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PD2-E/EB EtherCAT Online Manual

321Ah Current Controller Parameters

Function

Contains the parameters for the current controller (commutation). As a rule, the values for Iq (subindex 01_h/02_h) and Id (subindex 03_h/04_h) should be the same. See chapter Controller structure.

Object description


Index	321A_h
Object name	Current 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	00_h
Name	Number Of Entries
Data type	UNSIGNED8
Access	read only
PDO mapping	no
Allowed values
Preset value	04_h


Subindex	01_h
Name	Proportional Gain Kp For Iq [mV/A]
Data type	UNSIGNED32
Access	read / write
PDO mapping	no
Allowed values
Preset value	00001DB0_h PD2-EB42MB-E-x-1: 00000319_h PD2-EB42MB-ES-x-1: 00000319_h PD2-EB42MB-M-x-1: 00000319_h PD2-EB42MB-MS-x-1: 00000319_h PD2-EB42MD-E-x-1: 00000AF2_h PD2-EB42MD-ES-x-1: 00000AF2_h PD2-EB42MD-M-x-1: 00000AF2_h PD2-EB42MD-MS-x-1: 00000AF2_h PD2-EB42LB-E-x-1: 000001C2_h PD2-EB42LB-ES-x-1: 000001C2_h PD2-EB42LB-M-x-1: 000001C2_h PD2-EB42LB-MS-x-1: 000001C2_h PD2-EB42LD-E-x-1: 000006C3_h PD2-EB42LD-ES-x-1: 000006C3_h PD2-EB42LD-M-x-1: 000006C3_h PD2-EB42LD-MS-x-1: 000006C3_h PD2-EB42CD-E-x-1: 000004C1_h PD2-EB42CD-ES-x-1: 000004C1_h PD2-EB42CD-M-x-1: 000004C1_h PD2-EB42CD-MS-x-1: 000004C1_h PD2-E421M-E-x-1: 00000B53_h PD2-E421M-ES-x-1: 00000B53_h PD2-E421M-M-x-1: 00000B53_h PD2-E421M-MS-x-1: 00000B53_h PD2-E421L-E-x-1: 0000136B_h PD2-E421L-ES-x-1: 0000136B_h PD2-E421L-M-x-1: 0000136B_h PD2-E421L-MS-x-1: 0000136B_h PD2-E421D-E-x-1: 000025B6_h PD2-E421D-ES-x-1: 000025B6_h PD2-E421D-M-x-1: 000025B6_h PD2-E421D-MS-x-1: 000025B6_h


Subindex	02_h
Name	Integrator Time Ti For Iq [μs]
Data type	UNSIGNED32
Access	read / write
PDO mapping	no
Allowed values
Preset value	000018BD_h PD2-EB42MB-E-x-1: 000002A6_h PD2-EB42MB-ES-x-1: 000002A6_h PD2-EB42MB-M-x-1: 000002A6_h PD2-EB42MB-MS-x-1: 000002A6_h PD2-EB42MD-E-x-1: 00000305_h PD2-EB42MD-ES-x-1: 00000305_h PD2-EB42MD-M-x-1: 00000305_h PD2-EB42MD-MS-x-1: 00000305_h PD2-EB42LB-E-x-1: 000002DC_h PD2-EB42LB-ES-x-1: 000002DC_h PD2-EB42LB-M-x-1: 000002DC_h PD2-EB42LB-MS-x-1: 000002DC_h PD2-EB42LD-E-x-1: 0000031B_h PD2-EB42LD-ES-x-1: 0000031B_h PD2-EB42LD-M-x-1: 0000031B_h PD2-EB42LD-MS-x-1: 0000031B_h PD2-EB42CD-E-x-1: 00000321_h PD2-EB42CD-ES-x-1: 00000321_h PD2-EB42CD-M-x-1: 00000321_h PD2-EB42CD-MS-x-1: 00000321_h PD2-E421M-E-x-1: 00000552_h PD2-E421M-ES-x-1: 00000552_h PD2-E421M-M-x-1: 00000552_h PD2-E421M-MS-x-1: 00000552_h PD2-E421L-E-x-1: 00000666_h PD2-E421L-ES-x-1: 00000666_h PD2-E421L-M-x-1: 00000666_h PD2-E421L-MS-x-1: 00000666_h PD2-E421D-E-x-1: 0000085F_h PD2-E421D-ES-x-1: 0000085F_h PD2-E421D-M-x-1: 0000085F_h PD2-E421D-MS-x-1: 0000085F_h


Subindex	03_h
Name	Proportional Gain Kp For Id [mV/A]
Data type	UNSIGNED32
Access	read / write
PDO mapping	no
Allowed values
Preset value	00001DB0_h PD2-EB42MB-E-x-1: 0000027B_h PD2-EB42MB-ES-x-1: 0000027B_h PD2-EB42MB-M-x-1: 0000027B_h PD2-EB42MB-MS-x-1: 0000027B_h PD2-EB42MD-E-x-1: 00000895_h PD2-EB42MD-ES-x-1: 00000895_h PD2-EB42MD-M-x-1: 00000895_h PD2-EB42MD-MS-x-1: 00000895_h PD2-EB42LB-E-x-1: 0000015A_h PD2-EB42LB-ES-x-1: 0000015A_h PD2-EB42LB-M-x-1: 0000015A_h PD2-EB42LB-MS-x-1: 0000015A_h PD2-EB42LD-E-x-1: 0000053F_h PD2-EB42LD-ES-x-1: 0000053F_h PD2-EB42LD-M-x-1: 0000053F_h PD2-EB42LD-MS-x-1: 0000053F_h PD2-EB42CD-E-x-1: 000003B2_h PD2-EB42CD-ES-x-1: 000003B2_h PD2-EB42CD-M-x-1: 000003B2_h PD2-EB42CD-MS-x-1: 000003B2_h PD2-E421M-E-x-1: 00000B15_h PD2-E421M-ES-x-1: 00000B15_h PD2-E421M-M-x-1: 00000B15_h PD2-E421M-MS-x-1: 00000B15_h PD2-E421L-E-x-1: 000012BC_h PD2-E421L-ES-x-1: 000012BC_h PD2-E421L-M-x-1: 000012BC_h PD2-E421L-MS-x-1: 000012BC_h PD2-E421D-E-x-1: 00002505_h PD2-E421D-ES-x-1: 00002505_h PD2-E421D-M-x-1: 00002505_h PD2-E421D-MS-x-1: 00002505_h


Subindex	04_h
Name	Integrator Time Ti For Id [μs]
Data type	UNSIGNED32
Access	read / write
PDO mapping	no
Allowed values
Preset value	000018BD_h PD2-EB42MB-E-x-1: 00000220_h PD2-EB42MB-ES-x-1: 00000220_h PD2-EB42MB-M-x-1: 00000220_h PD2-EB42MB-MS-x-1: 00000220_h PD2-EB42MD-E-x-1: 0000025E_h PD2-EB42MD-ES-x-1: 0000025E_h PD2-EB42MD-M-x-1: 0000025E_h PD2-EB42MD-MS-x-1: 0000025E_h PD2-EB42LB-E-x-1: 00000233_h PD2-EB42LB-ES-x-1: 00000233_h PD2-EB42LB-M-x-1: 00000233_h PD2-EB42LB-MS-x-1: 00000233_h PD2-EB42LD-E-x-1: 00000269_h PD2-EB42LD-ES-x-1: 00000269_h PD2-EB42LD-M-x-1: 00000269_h PD2-EB42LD-MS-x-1: 00000269_h PD2-EB42CD-E-x-1: 0000026E_h PD2-EB42CD-ES-x-1: 0000026E_h PD2-EB42CD-M-x-1: 0000026E_h PD2-EB42CD-MS-x-1: 0000026E_h PD2-E421M-E-x-1: 00000535_h PD2-E421M-ES-x-1: 00000535_h PD2-E421M-M-x-1: 00000535_h PD2-E421M-MS-x-1: 00000535_h PD2-E421L-E-x-1: 0000062D_h PD2-E421L-ES-x-1: 0000062D_h PD2-E421L-M-x-1: 0000062D_h PD2-E421L-MS-x-1: 0000062D_h PD2-E421D-E-x-1: 00000838_h PD2-E421D-ES-x-1: 00000838_h PD2-E421D-M-x-1: 00000838_h PD2-E421D-MS-x-1: 00000838_h

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