Register description

All registers can be read or written via register communication. They are used for the parameterization of the terminal.

R0: Status word

The status word contains information about internal states, and provides an indication of errors that have occurred.

Bit

R0.15

R0.14

R0.13

R0.12

R0.11

R0.10

R0.9

R0.8

Name

-

NoControl Power

Torque Overload

Over Current

Under Voltage

Over Voltage

Low Voltage

Over Temperature

Bit

R0.7

R0.6

R0.5

R0.4

R0.3

R0.2

R0.1

R0.0

Name

-

-

-

-

-

-

-

-

Key

Bit

Name

Description

R0.15

-

reserved

R0.14

NoControl Power

1bin

The 24 V control voltage is not present at the power contacts

R0.13

Torque Overload

1bin

Torque is greater than specified in R38

R0.12

Over Current

1bin

Overcurrent in the driver stage

R0.11

Under Voltage

1bin

Supply voltage less than 7 V

R0.10

Over Voltage

1bin

Supply voltage greater than 15% of the switch-on voltage (with R39=0) or greater than specified in R39 (with R39<>0)

R0.9

Low Voltage

1bin

The supply voltage is 10 V less than the switch-on voltage

R0.8

Over Temperature

1bin

The internal temperature of the terminal is greater than 80 °C (see R5)

R0.0 - R0.7

-

reserved

R1: Set position

You can specify the desired position, with which the terminal is to be loaded, here.

R2: Torque

This register always contains the last and maximum value of the previous milliseconds (register R46) for the current torque. This value is unitless, normalized relative to 1000, and always positive. It is calculated as follows:

1.0

M = | E x 1000 / VC |

 

where

 

 

1.1

E = VC - VG

 

1.2

VC = VS x DataOUT / 32767

 

with

M

Torque (magnitude)

[M] = 1

E

Control error

[E] = 1 V

VS

Supply voltage

[VS] = 1 V

VG

Countervoltage of the motor

[VG] = 1 V

VC

Set velocity (set voltage, relative to the process data)

[VC] = 1 V

R3: Supply voltage

Enables reading of the motor supply voltage. The unit is 1 mV (for example: 4800 = 48 V).

R5: Temperature register

The internal temperature of the terminal can be read, in °C, through register R6. The terminal will set bit SB.5 in the status byte as a warning if the temperature exceeds the threshold of 80°C. When the temperature falls back below 60°C, bit SB.5 will automatically be reset.

R6: Status byte

The status byte of the relevant channel is mapped here in addition.

R7: Command register

Register description 1:

User code word

For the following commands to be executed, it is first necessary for the user code word, 0x1235, to be entered into register R31.

Command 0x7000: Restore Factory Settings

Entering 0x7000 in register R7 restores the factory settings for the following registers of both channels:

R32: 0dec
R33: 0dec
R34: 4096dec
R35: 0dec
R36: 5000dec
R37: 3500dec
R38: 10000dec
R39: 0dec

R40: 100dec
R41: 20dec
R42: 4096dec
R43: 1dec
R44: 5dec
R45: 100dec
R46: 500dec
R47: 10000dec

Register description 2:

Restore Factory Settings

The command Restore Factory Settings simultaneously resets both channels of the DC motor output stage terminal to the delivery state, irrespective of which register set it is called!

Command 0x8000: Software Reset

Entering 0x8000 in register R7 initiates a full software reset for the terminal. All internal variables (positions, latched values, errors, etc.) are cleared or are set to defined values that are read from the EEPROM. The internal circuits (D/A converter, output driver) are reinitialized during a software reset.

CAUTION

Danger to persons and machines!

During a software reset the motor is de-energized. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out!

R8: Terminal type

The terminal name is contained in register R8:
0x09EE (2542dec)

R9: Firmware version

Register R9 contains the ASCII coding of the terminal's firmware version, e.g. 0x3141 = '1A'. The '0x31' corresponds here to the ASCII character '1', while the '0x41' represents the ASCII character 'A'.
This value can not be changed.

R16: Hardware version number

Register R16 contains the hardware version of the terminal.

R31: Code word register

If you write values into the user registers without first entering the user code word (0x1235) into the code word register, the terminal will not accept the supplied data. The code word is reset if the terminal is restarted.

R32: Feature register

The feature register specifies the terminal's configuration.

Bit

R32.15

R32.14

R32.13

R32.12

R32.11

R32.10

R32.9

R32.8

Name

disVelocity Controller

disIPart

disIWindow

-

-

enChopper

enTorque Error

enUser StartValue

Bit

R32.7

R32.6

R32.5

R32.4

R32.3

R32.2

R32.1

R32.0

Name

-

-

-

-

enAverage Notation

disWatchdog

enManu Scale

enUser Scale

Key

Bit

Name

Description

default

R32.15

disVelocity Controller

1bin

Velocity control is deactivated (proportional and integral component), see R42

0bin

R32.14

disIPart

1bin

I component of the velocity control is deactivated (see R44 + R45)

0bin

R32.13

disIWindow

1bin

Inner window of the I component is deactivated (see R43)

0bin

R32.11 - R32.12

-

reserved

R32.10

enChopper

1bin

Chopper resistor is active (overvoltage protection, channel 2 only, see R39)

0bin

R32.9

enTorque Error

1bin

Torque cutoff active (see R38)

0bin

R32.8

enUser StartValue

1bin

User switch-on value active (see R35)

0bin

R32.4 - R32.7

-

reserved

R32.3

enAverage Notation

1bin

Signed amount representation active

0bin

R32.2

disWatchdog

1bin

Internal 100 ms watchdog deactivated

0bin

R32.1

enManuScale

1bin

Manufacturer scaling is active

0bin

R32.0

enUserScale

1bin

User scaling active (see R33+ R34)

0bin

R33: User scaling - offset

Here you can enter the user scaling offset, if user scaling is enabled (R32.0=1) (default: 0x0000). Examples:

hex

...

0xFFFD

0xFFFE

0xFFFF

0x0000

0x0001

0x0002

...

Offset

...

-3

-2

-1

0

1

2

...

R34: User scaling - gain

Here you can enter the user scaling gain, if user scaling is activated (R32.0=1) is (default 4096dec).
Examples:

hex

0x0001

0x0800

0x0FFF

0x1000

0x1001

0x1800

0x2000

0xFFFF

dec

1dec

2048dec

4095dec

4096 dec

4097dec

6144dec

8192dec

65535dec

Offset

0.0002

0.5

0.0098

1

1.0002

1.5

2

15.9998

R35: User's switch-on value

If the activated watchdog (R32.2 = 0bin) is triggered after 100 ms due to a fieldbus or Terminal Bus error, this value becomes the output value.

R36: Maximum coil current of the motor

This register specifies the maximum coil current of the motor. The unit is 1 mA (example: 1500dec = 1.5 A).
5000 mA max.

R37: Rated current of the motor

This register specifies the rated current of the motor. The unit is 1 mA (example: 1,000dec = 1.0 A).
3500 mA max.

R38: Maximum torque

This register is used for configuring the maximum permitted torque for the application (default: 10000dec), see register description R2

If the current value (register R2) exceeds this threshold, with R32.9=0 only a warning is issued (SB1.5=1 and R0.13=1). If torque cutoff is active (R32.9=1), the motor is de-energized and an error is issued (SB1.6=1 and R0.13=1).

R39: Chopper voltage (channel 2 only)

If the supply voltage increases above the set chopper voltage due to feedback, the second channel (chopper resistor must be connected) is fully opened and the overvoltage reduced, provided the chopper function is activated (R32.10=1).

R40: Internal resistance of the motor

This register contains the internal resistance of the motor (default: 100dec).
The unit is 0.01 ohm (example: 100dec = 1.00 ohm).

R41: Automatic switch-off threshold for MixedDecay

MixedDecay: To avoid motor resonances at low speed, the motor is controlled via two pulsed transistors per half-wave.

This register contains the threshold at which the MixedDecay function of the motor controller chip is automatically deactivated (default: 20dec).
The unit is 1% (example: 20 = 20%).

R42: Kp factor

This register contains the Kp factor of the internal velocity control (default: 4096dec).
The unit is 1 / 4096 (example: 4096dec => Kp = 1.00).

R43: Inner window of the I component

The I-component of the velocity control is reduced towards zero (default: 1dec). This register specifies the value from which the attenuation is activated.
The unit is 1% (example: 1 = 1%).

R44: Maximum value of the I component

This register specifies the maximum value of the I-component (default: 5dec).
The unit is 1% (example: 5dec = 5%).

R45: Time constant Tn of the I component

This register controls the dynamic response of the I-controller (default: 100dec).
The unit is 1 (example: 100dec = 100).

R46: Time constant for deleting or limiting the maximum torque

The maximum torque is stored in register R2 for the time set in this register (default: 500dec).

The unit is 1 ms (example: 500 = 0.5 s).

The saved torque is then deleted and overwritten with the next larger value.
If torque cutoff is active, the motor is de-energized if the current torque for this time is greater than the value set in register R38.

R47: Time constant for limiting the rated motor current

The terminal energizes a connected motor with increasing mechanical load up to the current set in register R36. If this mechanical load is maintained, the motor current is reduced to the rated current via a 1/T function after this set time (default: 10,000dec).
The unit is 1 ms (example: 10000 = 10 s).

R62, R63: Internal parameters for current control

These registers are used internally by the terminal for current control and must not be modified!