321Dh Feedforward Function Contains the parameters for the feed forward. See chapter Controller structure. Object description Index 321Dh Object name Feedforward Object Code ARRAY Data type UNSIGNED16 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v2213-B1028181 Change history Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2412-B1057638: "Object Name" entry changed from "Pre-control" to "Feedforward". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Voltage Pre-control For Dq-decoupling [‰]" to "Voltage Feedforward For Dq-decoupling [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Acceleration Pre-control [‰]" to "Acceleration Feedforward [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Velocity Pre-control [‰]" to "Velocity Feedforward [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Ohmic Based Voltage Pre-control [‰]" to "Ohmic Based Voltage Feedforward [‰]". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Voltage Feedforward For Dq-decoupling [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Acceleration Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Ohmic Based Voltage Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value
321Dh Feedforward Function Contains the parameters for the feed forward. See chapter Controller structure. Object description Index 321Dh Object name Feedforward Object Code ARRAY Data type UNSIGNED16 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v2213-B1028181 Change history Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2412-B1057638: "Object Name" entry changed from "Pre-control" to "Feedforward". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Voltage Pre-control For Dq-decoupling [‰]" to "Voltage Feedforward For Dq-decoupling [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Acceleration Pre-control [‰]" to "Acceleration Feedforward [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Velocity Pre-control [‰]" to "Velocity Feedforward [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Ohmic Based Voltage Pre-control [‰]" to "Ohmic Based Voltage Feedforward [‰]". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Voltage Feedforward For Dq-decoupling [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Acceleration Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Ohmic Based Voltage Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value
Object description Index 321Dh Object name Feedforward Object Code ARRAY Data type UNSIGNED16 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v2213-B1028181 Change history Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2315-B1040535: "Data type" entry changed from "UNSIGNED32" to "UNSIGNED16". Firmware version FIR-v2412-B1057638: "Object Name" entry changed from "Pre-control" to "Feedforward". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Voltage Pre-control For Dq-decoupling [‰]" to "Voltage Feedforward For Dq-decoupling [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Acceleration Pre-control [‰]" to "Acceleration Feedforward [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Velocity Pre-control [‰]" to "Velocity Feedforward [‰]". Firmware version FIR-v2412-B1057638: "Name" entry changed from "Ohmic Based Voltage Pre-control [‰]" to "Ohmic Based Voltage Feedforward [‰]".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Voltage Feedforward For Dq-decoupling [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Acceleration Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Velocity Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Ohmic Based Voltage Feedforward [‰] Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value
