Settings

Operation mode

Watchdog timer active (R32.2)

Here you can deactivate the watchdog (default: active). If the DC motor output stage fails to receive process data from the controller for 100 ms when the watchdog is active, the watchdog is triggered, and the motor stops.

Signed amount representation (R32.3)

Here you can activate the signed amount representation (default: inactive).

User switch-on value active (R32.8)

You can activate the user switch-on value here (the default is inactive).

Velocity control active (R32.15)

Here you can deactivate the velocity control (default: active).

I-controller active (R32.14)

Here you can deactivate the I-controller (default: active).

Inner window for I-controller active (R32.13)

Here you can deactivate the inner window for the I-controller (default: active).

Torque monitoring active (R32.9)

Here you can activate torque monitoring (default: inactive).

Overvoltage protection active (R32.10)

Here you can activate overvoltage protection (chopper resistor) for channel 2 (default: inactive).

User scaling active (R32.0)

Here you can activate user scaling (default: inactive).

Manufacturer scaling active (R32.1)

Here you can activate manufacturer scaling (default: inactive).

User switch-on value (R35)

Here you can specify the user switch-on value for the velocity (default: 0).

Switching threshold for MixedDecay (R41)

Here you can specify the automatic switch-off threshold for MixedDecay (default: 20%).

Rated motor current (R37)

Here you can specify the rated motor current.
The default is 3500 mA

Maximum motor current (R36)

Here you can specify the maximum motor coil current.
The default is 5000 mA

Internal motor resistance (R40)

Here you can specify the internal motor resistance (default: 1 ohm).

Kp factor (R42)

Here you can specify the Kp factor for the internal velocity control (default: 1).

Inner window for I-controller (R43)

Here you can specify the Kp factor for the internal velocity control (default: 1%).
The I-component of the velocity control is attenuated towards the zero point. This register specifies the value from which the attenuation is activated.

Maximum value for I-controller (R44)

Here you can specify the maximum value for the I-component (default: 5%).

Time constant Tn for I-controller (R45)

Here you can specify the time constant Tn (default: 100).
The time constant controls the time response of the I-controller.

Maximum torque (R38)

Here you can specify the maximum torque for the application (default: 10000), see description of register R2.
If the current value (register R2) exceeds this threshold, only a warning is issued if torque monitoring is disabled (SB1.5=1 and R0.13=1). If torque monitoring is active (R32.9=1), the motor is de-energized and an error is issued (SB1.6=1 and R0.13=1).

User offset (R33)

You can specify the offset for the user-scaling here (default: 0).

User gain (R34)

Here you can specify the user scaling gain (default: 1).