0x2010 Torque Controller

Range of all torque controller gains is 0 to 100,000,000

Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Controller Kp	0x2010:1	REAL	32	0		0		readonly (default)
Range of this torque controller gain is 0 to 100,000,000.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Controller Ki	0x2010:2	REAL	32	0		0		readonly (default)
Range of this torque controller gain is 0 to 100,000,000.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Controller Kd	0x2010:3	REAL	32	0		0		readonly (default)
Range of this torque controller gain is 0 to 100,000,000.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Field Weakening Enable	0x2010:4	UDINT	32	Disabled 0 Enabled 1				readwrite
In many applications, it is required to extend the velocity range of an electric motor. This parameter enables or disables “Field Weakening”, a feature that increases the speed range of a PM motor by weakening the magnetic field of the rotor linearly over the speed range. The user should set 3 parameters: 1. Field Weakening Starting Speed (Subitem 6) 2. Field Weakening Ending Speed (Subitem7) 3. Percentage of Field Weakening (f) (Subitem 5) Note: While the field weakening feature is enabled, it is assumed that the Drive is in its normal conditions with no fault.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Field Weakening Percentage	0x2010:5	UDINT	32			0		readwrite
Percentage of Field weakening. This field can have an integer value in the range of [0-100], and determines the "RMS" value of phase currents which are (only) generated to weaken the field. For example, if set to 10, then 10% of rated current will be injected in motor phases to weaken the rotor field. WARNING: Based on motor type, values more than 25% can lead to instability of torque control service. While tuning, proceed with "small steps", "limited power supply voltage" and "limited power supply current".
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Field Weakening Starting Speed	0x2010:6	UDINT	32			0		readwrite
Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point).
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Field Weakening Ending Speed	0x2010:7	UDINT	32			0		readwrite
Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point).
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Commutation Angle Measurement Delay	0x2010:8	UDINT	32			0	μs	readwrite