3210h Motor Drive Parameter Set
Function
Contains the P and I components of the current, distance and position controllers for open loop (only current controller activated) and closed loop.
Object description
| Index | 3210h |
| Object name | Motor Drive Parameter Set |
| Object Code | ARRAY |
| Data type | UNSIGNED32 |
| Savable | yes, category: application |
| 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". |
Value description
| Subindex | 00h |
| Name | Highest Sub-index Supported |
| Data type | UNSIGNED8 |
| Access | read only |
| PDO mapping | no |
| Allowed values | |
| Preset value | 0Ah |
| Subindex | 01h |
| Name | Position Loop, Proportional Gain (closed Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
| Subindex | 02h |
| Name | Position Loop, Integral Gain (closed Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 00000000h |
| Subindex | 03h |
| Name | Velocity Loop, Proportional Gain (closed Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
| Subindex | 04h |
| Name | Velocity Loop, Integral Gain (closed Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
| Subindex | 05h |
| Name | Flux Current Loop, Proportional Gain (closed Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
| Subindex | 06h |
| Name | Flux Current Loop, Integral Gain (closed Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
| Subindex | 07h |
| Name | Torque Current Loop, Proportional Gain (closed Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
| Subindex | 08h |
| Name | Torque Current Loop, Integral Gain (closed Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
| Subindex | 09h |
| Name | Torque Current Loop, Proportional Gain (open Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
| Subindex | 0Ah |
| Name | Torque Current Loop, Integral Gain (open Loop) |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value |
|
Description
- Subindex 00h: Number of entries
- Subindex 01h: Proportional component of the S-controller (position)
- Subindex 02h: Integral component of the S-controller (position)
- Subindex 03h: Proportional component of the V-controller (speed)
- Subindex 04h: Integral component of the V-controller (speed)
- Subindex 05h: (Closed loop) Proportional component of the current controller of the field-forming component
- Subindex 06h: (Closed loop) Integral component of the current controller of the field-forming component
- Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-forming component
- Subindex 08h: (Closed loop) Integral component of the current controller of the torque-forming component
- Subindex 09h: (Open loop) Proportional component of the current controller of the field-building component
- Subindex 0Ah: (Open loop) Integral component of the current controller of the field-forming component