Configuration data

2002:0

Amplifier Settings

Maximum subindex

UINT8

RO

0x54 (84_dec)

2002:11

Device type

1: Servo drive (cannot be changed)

UINT32

RO

0x00000001 (1_dec)

2002:12

Current loop integral time

Current controller integral action time (Tn)
Unit: 0.1 ms

UINT16

RW

0x000A (10_dec)

2002:13

Current loop proportional gain

Proportional component of current controller
Unit: 0.1 V/A

UINT16

RW

0x0064 (100_dec)

2002:14

Velocity loop integral time

Speed controller integral action time (Tn)
Unit: 0.1 ms

UINT32

RW

0x00000032 (50_dez)

2002:15

Velocity loop proportional gain

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

UINT32

RW

0x00000096 (150_dec)

2002:19

Nominal DC link voltage

Nominal DC link voltage
Unit: mV

UINT32

RW

0x0000BB80 (48000_dec)

2002:1A

Min DC link voltage

Minimum DC link voltage
Unit: mV

UINT32

RW

0x00001A90 (6800_dec)

2002:1B

Max DC link voltage

Maximum DC link voltage
Unit: mV

UINT32

RW

0x0000EA60 (60000_dec)

2002:29

Amplifier I2T warn level

I²T model warning threshold
Unit: %

UINT8

RW

0x50 (80_dec)

2002:2A

Amplifier I2T error level

I²T model error threshold
Unit: %

UINT8

RW

0x69 (105_dec)

2002:2B

Amplifier temperature warn level

Overtemperature warning threshold
Unit: 0.1 °C

UINT16

RW

0x0320 (800_dec)

2002:2C

Amplifier temperature error level

Overtemperature error threshold
Unit: 0.1 °C

UINT16

RW

0x03E8 (1000_dec)

2002:31

Velocity limitation

Velocity limitation
Unit: rpm

UINT32

RW

0x00040000 (262144_dec)

2002:32

Short circuit brake duration max

Max. duration of armature short circuit brake
Unit: ms

UINT16

RW

0x03E8 (1000_dec)

2002:33

Stand still window

Standstill window
Unit: rpm

UINT16

RW

0x0000 (0_dec)

2002:41

Low-pass filter frequency

Low-pass filter frequency
Unit: Hz

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

UINT16

RW

0x0140 (320_dec)

2002:49

Halt ramp deceleration

Halt ramp deceleration
Unit: 0.1 rad / s²

UINT32

RW

0x0000F570 (62832_dec)

2002:53

Position loop proportional gain

Proportional part of position controller
Unit: mA / (rad/s)

UINT32

RW

0x00000000 (0_dec)

2002:54

Feature bits

The feature bit switches:
Peak value → Bit 0 = 0 (default for EL7201-000x)
RMS value → Bit 0 = 1 (default for EL7211-000x)

With the help of the fan cartridge ZB8610, it is possible to increase the output current of the EL7201-000x

rated output current (2.8 A_rms) → Bit 1 = 0 (default)
increased output current (4.5 A_rms) → Bit 1 = 1

The following combination are possible:

0_dec → rated output current,
interpretation as peak value
1_dec → rated output current,
interpretation as RMS value
2_dec →increased output current,
interpretation as peak value
3_dec → increased output current,
interpretation as RMS value

UINT32

RW

0x00000000 (0_dec)

2003:0

Motor Settings

Maximum subindex

UINT8

RO

0x2D (45_dec)

2003:11

Max current

Peak current
Unit: mA

The adjustable motor current values can be interpreted as a peak value or RMS value.

The feature bit (0x2002:54) switches:
Peak value → Bit 0 = 0 (default for EL7201)
RMS value → Bit 0 = 1 (default for EL7201)

UINT32

RW

0x00001770 (6000_dec)

2003:13

Motor pole pairs

Number of pole pairs

UINT8

RW

0x03 (3_dec)

2003:15

Commutation offset

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

INT16

RW

0x0000 (0_dec)

2003:16

Torque constant

Torque constant
Unit: mNm / A

UINT32

RW

0x00000000 (0_dec)

2003:18

Rotor moment of inertia

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

UINT32

RW

0x00000000 (0_dec)

2003:19

Winding inductance

Inductance
Unit: 0.1 mH

UINT16

RW

0x000E (14_dec)

2003:29

Motor I2T warn level

I2T model warning threshold
Unit: %

UINT8

RW

0x50 (80_dec)

2003:2A

Motor I2T error level

I2T model error threshold
Unit: %

UINT8

RW

0x69 (105_dec)

2003:2D

Motor thermal time constant

Thermal time constant
Unit: 0.1 s

UINT16

RW

0x0028 (40_dec)

2004:0

Brake Settings

Maximum subindex

UINT8

RO

0x14 (20_dec)

2004:01

Manual override (release)

Release the motor holding brake manually

BOOLEAN

RW

0x00 (0_dec)

2004:11

Release delay

This object describes the time that the holding brake needs to open (to be released) after voltage is applied

UINT16

RW

0x0000 (0_dec)

2004:12

Application delay

This object describes the time that the holding brake needs to close (to be applied) after voltage is removed

UINT16

RW

0x0000 (0_dec)

2004:13

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)

2004:14

Brake moment of inertia

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

UINT16

RW

0x0000 (0_dec)

2010:0

Feedback Settings

Maximum subindex

UINT8

RO

0x13 (19_dec)

2010:01

Invert feedback direction

Inverting the count direction

BOOLEAN

RW

0x00 (0_dec)

2010:11

Device type

1: Resolver (cannot be changed)

UINT32

RO

0x00000001 (1_dec)

2010:12

Singleturn bits

Number of single- and multi-turn-bits

UINT8

RW

0x14 (20_dec)

2010:13

Multiturn bits

UINT8

RW

0x0C (12_dec)

2018:0

Resolver Settings

Maximum subindex

UINT8

RO

0x14 (20_dec)

2018:01

Invert feedback direction

Inverting the count direction

BOOLEAN

RW

0x00 (0_dec)

2018:02

Enable automatic gain control

Activate automatic gain adjustment

BOOLEAN

RW

0x01 (1_dec)

2018:11

Bandwith

Resolver bandwidth [1 Hz]

UINT16

RW

0x01F4 (500_dec)

2018:12

Resolver gain adjustment

Sine and cosine signal level adaptation

REAL32

RW

0x3F800000 (1065353216_dec)

2018:13

Resolver phase shift

Nominal resolver phase shift

INT8

RW

0x00 (0_dec)

2018:14

Observer feed-forward

Pre-control for speed monitor
Unit: %

UINT8

RW

0x32 (50_dec)