本页属于 对象字典参考 的一部分；参数名与默认值保留 EDS 原文，索引与含义以设备实际固件为准。
0x3000 · 校准控制
0x3000 · Calibration Control（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x03 |
— |
| 01 |
Calibration sub mode |
0x0006 UNSIGNED16 |
RW |
— |
0x0000 |
— |
| 02 |
Calibration status |
0x0006 UNSIGNED16 |
RO |
✓ |
0x0000 |
— |
| 03 |
Supported modes |
0x0007 UNSIGNED32 |
RO |
✓ |
0x005C |
— |
0x3001–0x3008 · 校准参数
0x3001 · Resistance Calibration Parameters（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x04 |
— |
| 01 |
Current ratio 1 |
0x0007 UNSIGNED32 |
RW |
— |
400 |
— |
| 02 |
Current ratio 2 |
0x0007 UNSIGNED32 |
RW |
— |
800 |
— |
| 03 |
Settle time |
0x0007 UNSIGNED32 |
RW |
— |
100 |
— |
| 04 |
Measure time |
0x0007 UNSIGNED32 |
RW |
— |
2000 |
— |
0x3002 · Inductance Calibration Parameters（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x03 |
— |
| 01 |
Hf voltage |
0x0007 UNSIGNED32 |
RW |
— |
5000 |
— |
| 02 |
Hf frequency |
0x0007 UNSIGNED32 |
RW |
— |
2000 |
— |
| 03 |
Measure samples |
0x0007 UNSIGNED32 |
RW |
— |
80 |
— |
0x3003 · Encoder Direction Calibration Parameters（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x03 |
— |
| 01 |
Current ratio |
0x0007 UNSIGNED32 |
RW |
— |
800 |
— |
| 02 |
Number of rounds |
0x0007 UNSIGNED32 |
RW |
— |
1 |
— |
| 03 |
Forward velocity |
0x0007 UNSIGNED32 |
RW |
— |
10000 |
— |
0x3004 · Hall Sensor Calibration Parameters（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x03 |
— |
| 01 |
Current ratio |
0x0007 UNSIGNED32 |
RW |
— |
800 |
— |
| 02 |
Velocity |
0x0007 UNSIGNED32 |
RW |
— |
10000 |
— |
| 03 |
Number of rounds |
0x0007 UNSIGNED32 |
RW |
— |
2 |
— |
0x3005 · Phase Scale Calibration Parameters（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x02 |
— |
| 01 |
Current ratio |
0x0007 UNSIGNED32 |
RW |
— |
800 |
— |
| 02 |
Velocity |
0x0007 UNSIGNED32 |
RW |
— |
10000 |
— |
0x3006 · Encoder Linearization Calibration Parameters（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x02 |
— |
| 01 |
Current ratio |
0x0007 UNSIGNED32 |
RW |
— |
300 |
— |
| 02 |
Velocity |
0x0007 UNSIGNED32 |
RW |
— |
6283 |
— |
0x3007 · Cogging Calibration Parameters（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x04 |
P |
| 01 |
Current ratio |
0x0007 UNSIGNED32 |
RW |
— |
800 |
P |
| 02 |
Velocity |
0x0007 UNSIGNED32 |
RW |
— |
50000 |
P |
| 03 |
Distance |
0x0007 UNSIGNED32 |
RW |
— |
100000 |
P |
| 04 |
H2 speed gain |
0x0007 UNSIGNED32 |
RW |
— |
0 |
P |
0x3008 · Flux Linkage Calibration Parameters（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x05 |
— |
| 01 |
currentRatio |
0x0007 UNSIGNED32 |
RW |
— |
800 |
— |
| 02 |
velocity1 |
0x0007 UNSIGNED32 |
RW |
— |
60000 |
— |
| 03 |
velocity2 |
0x0007 UNSIGNED32 |
RW |
— |
180000 |
— |
| 04 |
settleTime |
0x0007 UNSIGNED32 |
RW |
— |
300 |
— |
| 05 |
measureTime |
0x0007 UNSIGNED32 |
RW |
— |
500 |
— |
0x3011–0x3013 · 辨识与校准结果
0x3011 · Motor Identification Results（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x06 |
P |
| 01 |
Stator resistance |
0x0007 UNSIGNED32 |
RW (TPDO) |
✓ |
2645 |
P |
| 02 |
Direct inductance |
0x0007 UNSIGNED32 |
RW (TPDO) |
✓ |
535 |
P |
| 03 |
Quadrature inductance |
0x0007 UNSIGNED32 |
RW (TPDO) |
✓ |
535 |
P |
| 04 |
Flux linkage |
0x0007 UNSIGNED32 |
RW |
✓ |
9698 |
P |
| 05 |
Torque constant |
0x0007 UNSIGNED32 |
RW |
✓ |
4570 |
P |
| 06 |
Encoder direction |
0x0004 INTEGER32 |
RW |
✓ |
0 |
P |
0x3012 · Encoder Linearization LUT（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x04 |
P |
| 01 |
Offset compensation enable |
0x0005 UNSIGNED8 |
RW |
— |
0x00 |
P |
| 02 |
Lut table size |
0x0006 UNSIGNED16 |
RO |
— |
0x0400 |
P |
| 03 |
Offset array |
0x000F DOMAIN |
RW |
— |
— |
P |
| 04 |
Encoder raw offset |
0x0004 INTEGER32 |
RW |
— |
0 |
P |
0x3013 · Position Sensor Calibration Results（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x0B |
P |
| 01 |
Hall sensor offset 1 |
0x0004 INTEGER32 |
RW |
✓ |
0 |
P |
| 02 |
Hall sensor offset 2 |
0x0004 INTEGER32 |
RW |
✓ |
0 |
P |
| 03 |
Hall sensor gain 1 |
0x0004 INTEGER32 |
RW |
✓ |
2048 |
P |
| 04 |
Hall sensor gain 2 |
0x0004 INTEGER32 |
RW |
✓ |
2048 |
P |
| 05 |
Hall cross |
0x0004 INTEGER32 |
RW (TPDO) |
✓ |
0 |
P |
| 06 |
Cosine offset 1 |
0x0004 INTEGER32 |
RW |
✓ |
0 |
P |
| 07 |
Cosine offset 2 |
0x0004 INTEGER32 |
RW |
✓ |
0 |
P |
| 08 |
Cosine gain 1 |
0x0004 INTEGER32 |
RW |
✓ |
2048 |
P |
| 09 |
Cosine gain 2 |
0x0004 INTEGER32 |
RW |
✓ |
2048 |
P |
| 0A |
Cosine cross |
0x0004 INTEGER32 |
RW (TPDO) |
✓ |
0 |
P |
| 0B |
Position sensor calibration enable |
0x0005 UNSIGNED8 |
RW (TPDO) |
✓ |
0 |
P |
0x3014–0x3015 · 相位标度与齿槽 LUT
0x3014 · Phase Scale Results（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x03 |
P |
| 01 |
Phase scale |
0x0007 UNSIGNED32 |
RW |
✓ |
250000 |
P |
| 02 |
Encoder rad offset |
0x0004 INTEGER32 |
RW |
✓ |
0 |
P |
| 03 |
Position max |
0x0007 UNSIGNED32 |
RW |
✓ |
0 |
P |
0x3015 · Cogging LUT（RECORD）
| 子索引 |
名称 |
类型 |
访问 |
PDO |
默认值 |
备注 |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x04 |
P |
| 01 |
Cogging compensation enable |
0x0005 UNSIGNED8 |
RW |
— |
0x00 |
P |
| 02 |
Lut table size |
0x0006 UNSIGNED16 |
RO |
— |
0x0168 |
P |
| 03 |
Cogging array |
0x000F DOMAIN |
RW |
— |
— |
P |
| 04 |
Cogging verification attenuation |
0x0003 INTEGER16 |
RO |
— |
— |
P |
