Objects for parameterization

8000:08

Disable filter

Deactivates the input filter.

-

BOOL

FALSE

8000:0A

Enable micro increments

Enables extrapolation of the "Counter value". The lower 8 bits of the counter value are extrapolated.

-

BOOL

FALSE

8000:0E

Reversion of rotation

Inverts the counting direction of the encoder.

-

BOOL

FALSE

8010:01

Maximal current

The maximum current that the current controller outputs per motor winding.

The maximum value that should be entered here is the nominal motor current.

mA

UINT

1000_dec

8010:02

Reduced current

Setpoint for the winding current when the motor is at standstill.

mA

UINT

1000_dec

8010:03

Nominal voltage

The DC link voltage U_P

1 mV

UINT

50000_dec

8010:06

Motor fullsteps

Number of full steps per motor revolution.

-

UINT

200_dec

8010:07

Encoder increments (4-fold)

Number of encoder increments per revolution with 4-fold evaluation.
Usually this is the resolution (ppr) of the encoder multiplied by 4.

-

UINT

4096_dec

8010:09

Start velocity

Maximum possible start velocity of the motor.

UINT

0

8010:10

Drive on delay time

Delay between enabling of the driver stage (variable "Enable") and setting the "Ready" status bit to 1.

ms

UINT

100_dec

8010:11

Drive off delay time

Delay between setting the "Ready" status bit to 0 and disabling the driver stage.

ms

UINT

150_dec

01

Operation mode

Operation mode

0_dec: Automatic
1_dec: Velocity direct
2_dec: Velocity controller
3_dec: Position controller

-

USINT

0_dec

05

Speed range

The maximum step frequency that EPP7041-x002 outputs.

Full steps / s

USINT

1_dec

08

Feedback type

Possible values:

0: "Encoder"
1: "Internal counter"

-

USINT

1_dec

09

Invert motor polarity

Reverses the direction of rotation of the motor.

-

BOOL

FALSE

11

Select info data 1

This value determines the content of the variable "Info data 1" in the process data object "STM Synchron info data".

Possible values:

0_dec: Status word
7_dec: Motor velocity
11_dec: Motor load
13_dec: Motor dc current
101_dec: Internal temperature
103_dec: control voltage
104_dec: Motor supply voltage
150_dec: Drive – Status word
151_dec: Drive – State
152_dec: Drive - Position lag (low word)
153_dec: Drive - Position lag (high word)

-

USINT

11_hex

19

Select info data 2

This value determines the content of the variable "Info data 2" in the process data object "STM Synchron info data".

Possible values: see subindex 11 "Select info data 1"

-

USINT

13_dec

30

Invert digital input 1

Invert digital input 1.

-

BOOL

FALSE

31

Invert digital input 2

Invert digital input 2.

-

BOOL

FALSE

32

Function for input 1

0_dec: Normal input (factory setting)
1_dec: Hardware enable
2_dec: PLC cam
3_dec: Auto start

-

BOOL

FALSE

36

Function for input 2

0_dec: Normal input (factory setting)
1_dec: Hardware enable
2_dec: PLC cam
3_dec: Auto start

-

BOOL

FALSE

3A

Function for output 1

0_dec: Normal output
1_dec: Break (linked with driver enable)
15_dec: Disabled (factory setting)

-

BOOL

FALSE

8013:01

Kp factor (velo./pos.)

Proportional component of the velocity controller / position controller.

0.001

UINT

1000_dec

8013:02

Ki factor (velo./pos.)

Integral component of the velocity controller / position controller.

0.001

UINT

0

8013:03

Inner window (velo./pos.)

Inner window of the integral component.

1%

UINT

0

8013:05

Outer window (velo./pos.)

Outer window of the integral component.

1%

UINT

0

8013:06

Filter cut off frequency (velo./pos.)

Filter limit frequency of the velocity controller / position controller.

1 Hz

UINT

0

8013:07

Ka factor (velo./pos.)

Acceleration component of the velocity controller / position controller.

0.001

UINT

0

8013:08

Kd factor (velo./pos.)

Braking component of the velocity controller / position controller.

0.001

UINT

0