Settings in the CoE register

(Master TwinCAT 2.11 R3)

The data given here serve as an example for a servomotor type AM8131-0F20-0001 from Beckhoff Automation. For other motors the values may vary, depending on the application.

Table of contents
Inserting the motor XML file Adaptation of current and voltage Setting further parameters Single turn bits / Multi turn bits Torque limitation Integral velocity controller component Tn Proportional velocity controller component Kp

Inserting the motor XML file

	Downloading the EL72x1-xxxx motor XML files The motor XML files are available for download from the Beckhoff website.

To facilitate commissioning of the EL72x1-xxxx servo terminal, motor XML files are provided for the servomotors that are supported by the EL72x1-xxxx. The XML files can be read in the System Manager.
All CoE parameters and DS402 parameters are then set as required.

To read the motor XML file select the EL72x1-xxxx and open the Startup tab. Right-click in the empty field and select Import from XML...(see Fig. Importing the motor XML file).

Settings in the CoE register 2: — Importing the motor XML file

Select the motor XML file that matches the connected motor (see Fig. Selecting the correct motor XML file)

Settings in the CoE register 3: — Selecting the correct motor XML file

All required parameters are then set, and the motor can be put into operation (see Fig. CoE parameters of the motor XML file).

Settings in the CoE register 4: — CoE parameters of the motor XML file

	Startup list Any further application-specific settings should also be implemented in the Startup list. Otherwise the modified settings will be overwritten next time the terminal starts up.

Adaptation of current and voltage

Notice

The motor may overheat!

In order to prevent overheating of the connected motor, it is important to adjust the voltage of the servo terminal to the actually connected voltage.

This requires the index 0x8010:19 (0x2002:19, DS402 profile) "Nominal DC Link Voltage" of the connected voltage to be set accordingly

Setting further parameters

Single-turn Bits (MDP742: Index 0x8000:12 / DS402: Index 0x2010:12) / Multi-turn Bits (MDP742: Index 0x8000:13 / DS402: Index 0x2010:13)

Here the user can specify how many single-turn and multi-turn bits the terminal should display. A total of 32 bits are available. These 32 bits can be subdivided as required.
The standard setting is 20 single-turn bits and 12 multi-turn bits.

Singleturn bits: number of bits relating to the resolution of one rotor rotation.

Multiturn bits: after a rotor rotation the multi-turn bits are incremented by one.

	The motor may overheat! If the number of single-turn bits is changed, the scaling factor in the NC has to be adjusted

Settings in the CoE register 7: — Multi-turn / single-turn bits:

Torque limitation (MDP742: Index 0x7010:0B / DS402: Index 0x6072:0)

Limits the current / torque to this value. The value is specified in 1000th of the rated current.

Integral velocity controller component Tn (MDP742: Index 0x8010:14 / DS402: Index 0x2002:14)

The values specified here are exemplary, although in most cases they have led to excellent results. Depending on the application, other values may yield better results.

Reduce the value, until the motor starts to oscillate slightly. Then increase the value by 10%.

Proportional velocity controller component Kp (MDP742: Index 0x8010:15 / DS402: Index 0x2002:15)

The values specified here are exemplary, although in most cases they have led to excellent results. Depending on the application, other values may yield better results.

Increase the value, until the motor starts to oscillate slightly. Then reduce the value by 80%.