Configuration data

8020:0

DCM Motor Settings Ch.1

Max. Subindex

UINT8

RO

0x0F (15_dec)

8020:01

Maximal current

Maximum permanent motor coil current
(unit: 1 mA)

UINT16

RW

0x0960 (2400_dec)

8020:02

Nominal current

Motor nominal current
(unit: 1 mA)

UINT16

RW

0x05DC (1500_dec)

8020:03

Nominal voltage

Nominal voltage (supply voltage) of the motor
(unit: 1 mV)

UINT16

RW

0x5DC0 (24000_dec)

8020:04

Motor coil resistance

Internal resistance of the motor
(unit: 0.01 ohm)

UINT16

RW

0x0064 (100_dec)

8020:05

Reduced current (positive)

Reduced torque in positive direction of rotation
(unit: 1 mA)

UINT16

RW

0x01F4 (500_dec)

8020:06

Reduced current (negative)

Reduced torque in negative direction of rotation
(unit: 1 mA)

UINT16

RW

0x01F4 (500_dec)

8020:0C

Time for switch-off at overload

Time for switch-off at overload
(unit: 1 ms)

UINT16

RW

0x00C8 (200_dec)

8020:0D

Time for current lowering at overload

Time for current lowering at overload (from max. current to nominal current,
unit: 1 ms)

UINT16

RW

0x07D0 (2000_dec)

8020:0E

Torque auto-reduction threshold (positive)

Process data threshold for automatic torque reduction in the positive direction of rotation
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8020:0F

Torque auto-reduction threshold (negative)

Process data threshold for automatic torque reduction in the negative direction of rotation
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8021:0

DCM Controller Settings Ch.1

Max. Subindex

UINT8

RO

0x12 (18_dec)

8021:01

Kp factor (curr.)

Kp control factor of the current controller

UINT16

RW

0x00C8 (200_dec)

8021:02

Ki factor (curr.)

Ki control factor of the current controller

UINT16

RW

0x0002 (2_dec)

8021:03

Inner window (curr.)

Inner window for the I component
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8021:05

Outer window (curr.)

Outer window for the I component
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8021:06

Filter cut off frequency (curr.)

Limit frequency of the current controller
(unit: 1 Hz)

UINT16

RW

0x0000 (0_dec)

8021:11

Voltage adjustment enable

Activates the compensation of voltage fluctuations (only in the operating mode "Direct velocity")

BOOLEAN

RW

0x00 (0_dec)

8021:12

Current adjustment enable

Activates the R x I compensation

BOOLEAN

RW

0x00 (0_dec)

8022:0

DCM Features Ch.1

Max. Subindex

UINT8

RO

0x3E (62_dec)

8022:01

Operation mode

Operation mode:

0: Automatic

1: Velocity direct

2: Velocity controller

3: Position controller

4 - 14: reserved

15: Chopper resistor
Existing overvoltage (10% > nominal voltage 0x8020:03) is reduced via connected chopper resistor.

BIT4

RW

0x00 (0_dec)

8022:09

Invert motor polarity

Inverts the direction of rotation of the motor

BOOLEAN

RW

0x00 (0_dec)

8022:0A

Torque error enable

Activates the automatic overload cut-off (see also subindex 0x8020:0C)

BOOLEAN

RW

0x00 (0_dec)

8022:0B

Torque auto reduce

Activates the automatic torque reduction (see also subindex 0x8020:0D - 0x8020:0F)

BOOLEAN

RW

0x00 (0_dec)

8022:11

Select info data 1

Selection "Info data 1"

0: Status word

1: Motor coil voltage

2: Motor coil current

3: Current limit

4: Control error

5: Duty cycle

6: reserved

7: Motor velocity

8: Overload time

9 - 100: reserved

101: Internal temperature

102: reserved

103: Control voltage

104: Motor supply voltage

105 - 149: reserved

150: Status word (drive controller)

151: State (drive controller)

…: reserved

UINT8

RW

0x01 (1_dec)

8022:19

Select info data 2

Selection "Info data 2"

see subindex 0x8022:11

UINT8

RW

0x02 (2_dec)

8022:30

Invert digital input 1

Inversion of digital input 1

BOOLEAN

RW

0x00 (0_dec)

8022:31

Invert digital input 2

Inversion of digital input 2

BOOLEAN

RW

0x00 (0_dec)

8022:32

Function for input 1

Function of digital input 1

0: Normal input

1: Hardware enable

…:reserved

BIT4

RW

0x00 (0_dec)

8022:36

Function for input 2

Function of digital input 2

see subindex 0x8022:32

BIT4

RW

0x00 (0_dec)

8030:0

DCM Motor Settings Ch.2

Max. Subindex

UINT8

RO

0x0F (15_dec)

8030:01

Maximal current

Maximum permanent motor coil current
(unit: 1 mA)

UINT16

RW

0x0960 (2400_dec)

8030:02

Nominal current

Motor nominal current
(unit: 1 mA)

UINT16

RW

0x05DC (1500_dec)

8030:03

Nominal voltage

Nominal voltage (supply voltage) of the motor
(unit: 1 mV)

UINT16

RW

0x5DC0 (24000_dec)

8030:04

Motor coil resistance

Internal resistance of the motor
(unit: 0.01 ohm)

UINT16

RW

0x0064 (100_dec)

8030:05

Reduced current (positive)

Reduced torque in positive direction of rotation
(unit: 1 mA)

UINT16

RW

0x01F4 (500_dec)

8030:06

Reduced current (negative)

Reduced torque in negative direction of rotation
(unit: 1 mA)

UINT16

RW

0x01F4 (500_dec)

8030:0C

Time for switch-off at overload

Time for switch-off at overload
(unit: 1 ms)

UINT16

RW

0x00C8 (200_dec)

8030:0D

Time for current lowering at overload

Time for current lowering at overload (from max. current to nominal current,
unit: 1 ms)

UINT16

RW

0x07D0 (2000_dec)

8030:0E

Torque auto-reduction threshold (positive)

Process data threshold for automatic torque reduction in the positive direction of rotation
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8030:0F

Torque auto-reduction threshold (negative)

Process data threshold for automatic torque reduction in the negative direction of rotation
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8031:0

DCM Controller Settings Ch.2

Max. Subindex

UINT8

RO

0x12 (18_dec)

8031:01

Kp factor (curr.)

Kp control factor of the current controller

UINT16

RW

0x00C8 (200_dec)

8031:02

Ki factor (curr.)

Ki control factor of the current controller

UINT16

RW

0x0002 (2_dec)

8031:03

Inner window (curr.)

Inner window for the I component
(unit: 1%)

UINT8

RW

0x00 (0_dec)

8031:05

Outer window (curr.)

Outer window for the I component
(unit: 1%)

UINT8

RW

0x00 (0_dec)

8031:06

Filter cut off frequency (curr.)

Limit frequency of the current controller
(unit: 1 Hz)

UINT16

RW

0x0000 (0_dec)

8031:11

Voltage adjustment enable

Activates the compensation of voltage fluctuations (only in the operating mode "Direct velocity")

BOOLEAN

RW

0x00 (0_dec)

8031:12

Current adjustment enable

Activates the R x I compensation

BOOLEAN

RW

0x00 (0_dec)

8032:0

DCM Features Ch.1

Max. Subindex

UINT8

RO

0x3E (62_dec)

8032:01

Operation mode

Operation mode

0: Automatic

1: Velocity direct

2: Velocity controller

3: Position controller

4 - 14: reserved

15: Chopper resistor
Existing overvoltage (10 % > nominal voltage 0x8030:03) is reduced via connected chopper resistor.

BIT4

RW

0x00 (0_dec)

8032:09

Invert motor polarity

Inverts the direction of rotation of the motor

BOOLEAN

RW

0x00 (0_dec)

8032:0A

Torque error enable

Activates the automatic overload cut-off (see also subindex 0x8030:0C)

BOOLEAN

RW

0x00 (0_dec)

8032:0B

Torque auto reduce

Activates the automatic torque reduction (see also subindex 0x8030:0D - 0x8030:0F)

BOOLEAN

RW

0x00 (0_dec)

8032:11

Select info data 1

Selection "Info data 1"

0: Status word

1: Motor coil voltage

2: Motor coil current

3: Current limit

4: Control error

5: Duty cycle

6: reserved

7: Motor velocity

8: Overload time

9 - 100: reserved

101: Internal temperature

102: reserved

103: Control voltage

104: Motor supply voltage

105 - 149: reserved

150: Status word (drive controller)

151: State (drive controller)

…: reserved

UINT8

RW

0x01 (1_dec)

8032:19

Select info data 2

Selection "Info data 2"

see subindex 0x8032:11

UINT8

RW

0x02 (2_dec)

8032:30

Invert digital input 1

Inversion of digital input 1

BOOLEAN

RW

0x00 (0_dec)

8032:31

Invert digital input 2

Inversion of digital input 2

BOOLEAN

RW

0x00 (0_dec)

8032:32

Function for input 1

Function of digital input 1

Function of digital input 1

0: Normal input

1: Hardware enable

…:reserved

BIT4

RW

0x00 (0_dec)

8032:36

Function for input 2

Function of digital input 2

see subindex 0x8032:32

BIT4

RW

0x00 (0_dec)