OD_3210_00 Motor Drive Parameter Set
Function
Contains the P and I components of the current, speed and position controllers for open loop (only current controller activated) and closed loop.
Note:
For firmware versions from FIR-v19xx upwards, the new schema for the controller structure applies.
The old control parameters (object 3210h) are activated in the factory settings for compatibility reasons. For new applications, Nanotec recommends using the new control parameters.
To use the new parameters, you must set 3210h:07h (for closed loop) or 3210h:09h (for open loop) to "0". The old values are converted and entered in the new object 320Eh or 320Fh. You must save both objects.
Object description
| Index | 3210h |
| Object name | Motor Drive Parameter Set |
| Object Code | ARRAY |
| Data type | UNSIGNED32 |
| Savable | yes, category: application |
| Access | read only |
| PDO mapping | RX-PDO |
Value description
| Subindex | 00h |
| Name | Highest Sub-index Supported |
| Data type | UNSIGNED8 |
| Access | read only |
| PDO mapping | RX-PDO |