Configuration data

8000:0

FB Settings

Maximum subindex

UINT8

RO

0x17 (23_dec)

8000:01

Invert feedback direction

Inverting the count direction

BOOLEAN

RW

0x00 (0_dec)

8000:02

Referenced

Can be set to TRUE by the user.

Is automatically set to FALSE as soon as a motor with a deviating serial number is recognized or if the feedback is single-turn.

BOOLEAN

RW

0x00 (0_dec)

8000:0D

Offset position actual value source

Permitted values

0: Offset disabled
No position offset is used.

1: Encoder memory
The position offset from the feedback memory is used (0x9008:20)

2: Drive memory (default)
The position offset from the servo drive is used (0x8000:17)

8000:11

Device type

3: OCT (not changeable)

UINT32

RW

0x00000003 (3_dec)

8000:12

Singleturn bits

Number of single-turn-bits

UINT8

RW

0x14 (20_dec)

8000:13

Multiturn bits

Number of multi-turn-bits

UINT8

RW

0x0C (12_dec)

8000:14

Observer bandwidth

Bandwidth of observer [Hz]

UINT16

RW

0x01F4 (500_dec)

8000:15

Observer feed-forward

Load ratio[%]
100 % = free of load

50 % = moments of inertia of input and output are equal

UINT8

RW

0x01 (0_dec)

8000:17

Positon offset

The position offset is subtracted from the raw position of the encoder.

It can only be written with the axis stopped.

UINT32

RW

0x00000000 (0_dec)

8001:0

FB Touch probe Settings

Maximum subindex

UINT8

RO

0x12 (18_dec)

8001:11

Touch probe 1 source

Permitted values:

1: Touch probe input 1

UINT16

RW

0x0001 (1_dec)

8001:12

Touch probe 2 source

Permitted values:

2: Touch probe input 2

UINT16

RW

0x0002 (2_dec)

8008:0

FB OCT Settings

Maximum subindex

UINT8

RO

0x03 (3_dec)

8008:01

Enable autoconfig

Configuration takes place automatically after the reading of the electronic type plate
(see Automatic scanning of the electronic type plates)

BOOLEAN

RW

0x00 (0_dec)

8008:02

Reconfig identical motor

When replacing identical motors, reconfiguration takes place automatically after reading the electronic type plate. Enable autoconfig must be activated.
(see Automatic scanning of the electronic type plates)

BOOLEAN

RW

0x00 (0_dec)

8008:03

Reconfig non-identical motor

When replacing non-identical motors, reconfiguration takes place automatically after reading the electronic type plate. Enable autoconfig must be activated.
(see Automatic scanning of the electronic type plates)

BOOLEAN

RW

0x00 (0_dec)

8010:0

DRV Amplifier Settings

Maximum subindex

UINT8

RO

0x102 (66_dec)

8010:01

Enable TxPDOToggle

Show TxPDO toggle in status word (bit 10)

BOOLEAN

RW

0x00 (0_dec)

8010:02

Enable input cycle counter

1: activated

Two-bit counter that is incremented with each process data cycle up to a maximum value of 3, after which it starts again at 0.

The low bit is represented in bit 10 and the high bit in bit 14 of the Status word.

BOOLEAN

RW

0x00 (0_dec)

8010:11

Device type

1: Servo drive (cannot be changed)

UINT32

RW

0x00000001 (1_dec)

8010:12*

Current loop integral time

Integral component of current controller
Unit: 0.1 ms

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x000A (10_dec)

8010:13*

Current loop proportional gain

Proportional component of current controller
Unit: 0.1 V/A

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x0064 (100_dec)

8010:14

Velocity loop integral time

Integral component of velocity controller
Unit: 0.1 ms

UINT32

RW

0x00000032 (50_dec)

8010:15

Velocity loop proportional gain

Proportional component of velocity controller
Unit: mA / (rad/s)

UINT32

RW

0x00000096 (150_dec)

8010:17

Position loop proportional gain

Proportional component position controller
Unit: (rad/s) / rad

UINT32

RW

0x0000000A (10_dec)

8010:19

Nominal DC link voltage

Nominal DC link voltage
Unit: mV

UINT32

RW

0x0000BB80 (48000_dec)

8010:1A

Min DC link voltage

Minimum DC link voltage
Unit: mV

UINT32

RW

0x00001A90 (6800_dec)

8010:1B

Max DC link voltage

Maximum DC link voltage
Unit: mV

UINT32

RW

0x0000EA60 (60000_dec)

8010:29

Amplifier I2T warn level

I²T model warning threshold
Unit: %

UINT8

RW

0x50 (80_dec)

8010:2A

Amplifier I2T error level

I²T model error threshold
Unit: %

UINT8

RW

0x69 (105_dec)

8010:2B

Amplifier Temperature warn level

Overtemperature warning threshold
Unit: 0.1 °C

UINT16

RW

0x0320 (800_dec)

8010:2C

Amplifier Temperature error level

Overtemperature error threshold
Unit: 0.1 °C

UINT16

RW

0x03E8 (1000_dec)

8010:31

Velocity limitation

Velocity limitation
Unit: rpm

UINT32

RW

0x00040000 (262144_dec)

8010:32

Short-Circuit Brake duration max

Max. duration of armature short circuit brake
Unit: ms

UINT16

RW

0x03E8 (1000_dec)

8010:33

Stand still window

Standstill window
Unit: rpm

UINT16

RW

0x0000 (0_dec)

8010:39

Select info data 1

Selection "Info data 1"
Optional display of additional information in the cyclic process data.
Permitted values:

UINT8

RW

0x01 (1_dec)

1_dec: Torque current (filtered 1ms) [1000th of rated current]

2_dec: DC link voltage (mV)

4_dec: PCB temperature (0.1 °C)

5_dec:Errors:

Bit0: ADC Error
Bit1: Overcurrent
Bit2: Undervoltage
Bit3: Overvoltage
Bit4: Overtemperature
Bit5: I2T Amplifier
Bit6: I2T Motor
Bit7: Encoder
Bit8: Watchdog

6_dec:Warnings:

Bit2: Undervoltage
Bit3: Overvoltage
Bit4: Overtemperature
Bit5: I2T Amplifier
Bit6: I2T Motor
Bit7: Encoder

7_dec: I2T Motor [%]

8_dec: I2T Amplifier [%]

10_dec: Input Level:

Bit0: Digital Input 1 Level
Bit1: Digital Input 2 Level
Bit8: STO Input Level (STO variant, only)

8010:3A

Select info data 2

Selection "Info data 2"
Optional display of additional information in the cyclic process data.
Permitted values:

UINT8

RW

0x01 (1_dec)

1_dec:Torque current (filtered 1ms) [1000th of rated current]

2_dec: DC link voltage (mV)

4_dec: PCB temperature (0.1 °C)

5_dec: Errors:

Bit0: ADC Error
Bit1: Overcurrent
Bit2: Undervoltage
Bit3: Overvoltage
Bit4: Overtemperature
Bit5: I2T Amplifier
Bit6: I2T Motor
Bit7: Encoder
Bit8: Watchdog

6_dec:Warnings:

Bit2: Undervoltage
Bit3: Overvoltage
Bit4: Overtemperature
Bit5: I2T Amplifier
Bit6: I2T Motor
Bit7: Encoder

7_dec: I2T Motor [%]

8_dec: I2T Amplifier [%]

10_dec: Input Level:

Bit0: Digital Input 1 Level
Bit1: Digital Input 2 Level
Bit8: STO Input Level (STO variant, only)

8010:41

Low-pass filter frequency

Low-pass filter frequency
Unit: Hz

The following values can be set:
0 Hz = off
160 Hz
320 Hz

UINT16

RW

0x0140 (320_dec)

8010:49

Halt ramp deceleration

Halt ramp deceleration
Unit: 0.1 rad / s²

UINT32

RW

0x0000F570 (62832_dec)

8010:50

Following error window

Following error monitor: Following error window
Unit: the given value must be multiplied by the corresponding scaling factor

0xFFFFFFFF (-1_dec) = following error monitor off
Any other value = following error monitor on

UINT32

RW

0xFFFFFFFF (-1 _dec)

8010:51

Following error time out

Following error monitor: Timeout
Unit: ms

If the following error is larger than the following error window for a time that exceeds the timeout, this leads to an error reaction

UINT16

RW

0x0000 (0 _dec)

8010:52

Fault reaction option code

Permitted values
0: Disable drive function, motor is free to rotate
1: Slow down on slow down ramp

UINT16

RW

0x0000 (0 _dec)

8010:54

Feature bits

The adjustable motor current values can be interpreted as peak values or rms values. The feature bit enables the conversion.

Peak value → Bit 0 = 0 (default with EL7201-001x)
Rms value → Bit 0 = 1 (default with EL7211-001x)

In the case of the EL7201-001x the output current can be increased with the help of the ZB8610 fan cartridge.

normal output current → Bit 1 = 0 (default)
increased output current → Bit 1 = 1

From these, the following combinations can be set:

0_dec → normal output current interpreted as peak value

1_dec → normal output current interpreted as rms value

2_dec → increased output current interpreted as peak value

3_dec → increased output current interpreted as rms value

UINT32

RW

0x00000000 (0 _dec)

8010:57

Velocity feed vorward gain

Velocity pre-control
Unit: %

UINT8

RW

0x64 (100_dec)

8010:65

Invert direction of rotation

Invert direction of rotation

BOOLEAN

RW

0x00 (0_dec)

8010:66

Enable cogging torque compensation

Enable cogging torque compensation

BOOLEAN

RW

0x00 (0_dec)

8011:0

DRV Motor Settings

Maximum subindex

UINT8

RO

0x2D (45_dec)

8011:11*

Max current

Peak current
Unit: mA

The adjustable motor current values can be interpreted as peak values or rms values. The feature bit (0x8010:54) enables the conversion.

Peak value → Bit 0 = 0 (default with EL7201-001x)
Rms value → Bit 0 = 1 (default with EL7211-001x)

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT32

RW

0x00001770 (6000_dec)

8011:12*

Rated current

Rated current
Unit: mA

The adjustable motor current values can be interpreted as peak values or rms values. The feature bit (0x8010:54) enables the conversion.

Peak value → Bit 0 = 0 (default with EL7201-001x)
Rms value → Bit 0 = 1 (default with EL7211-001x)

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT32

RW

0x000003E8 (1000_dec)

8011:13*

Motor pole pairs

Number of pole pairs

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT8

RW

0x03 (3_dec)

8011:15*

Commutation offset

Commutation offset (between electrical zero position and mechanical single-turn zero position)
Unit:°

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

INT16

RW

0x0000 (0_dec)

8011:16*

Torque constant

Torque constant
Unit: mNm / A

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT32

RW

0x00000000 (0_dec)

8011:18*

Rotor moment of inertia

Mass moment of inertia of the motor
Unit: g cm^2

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT32

RW

0x00000000 (0_dec)

8011:19*

Winding inductance

Inductance
Unit: 0.1 mH

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x000E (14_dec)

8011:1B*

Motor speed limitation

Velocity limitation
Unit: rpm

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT32

RW

0x00040000 (262144_dec)

8011:29

I2T warn level

I2T model warning threshold
Unit: %

UINT8

RW

0x50 (80_dec)

8011:2A

I2T error level

I2T model error threshold
Unit: %

UINT8

RW

0x69 (105_dec)

8011:2B*

Motor Temperature warn level

Overtemperature warning threshold
Unit: 0.1 °C

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x03E8 (1000_dec)

8011:2C*

Motor Temperature error level

Overtemperature error threshold
Unit: 0.1 °C

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x05DC (1500_dec)

8011:2D*

Motor thermal time constant

Thermal time constant
Unit: 0.1 s

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x0028 (40_dec)

8012:0

DRV Brake Settings

Maximum subindex

UINT8

RO

0x14 (20_dec)

8012:01

Enable manual override

Manual release of the motor holding brake

BOOLEAN

RW

0x00 (0_dec)

8012:02

Manual brake state

0: Release
Release the brake

1: Apply
Apply the brake

BOOLEAN

RW

0x00 (0_dec)

8012:11*

Release delay

Time the holding brake requires for opening (releasing) after the current was applied

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x0000 (0_dec)

8012:12*

Application delay

Time the holding brake requires for closing (holding) after the current was switched off

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x0000 (0_dec)

8012:13

Emergency application timeout

Time the amplifier waits, until the rotation speed reaches the stand still window after stop request (set rotation speed 0 or Torque off). If the set waiting time is exceeded, the holding brake is triggered independently of the rotation speed.

Note:
For rotatory axes and the setting „torque off“ in error case, this parameter has to be set at least to the „coast to the stop“ time of the axis.

For suspended (hanging) axes and the setting „torque off“ in error case, this parameter has to be set to an appropriate short time, to prevent the axis/load from drop/fall.

UINT16

RW

0x0000 (0_dec)

8012:14*

Brake moment of inertia

Mass moment of inertia of the brake
Unit: g cm^2

This value is affected by automatic scanning.
(see Automatic scanning of the electronic type plates)

UINT16

RW

0x0000 (0_dec)

8030:0

DMC Settings

Maximum subindex

UINT8

RO

0x14 (20_dec)

8030:07

Emergency deceleration

Deceleration for the emergency stop ramp. (In ms from rated motor speed to standstill)

Unit: 1 ms

UINT16

RW

0x64 (100_dec)

8030:08

Calibration position

If homing is successful, the "Actual position" is set to this value.

INT64

RW

0x0000000000000000 (0_dec)

8030:09

Calibration velocity (towards plc cam)

Velocity on contact with the cam in 10000ths of the rated motor speed

INT16

RW

0x0064 (100_dec)

8030:0A

Calibration velocity (off plc cam)

Velocity on separation from the cam in 10000ths of the rated motor speed

INT16

RW

0x000A (10_dec)

8030:0E

Modulo factor

Feedback increments for one mechanical revolution

INT64

RW

0x0000000100000000 (4294967296_dec)

8030:12

Block calibration torque limit

Torque limitation for approaching the end stop. In 1000ths of the rated motor current.

UINT16

RW

0x64 (100_dec)

8030:13

Block calibration stop distance

After reaching the calibration position, the axis moves out of the end position by this distance.

INT64

RW

0x0000000100000000 (4294967296_dec)

8030:14

Block calibration lag threshold

If this lag distance is exceeded, the axis is in the end position

INT64

RW

0x0000000100000000 (4294967296_dec)

8030:15

Target position window

Target position window:

The In-Target bit is set when the axis is within this window for at least the time set under 0x8030:16.

INT64

RW

0x16c16c1

8030:16

Target position monitor time

s. 0x8030:15 time in

Unit: ms

UINT16

RW

0x0014 (20_dec)

8030:17

Target position timeout

When the set value generator has reached its end position
and the axis is not in the target window after this time has elapsed,
the task is terminated and the in-target bit is not set.

UINT16

RW

0x1770 (6000_dec)

8031:0

DMC Features

Maximum subindex

UINT8

RO

0x1B (27_dec)

8031:13

Invert calibration cam search direction

Invert travel direction to search for limit switch
(Default: FALSE = search with positive direction of rotation)

BOOLEAN

RW

0x00 (0_dec)

8031:14

Invert sync impulse search direction

Direction of rotation to leave the limit switch
(Default: TRUE = leave in the negative direction of rotation)

BOOLEAN

RW

0x01 (1_dec)

8031:19

Calibration cam source

Source for the reference switch

0: Input 1
1: Input 2

ENUM8

RW

0x00 (0_dec)

8031:1A

Calibration cam active level

State of the reference switch in the actuated state

0: Hi
1: Low

ENUM8

RW

0x00 (0_dec)

8031:B

Latch source

Source for the latch unit

0: Input 1
1: Input 2

ENUM8

RW

0x00 (0_dec)