Configuration data

8000:0

FB Settings

Maximum subindex

UINT8

RO

0x13 (19_dec)

8000:01

Invert feedback direction

Inverting the count direction

BOOLEAN

RW

0x00 (0_dec)

8000:11

Device type

1: Resolver (cannot be changed)

UINT32

RO

0x00000001 (1_dec)

8000:12

Singleturn bits

Number of single- and multi-turn-bits

UINT8

RW

0x14 (20_dec)

8000:13

Multiturn bits

UINT8

RW

0x0C (12_dec)

8008:0

FB Resolver Settings

Maximum subindex

UINT8

RO

0x14 (20_dec)

8008:01

Invert feedback direction

Inverting the count direction

BOOLEAN

RW

0x00 (0_dec)

8008:02

Enable automatic gain control

Activate automatic gain adjustment.

BOOLEAN

RW

0x01 (1_dec)

8008:11

Bandwidth

Resolver bandwidth [1 Hz]

UINT16

RW

0x01F4 (500_dec)

8008:12

Resolver gain adjustment

Sine and cosine signal level adaptation

REAL32

RW

0x3F800000 (1065353216_dec)

8008:13

Resolver phase shift

Nominal resolver phase shift

INT8

RW

0x00 (0_dec)

8008:14

Observer feed-forward

Pre-control for speed monitor
Unit: %

UINT8

RW

0x32 (50_dec)

8010:0

DRV Amplifier Settings

Maximum subindex

UINT8

RO

0x54 (84_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: active

A two bit counter is incremented with each process data cycle and switches to 0 after its maximum value of 3.

The low bit is displayed in bit 10 and the high bit is displayed in bit 14 of the status word.

BOOLEAN

RW

0x00 (0_dez)

8010:03

Enable output cycle counter

reserved

BOOLEAN

RW

0x00 (0_dez)

8010:11

Device type

1: Servo drive (cannot be changed)

UINT32

RO

0x00000001 (1_dec)

8010:12

Current loop integral time

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

UINT16

RW

0x000A (10_dec)

8010:13

Current loop proportional gain

Proportional component of current controller
Unit: 0.1 V/A

UINT16

RW

0x0064 (100_dec)

8010:14

Velocity loop integral time

Speed controller integral action time (Tn)
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)

8010:19

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

0x00004FB0 (20400_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

0x02BC (700_dec)

8010:2C

Amplifier Temperature error level

Overtemperature error threshold
Unit: 0.1 °C

UINT16

RW

0x0352 (850_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. The following parameters are available.

UINT8

RW

0x01 (1_dec)

Torque current (filtered 1 ms)

DC link voltage [mV]

PCB temperature [0,1 °C]

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

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

8010:3A

Select info data 2

Selection "Info data 2"
Optional display of additional information in the cyclic process data. The following parameters are available.

UINT8

RW

0x01 (1_dec)

Torque current (filtered 1 ms)

DC link voltage [mV]

PCB temperature [0,1 °C]

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

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

8010:41

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)

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)

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

8010:52

Fault reaction option code

Possible values:

0: Disable drive function, motor is free to rotate

1: Slow down on slow down ramp

UINT16

RW

0x0000 (0_dec)

8010:53

Position loop proportional gain

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

UINT32

RW

0x00000000 (0_dec)

8010:54

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)

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 a peak value or RMS value.

The feature bit (0x8010:54) switches:
Peak value → Bit 0 = 0 (default for EL7201)
RMS value → Bit 0 = 1 (default for EL7211)

UINT32

RW

0x00001770 (6000_dec)

8011:12

Rated current

Rated current
Unit: mA

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

The feature bit (0x8010:54) switches:
Peak value → Bit 0 = 0 (default for EL7201)
RMS value → Bit 0 = 1 (default for EL7211)

UINT32

RW

0x000003E8 (1000_dec)

8011:13

Motor pole pairs

Number of pole pairs

UINT8

RW

0x03 (3_dec)

8011:15

Commutation offset

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

INT16

RW

0x0000 (0_dec)

8011:16

Torque constant

Torque constant
Unit: mNm / A

UINT32

RW

0x00000000 (0_dec)

8011:18

Rotor moment of inertia

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

UINT32

RW

0x00000000 (0_dec)

8011:19

Winding inductance

Inductance
Unit: 0.1 mH

UINT16

RW

0x000E (14_dec)

8011:1B

Motor speed limitation

Velocity limitation
Unit: rpm

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)

8011:2D

Motor thermal time constant

Thermal time constant
Unit: 0.1 s

UINT16

RW

0x0028 (40_dec)

8012:0

DRV Brake Settings

Maximum subindex

UINT8

RO

0x14 (20_dec)

8012:01

Manual override (release)

Manual release of the motor holding brake

BOOLEAN

RW

0x00 (0_dec)

8012:11

Release delay

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

UINT16

RW

0x0000 (0_dec)

8012:12

Application delay

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

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

UINT16

RW

0x0000 (0_dec)