321Ch Position Controller Parameters
Function
Contains the parameters for the position controller. See chapter Controller structure.
Object description
Index | 321Ch |
Object name | Position Controller Parameters |
Object Code | ARRAY |
Data type | UNSIGNED32 |
Savable | yes, category: application |
Access | read only |
PDO mapping | no |
Allowed values | |
Preset value | |
Firmware version | FIR-v2213-B1028181 |
Change history |
Value description
Subindex | 00h |
Name | Number Of Entries |
Data type | UNSIGNED8 |
Access | read only |
PDO mapping | no |
Allowed values | |
Preset value | 02h |
Subindex | 01h |
Name | Proportional Gain Kp [Hz] |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | no |
Allowed values | |
Preset value |
|
Subindex | 02h |
Name | Integrator Time Ti [μs] |
Data type | UNSIGNED32 |
Access | read / write |
PDO mapping | no |
Allowed values | |
Preset value | 00000000h |