Register overview
The registers are used to parameterize the DC motor output stages. They can be read or written by means of register communication.
Register no. | Comment | Default value | R/W | Memory | |
|---|---|---|---|---|---|
Status word | 0x0000 | 0dec | R | RAM | |
Set position | 0x0000 | 0dec | R/W | RAM | |
Torque | e.g. 0x015E | e.g. 350dec | R | RAM | |
Supply voltage | e.g. 0x0030 | e.g. 48dec | R | RAM | |
R4 | reserved | - | - | - | - |
Temperature | e.g. 0x0023 | e.g. 35dec | R | RAM | |
Status byte | e.g. 0x0010 | e.g. 16dec | R | RAM | |
Command register | 0x0000 | 0dec | R/W | RAM | |
Terminal type | 0x09EE | 2542dec | R | ROM | |
Firmware version | e.g. 0x3141 | e.g. 1AASCII | R | ROM | |
R10 | Multiplex shift register | 0x0130 | 304dec | R | ROM |
R11 | Signal channels | 0x0218 | 536dec | R | ROM |
R12 | Minimum data length | 0x1800 | 6144dec | R | ROM |
R13 | Data structure | 0x0004 | 4dec | R | ROM |
R14 | reserved | - | - | - | - |
R15 | Alignment register | 0x7F80 | 32640dec | R/W | RAM |
Hardware version number | e.g. 0x0000 | e.g. 0dec | R/W | EEPROM | |
R17 | reserved | - | - | - | - |
... | ... | ... | ... | ... | ... |
R30 | reserved | - | - | - | - |
Register no. | Comment | Default value | R/W | Memory | |
|---|---|---|---|---|---|
Code word register | 0x0000 | 0dec | R/W | RAM | |
Feature register | 0x0000 | 0dec | R/W | EEPROM | |
User scaling - offset | 0x0000 | 0dec | R/W | EEPROM | |
User scaling - gain | 0x1000 | 4096dec | R/W | EEPROM | |
User's switch-on value | 0x0000 | 0dec | R/W | EEPROM | |
Maximum coil current of the motor | 0x1388 | 5000dec | R/W | EEPROM | |
Rated current of the motor | 0x0DAC | 3500dec | R/W | EEPROM | |
Maximum torque | 0x2710 | 10000dec | R/W | EEPROM | |
Chopper voltage (channel 2 only) | 0x0000 | 0dec | R/W | EEPROM | |
Internal resistance of the motor | 0x0064 | 100dec | R/W | EEPROM | |
Automatic switch-off threshold for MixedDecay | 0x0014 | 20dec | R/W | EEPROM | |
Kp factor | 0x1000 | 4096dec | R/W | EEPROM | |
Inner window of the I component | 0x0001 | 1dec | R/W | EEPROM | |
Maximum value of the I component | 0x0005 | 5dec | R/W | EEPROM | |
Time constant Tn of the I component | 0x0064 | 100dec | R/W | EEPROM | |
Time constant for deleting or limiting the maximum torque | 0x01F4 | 500dec | R/W | EEPROM | |
Time constant for limiting the rated motor current | 0x2710 | 10000dec | R/W | EEPROM | |
R48 | reserved |
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... | ... | ... | ... | ... | ... |
R61 | reserved |
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Internal parameters for current control | 0x03E8 | 1000dec | R/W | EEPROM | |
Internal parameters for current control | 0x0064 | 100dec | R/W | EEPROM | |