Technical Manual PD4-E-M (EtherCAT)10 Description of the object dictionary• Subindex 07h: (Closed loop) Proportional component of the current controller of the torque-formingcomponent• Subindex 08h: (Closed loop) Integral component of the current controller of the torque-formingcomponent• Subindex 09h: (Open loop) Proportional component of the current controller of the field-buildingcomponent• Subindex 0Ah: (Open loop) Integral component of the current controller of the field-formingcomponent• Subindex 0Bh: (Closed loop) Speed feed forward in tenths of a percent. Default is 1000 and, thus, afactor of 1.• Subindex 0Ch: (Closed loop) Acceleration feed forward. Default is 0 (feed forward inactive). Itapplies during deceleration as well.3212h Motor Drive FlagsFunctionThis object is used to specify whether or not auto setup is to adapt the controller parameters. Thedirection of the rotating field can also be changed.NoteChanges in subindex 02h do not take effect until after the controller is restarted. Afterwards, Autosetup must again be performed.Object descriptionIndex 3212hObject name Motor Drive FlagsObject Code ARRAYData type INTEGER8Savable yes, category: applicationAccess read onlyPDO mapping noAllowed valuesPreset valueFirmware version FIR-v1450Change history Firmware version FIR-v1512: The number of entries was changedfrom 2 to 3.Firmware version FIR-v1738-B501312: "Name" entry changed from"Enable Legacy Power Mode" to "Reserved".Value descriptionSubindex 00hName Highest Sub-index SupportedData type UNSIGNED8Access read onlyPDO mapping noVersion: 1.0.1 / FIR-v1748 194
