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 (disabled)	0x2010:1	REAL	32	0		1159479296		readwrite
In the case of using predictive controllers for current loop the unit is undefined, and the default value is 2500. Moreover, Increasing this parameter directly amplifies the amplitude of applied voltages, and as a result has an effect similar to Kp in the case of using a PID controller. 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 (disabled)	0x2010:2	REAL	32	0		1193033728		readwrite
The unit of this gain is 0.16 [uV/(Second * Amp_rms)]. The default value is 40000. 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 (disabled)	0x2010:3	REAL	32	0		0		readwrite
This parameter is undefined for predictive current controller. 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 enabled	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	100	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	50000	0	rpm	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	50000	0	rpm	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
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Switching frequency	0x2010:9	USINT	8	16 kHz 0 32 kHz 1 64 kHz 2				readwrite
Select the switching frequency for the 3 motor phases (A, B, C).
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Settling time	0x2010:10	UINT	16	100	10000	2000	μs	readwrite
Settling time of current loop controllers. This value should be entered in [micro seconds]
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Damping ratio	0x2010:11	UINT	16	100	10000	2000		readwrite
Damping ratio of current loop controllers. This value should be entered in [per mill]. As an example, if a damping ratio of 1.5 is required, then this value should be set to 1500.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Encoder source	0x2010:12	USINT	8	No encoder 0 Encoder 1 1 Encoder 2 2				readwrite
Select which encoder should be used for torque control. Must be mounted to the motor shaft. Used for commutation.