindex 0Fh: 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
320Eh Closed Loop Controller Parameter Function Contains the control parameters for closed loop. Object description Index 320Eh Object name Closed Loop Controller Parameter Object Code RECORD Data type CLOSED_LOOP_CONTROLLER_PARAMETER Savable yes, category: movement 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 Current Deviation" to "Max Current Deviation [‰]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". 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". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2039-B807052: "Name" entry changed from "Reserved" to "Voltage Feed Forward [‰]". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Position Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Position Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Max Position Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Max Motor Speed Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Velocity Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Velocity Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Acceleration Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Max Velocity Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Max Current [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Voltage Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Eh Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Fh Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the position controller in tenths of a percent Subindex 02h: Reset time (integral component) of the position controller in microseconds Subindex 03h: Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 04h: Maximum control deviation of the position controller in user-defined units Subindex 05h: Maximum permissible speed of the motor in user-defined units. See 6080h. Subindex 06h: Gain factor (proportional component) of the velocity controller in tenths of a percent Subindex 07h: Reset time (integral component) of the velocity controller in microseconds Subindex 08h: Acceleration feed forward in tenths of a percent of the value of 320Dh Subindex 09h: Maximum control deviation of the velocity controller in user-defined units Subindex 0Ah: Maximum current in tenths of a percent of the set rated current, see object 6073h Subindex 0Bh: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 0Ch: Reset time (integral component) of the current controller in microseconds Subindex 0Dh: Voltage feed forward in tenths of a percent of the voltage that is needed to produce the rated current Subindex 0Eh: Maximum control deviation of the current controller in tenths of a percent Subindex 0Fh: 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
Object description Index 320Eh Object name Closed Loop Controller Parameter Object Code RECORD Data type CLOSED_LOOP_CONTROLLER_PARAMETER Savable yes, category: movement 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 Current Deviation" to "Max Current Deviation [‰]". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". 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". Firmware version FIR-v2013-B726332: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2039-B807052: "Name" entry changed from "Reserved" to "Voltage Feed Forward [‰]".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Position Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Position Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Max Position Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Max Motor Speed Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Velocity Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Velocity Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Acceleration Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Max Velocity Deviation Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Max Current [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Current Controller Kp [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Current Controller Tn [µs] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Voltage Feed Forward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Eh Name Max Current Deviation [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 0Fh Name Max Voltage [mV] Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value
Description Subindex 00h: Number of entries Subindex 01h: Gain factor (proportional component) of the position controller in tenths of a percent Subindex 02h: Reset time (integral component) of the position controller in microseconds Subindex 03h: Speed feed forward in tenths of a percent. Default is 1000 and, thus, a factor of 1. Subindex 04h: Maximum control deviation of the position controller in user-defined units Subindex 05h: Maximum permissible speed of the motor in user-defined units. See 6080h. Subindex 06h: Gain factor (proportional component) of the velocity controller in tenths of a percent Subindex 07h: Reset time (integral component) of the velocity controller in microseconds Subindex 08h: Acceleration feed forward in tenths of a percent of the value of 320Dh Subindex 09h: Maximum control deviation of the velocity controller in user-defined units Subindex 0Ah: Maximum current in tenths of a percent of the set rated current, see object 6073h Subindex 0Bh: Gain factor (proportional component) of the current controller in tenths of a percent Subindex 0Ch: Reset time (integral component) of the current controller in microseconds Subindex 0Dh: Voltage feed forward in tenths of a percent of the voltage that is needed to produce the rated current Subindex 0Eh: Maximum control deviation of the current controller in tenths of a percent Subindex 0Fh: 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
