3212h Motor Drive Flags
Function
This object determines whether or not the output voltage for the motor is active in the "switched on" mode of the CiA 402 state machine. The direction of the rotating field can also be changed.
Note: Changes in subindex 02 do not take effect until after the control is restarted. Afterwards,
Auto setup must again be performed.
Object description
| Index | 3212h |
| Object name | Motor Drive Flags |
| Object Code | ARRAY |
| Data type | INTEGER8 |
| Savable | yes, category: application |
| Access | read only |
| PDO mapping | no |
| Allowed values | |
| Preset value | |
| Firmware version | FIR-v1450 |
| Change history |
Firmware version FIR-v1512: The number of entries was changed from 2 to 3. |
Value description
| Subindex | 00h |
| Name | Highest Sub-index Supported |
| Data type | UNSIGNED8 |
| Access | read only |
| PDO mapping | no |
| Allowed values | |
| Preset value | 03h |
| Subindex | 01h |
| Name | Enable Legacy Power Mode |
| Data type | INTEGER8 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 00h |
| Subindex | 02h |
| Name | Override Field Inversion |
| Data type | INTEGER8 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 00h |
| Subindex | 03h |
| Name | Do Not Touch Controller Settings |
| Data type | INTEGER8 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 00h |
Description
Valid values for subindex 01h:
- Value = "0": In the "Switched on" state of the CiA 402 Power State Machine, the output voltage for the motor (PWM) is permanently set to 50%; no holding torque is built up.
- Value = "1": In the "Switched on" state of the CiA 402 Power State Machine, the output voltage for the motor (PWM) is active via the controller; holding torque is built up. The motor remains at a standstill.
Valid values for subindex 02h:
- Value = "0": Use default values of the firmware
- Value = "1": Force non-inversion of the rotating field (mathematically positive)
- Value = "-1": Force inversion of the rotating field (mathematically negative)
Valid values for subindex 03h:
- Value = "0": Auto setup detects the motor type (stepper motor or BLDC motor) and uses the corresponding pre-configured parameter set.
- Value = "1": Perform auto setup with the values for the controller that were entered in object 3210h before the auto setup; the values in 3210h are not changed.