Technical Manual PD4-E-M (EtherCAT)
10 Description of the object dictionary
•
Subindex 07
h
: (Closed loop) Proportional component of the current controller of the torque-forming
component
•
Subindex 08
h
: (Closed loop) Integral component of the current controller of the torque-forming
component
•
Subindex 09
h
: (Open loop) Proportional component of the current controller of the field-building
component
•
Subindex 0A
h
: (Open loop) Integral component of the current controller of the field-forming
component
•
Subindex 0B
h
: (Closed loop) Speed feed forward in tenths of a percent. Default is 1000 and, thus, a
factor of 1.
•
Subindex 0C
h
: (Closed loop) Acceleration feed forward. Default is 0 (feed forward inactive). It
applies during deceleration as well.
3212h Motor Drive Flags
Function
This object is used to specify whether or not auto setup is to adapt the controller parameters. The
direction of the rotating field can also be changed.
Note
Changes in subindex 02
h
do not take effect until after the controller is restarted. Afterwards, Auto
setup must again be performed.
Object description
Index
3212
h
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.
Firmware version FIR-v1738-B501312: "Name" entry changed from
"Enable Legacy Power Mode" to "Reserved".
Value description
Subindex
00
h
Name
Highest Sub-index Supported
Data type
UNSIGNED8
Access
read only
PDO mapping
no
Version: 1.0.1 / FIR-v1748
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