Configuration data

8000:0

FB Settings

Observer settings

UINT8

RO

0x16 (22_dec)

8000:11

Device type

Description of available feedback profiles (incremental encoder and Hall sensor)

UINT32

RW

0x00000605 (1541_dec)

8000:14

Observer bandwidth

Bandwidth of the speed observer [Hz]

Typical value range: 200..500 Hz

UINT16

RW

0x00C8 (200_dec)

8000:15

Observer feed-forward

Load ratio [%]

100% = load-free

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

Pre-control for velocity measurement.

UINT8

RW

0x00 (0_dec)

8000:16

Sub-increment bits

Bitwise shift to left from target and actual position and following error

UINT8

RW

0x00 (0_dec)

8001:0

FB Touch probe Settings

UINT8

RO

0x12 (18_dec)

8001:11

Touch probe 1 source

permitted values:

INT16

RW

0x0001 (1_dec)

1

Touch probe input 1

2

Hardware zero impulse

8001:12

Touch probe 2 source

permitted values:

INT16

RW

0x0001 (1_dec)

1

Touch probe input 1

2

Hardware zero impulse

8008:0

FB Settings ENC

UINT8

RO

0x13 (19_dec)

8008:01

Invert feedback direction

Inversion of the encoder counting direction. Adjusted by the Scan Feedback feature.

BOOLEAN

RW

0x00 (0_dec)

8008:02

Enable power supply

Enablement of the encoder supply voltage

BOOLEAN

RW

0x00 (0_dec)

8008:05

Enable ENC C input

Enablement of the C-input of the terminal for the evaluation of the C-track on the incremental encoder

BOOLEAN

RW

0x01 (1_dec)

8008:11

Supply voltage output

Voltage level of the encoder supply [mV]

Typical value range: 2..24 V

UINT32

RW

0x00001388 (5000_dec)

8008:12

Encoder type

Definition of encoder signal types

UINT16

RW

0x0004 (4_dec)

0

disabled

1

RS422 differential

2

TTL single ended

3

HTL differential

4

HTL single ended

5

RS422 differential – high impedance input

6

TTL single ended – input filters disabled

7

open collector

8008:13

Encoder Increments per Revolution

Resolution of the encoder after 4-fold evaluation

UINT32

RW

0x00001000 (4096_dec)

800A:0

FB Settings Hall

Settings for the Hall sensors

UINT8

RO

0x14 (20_dec)

800A:02

Enable power supply

Enablement of the Hall sensor supply voltage

BOOLEAN

RW

0x00 (0_dec)

800A:05

Enable extrapolation

Extrapolation of the measured values of the Hall sensor.

This does not improve the physical resolution.

BOOLEAN

RW

0x00 (0_dec)

800A:11

Supply voltage output

Voltage level of the Hall sensor supply [mV]

Typical value range: 2…24 V

UINT32

RW

0x00001388 (5000_dec)

800A:12

phasing

Arrangement of the Hall sensors. Determined by the Scan Feedback function.

See chapter Scan Feedback.

UINT8

RW

0x01 (1_dec)

0

A-B: 60° / B-C: 60°

1

A-B: 120° / B-C: 120°

2

A-B: 240° / B-C: 240°

3

A-B: 300° / B-C: 300°

4

A-B: 60° / B-C: 240°

5

A-B: 120° / B-C: 300°

6

A-B: 240° / B-C: 60°

7

A-B: 300° / B-C: 120°

800A:13

Hall commutation adjust

Commutation offset of the Hall sensors in 60° increments. Determined by the Scan Feedback function.

See chapter Scan Feedback.

UINT8

RW

0x00 (0_dec)

0

0°

1

60°

2

120°

3

180°

4

240°

5

300°

800A:14

Hall sensor type

Enable or disable the open-collector Hall sensor inputs

UINT8

RW

0x01 (1_dec)

0

disabled

1

open collector

8010:0

DRV Amplifier Settings

Amplifier settings

UINT8

RO

0x64 (100_dec)

8010:01

Enable TxPDOToggle

Enable or disable the TxPDO toggle in bit 10 of the status word

BOOLEAN

RW

0x00 (0_dec)

8010:02

Enable input cycle counter

1: enabled

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)

8010:04

Repeat find commutation

Repeat the commutation angle determination. (Effective for all FOC operation modes)

BOOLEAN

RW

0x01 (1_dec)

8010:05

Enable cogging torque compensation

Enable or disable the cogging torque compensation (for FOC operation modes only).

BOOLEAN

RW

0x00 (0_dec)

8010:12

Current loop integral time

Integral component of current controller [0.1 ms]

UINT16

RW

0x000A (10_dec)

8010:13

Current loop proportional gain

Proportional component of current controller [0.1 V/A]

UINT16

RW

0x000A (10_dec)

8010:14

Velocity loop integral time (current mode)

Integral component of velocity controller [0.1 ms]

(For operation modes with FOC. See chapter Selection of the operation mode)

UINT32

RW

0x00000032 (50_dec)

8010:15

Velocity loop proportional gain (current mode)

Proportional component of velocity controller [µA/(°/s)]

(For operation modes with FOC. See chapter Selection of the operation mode)

UINT32

RW

0x00000014 (20_dec)

8010:17

Position loop proportional gain

Proportional component position controller. Unit: (°/s) / °

UINT32

RW

0x0000000A (10_dec)

8010:19

Nominal DC link voltage

Supplied DC link voltage [mV]

UINT32

RW

0x0000BB80 (48000_dec)

8010:1A

Min DC link voltage

Minimum DC link voltage [mV]

UINT32

RW

0x00001A90 (6800_dec)

8010:1B

Max DC link voltage

Maximum DC link voltage [mV]

UINT32

RW

0x0000EA60 (60000_dec)

8010:29

Amplifier I2T warn level

I²T model warning threshold [%]

UINT8

RW

0x50 (80_dec)

8010:2A

Amplifier I2T error level

I²T model error threshold [%]

UINT8

RW

0x69 (105_dec)

8010:2B

Amplifier Temperature warn level

Terminal overtemperature warning threshold [0.1 °C]

UINT16

RW

0x0320 (800_dec)

8010:2C

Amplifier Temperature error level

Terminal overtemperature error threshold [0.1 °C]

UINT16

RW

0x03E8 (1000_dec)

8010:31

Velocity limitation

Limitation of the velocity setpoint [rpm]

(effective only in CSV and CSP mode)

UINT32

RW

0x000186A0 (100000_dec)

8010:33

Stand still window

Standstill window [rpm]

Velocity range for which the axis is considered to be at a standstill.

UINT16

RW

0x0000 (0_dec)

8010:39

Select info data 1

Selection of "Info data 1"

Optional display of additional information in the cyclic process data. The following parameters are available:

UINT8

RW

0x02 (2_dec)

2

DC link voltage [mV]

4

PCB temperature - internal terminal temperature [0.1 °C]

7

I2T Motor [%]

8

I2T Amplifier [%]

10

Digital inputs

Bit0: Digital Input 1 Level

Bit1: Digital Input 2 Level

Bit2: Fan Status (EL7411 only)

Bit3: unused

Bit4: Encoder A

Bit5: Encoder B

Bit6: Encoder C

Bit7: unused

Bit8: Hall Sensor U

Bit 9: Hall Sensor V

Bit 10: Hall Sensor W

Bit 11: unused

Bit 12: Hardware Enable Input Level (required for the STO functionality)

12

Phase Voltage U [mV]

13

Phase Voltage V [mV]

14

Phase Voltage W [mV]

8010:3A

Select info data 2

Selection of "Info data 2"

Optional display of additional information in the cyclic process data. The following parameters are available:

UINT8

RW

0x04 (4_dec)

2

DC link voltage [mV]

4

PCB temperature - internal terminal temperature [0.1 °C]

7

I²T Motor [%]

8

I²T Amplifier [%]

10

Digital inputs

Bit0: Digital Input 1 Level

Bit1: Digital Input 2 Level

Bit2: Fan Status (EL7411 only)

Bit3: unused

Bit4: Encoder A

Bit5: Encoder B

Bit6: Encoder C

Bit7: unused

Bit8: Hall Sensor U

Bit 9: Hall Sensor V

Bit 10: Hall Sensor W

Bit 11: unused

Bit 12: Hardware Enable Input Level (required for the STO functionality)

12

Phase Voltage U

13

Phase Voltage V

14

Phase Voltage W

8010:50

Following error window

Following error monitor: Following error window

Unit: Reference to increments of the raw position data. Can be scaled in the PLC if necessary.

0xFFFFFFFF (-1dec) = following error monitor off

Any other value = following error monitoring on [Inc]

Applies in conjunction with following error timeout 8010:51.

UINT32

RW

0xFFFFFFFF (-1_dec)

8010:51

Following error time out

Following error monitor: Timeout [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)

8010:54

Feature bits

Reserved

UINT32

RW

0x00000000 (0_dec)

8010:57

Position loop velocity feed forward gain

Velocity pre-control of the position controller [%].

UINT8

RW

0x64 (100_dec)

8010:58

Select info data 3

Selection of "Info data 3"

Optional display of additional information in the cyclic process data. The following parameters are available:

UINT8

RW

0x07 (7_dec)

2

DC link voltage (mV)

4

PCB temperature (0.1 °C)

7

I2T Motor

8

I2T Amplifier

10

Digital inputs

Bit0: Digital Input 1 Level

Bit1: Digital Input 2 Level

Bit2: Fan Status (EL7411 only)

Bit3: unused

Bit4: Encoder A

Bit5: Encoder B

Bit6: Encoder C

Bit7: unused

Bit8: Hall Sensor U

Bit 9: Hall Sensor V

Bit 10: Hall Sensor W

Bit 11: unused

Bit 12: Hardware Enable Input Level (required for the STO functionality)

12

Phase Voltage U

13

Phase Voltage V

14

Phase Voltage W

8010:59

Error suppression mask

Error suppression mask

Bit 0: Suppresses detection of a cable breakage of the motor phases

Bit 1: Suppresses commutation angle monitoring

UINT32

RW

0x00000000 (0_dec)

8010:5A

Velocity loop integral time (voltage mode)

Integral component of velocity controller [0.1 ms] (for operation modes with six-step. See chapter Selection of the operation mode)

UINT32

RW

0x000001F4 (500_dec)

8010:5B

Velocity loop proportional gain (voltage mode)

Proportional component of velocity controller [μV/(°/s)] (for operation modes with six-step. See chapter Selection of the operation mode)

UINT32

RW

0x00000064 (100_dec)

8010:5C

Velocity loop voltage feed forward gain (voltage mode)

Velocity pre-control of the velocity controller [%]

(For operation modes with six-step. See chapter Selection of the operation mode)

UINT8

RW

0x32 (50_dec)

8010:5E

Sensorless offset voltage scaling

Configures the voltage output at standstill [%].

UINT16

RW

0x0032 (50_dec)

8010:5F

Sensorless observer bandwidth

Bandwidth of the position/velocity observer in sensorless mode [Hz].

UINT16

RW

0x0064 (100_dec)

8010:60

Sensorless max acceleration

Maximum acceleration in sensorless operation [°/s²].

UINT32

RW

0x000186A0 (100000_dec)

8010:61

Cogging torque compensation

Contains the coefficients of the cogging torque compensation. These are determined by the Cogging Scan function. See chapter Scan Motor Cogging.

OCTET-STRING[16]

RW

{0}

8010:62

Position loop deadband window

Deadband window of the position controller [Inc]

For position deviations smaller than the defined range applies (if set velocity is in the "Standstill window" (see parameter: 8010:33)

0 - 75% position controller switched off

75 - 100% linear transition of the position controller gain

UINT32

RW

0x00000000 (0_dec)

8010:63

Find commutation time

Defines the time for determining the commutation angle [0.1 s]

This process is divided into two phases. In total, it takes twice the time specified here. Required time depends on the application.

UINT16

RW

0x0009 (9_dec)

8010:64

Commutation type

Method for determining the commutation angle:

UINT8

RW

0x01 (1_dec)

1

FOC with incremental encoder

2

Six-Step with Hall

3

Six-step sensorless

4

FOC with incremental encoder and Hall

8011:0

DRV Motor Settings

Motor settings

UINT8

RO

0x31 (49_dec)

8011:11

Max current

Peak current of the motor [mA].

Limitation by maximum output current of the EL7411.

The motor current values are to be specified as peak value.

UINT32

RW

0x00001770 (6000_dec)

8011:12

Rated current

Nominal current of the motor [mA], corresponds to the maximum continuous motor output current.

The motor current values are to be specified as peak value.

Target Torque, Torque actual value and Torque limitation are scaled relative to the rated current in per mill.

UINT32

RW

0x000003E8 (1000_dec)

8011:13

Motor pole pairs

Number of pole pairs

UINT8

RW

0x01 (1_dec)

8011:16

Torque constant

Torque constant [mNm/A]

UINT32

RW

0x00000032 (50_dec)

8011:18

Rotor moment of inertia

Mass moment of inertia of the motor including mechanism [g cm²]

UINT32

RW

0x00000064 (100_dec)

8011:19

Winding inductance

Winding inductance [0.01 mH]

UINT16

RW

0x0064 (100_dec)

8011:1B

Motor speed limitation

Motor speed limitation [rpm]

UINT32

RW

0x000186A0 (100000_dec)

8011:29

I2T warn level

I²T motor warning threshold [%]

UINT8

RW

0x50 (80_dec)

8011:2A

I2T error level

I²T motor error threshold [%]

UINT8

RW

0x69 (105_dec)

8011:2D

Motor thermal time constant

Motor thermal time constant of the winding [0.1 s]

UINT16

RW

0x0028 (40_dec)

8011:2E

Rated speed

Nominal speed [rpm]

UINT32

RW

0x000003E8 (1000_dec)

8011:2F

Rated voltage

Nominal motor voltage [mV]

UINT32

RW

0x0000BB80 (48000_dec)

8011:30

Winding resistance

Winding resistance, phase - phase [mΩ]

UINT32

RW

0x000003E8 (1000_dec)

8011:31

Voltage constant

Voltage constant [μV/min^(-1) ]

Specifies the voltage induced by the motor as a generator (counter-electromotive force).

UINT32

RW

0x0000BB80 (48000_dec)

8012:0

DRV brake settings

Brake settings

UINT8

RO

0x14 (20_dec)

8012:01

Manual override (release)

Manual release of the motor brake.

Intended for commissioning purposes.

BOOLEAN

RW

0x00 (0_dec)

8012:11

Release delay

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

UINT16

RW

0x0000 (0_dec)

8012:12

Application delay

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

UINT16

RW

0x0000 (0_dec)

8012:13

Emergency application timeout

Time that the amplifier waits until the speed reaches the standstill window after the stop request. The holding brake is triggered irrespective of the speed if the set waiting time is exceeded. [ms]

Note:

This parameter must be adjusted to at least the longest time for the axis to run down.

In the case of suspended axes, this parameter should be set to a very short time in order to prevent the axis/load from sagging.

UINT16

RW

0x0000 (0_dec)

8012:14

Brake moment of inertia

Moment of inertia of the motor brake [g cm²]

UINT16

RW

0x0000 (0_dec)

8040:0

DMC Settings

Settings for Drive Motion Control.

UINT8

RW

0x17 (23_dec)

8040:07

Emergency deceleration

Deceleration for the emergency stop ramp.

Indication in milliseconds from nominal motor speed to standstill.

UINT16

RW

0x64 (100_dec)

8040:08

Calibration position

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

It is basically displayed unscaled in 64 bits. Scaling: The 32 low-order bits refer to single-turn revolution, the 32 high-order bits to multi-turn revolutions.

UINT64

RW

0x00 (0_dec)

8040:09

Calibration velocity (towards plc cam)

Speed for driving on the referencing cams.

Is specified in 10,000ths of 0x8011:1B "Motor speed limitation".

UINT16

RW

0x64 (100_dec)

8040:0A

Calibration velocity (off plc cam)

Speed to drive down from the referencing cam.

Is specified in 10,000ths of 0x8011:1B "Motor speed limitation".

UINT16

RW

0x0A (10_dec)

8040:0E

Modulo factor

Modulo factor for modulo travel commands. The default value of 2^32 corresponds to a single-turn revolution and thus e.g. 360°.

UINT64

RW

0x100000000 (4294967296_dec)

8040:12

Block calibration torque limit

Torque limitation for block calibration. The value is specified in 1000ths of 0x8011:12 "Rated current"

UINT16

RW

0x64 (100_dec)

8040:13

Block calibration stop distance

Specifies the distance by which to move out of the block after calibration.

Scaling see 0x8040:08.

UINT64

RW

0x100000000 (4294967296_dec)

8040:14

Block calibration lag threshold

Maximum permissible position lag during block calibration.

Scaling see 0x8040:08.

UINT64

RW

0x100000000 (4294967296_dec)

8040:15

Target position window

General position target window for travel commands for reaching the InTarget state. Scaling see 0x8040:08. The "Target position window" is valid in connection with 0x8040:16 "Target position monitor time".

UINT64

RW

0x16C16C1 (23860929_dec)

8040:16

Target position monitor time

The actual position must be within the position target window 0x8040:15 for the specified time to reach the InTarget state. Unit: ms.

UINT16

RW

0x14 (20_dec)

8040:17

Target position timeout

Specifies the time for the timer to start when the setpoint generator reaches the target position. If the InTarget condition (see 0x8040:15 and 0x8040:16) is not reached within this time, the travel command is aborted. The function block for the travel command returns an error. Unit: ms.

UINT16

RW

0x1770 (6000_dec)

8041:0

DMC Features

Drive Motion Control functions

UINT8

RW

0x1B (27_dec)

8041:13

Invert calibration cam search direction

For the default homing sequence the direction for referencing cam search can be inverted.

• FALSE: the cam is looked for in the direction of positive movement.
• TRUE: the cam is looked for in the direction of negative movement.

BOOLEAN

RW

0x00 (0_dec)

8041:14

Invert sync impulse search direction

For the default homing sequence the direction for sync pulse search can be inverted.

• FALSE: sync pulse is looked for in the direction of positive movement.
• TRUE: sync pulse is looked for in the direction of negative movement.

BOOLEAN

RW

0x01 (1_dec)

8041:19

Calibration cam source

Signal source of the referencing cam:

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

8041:1A

Calibration cam active level

Signal level of the referencing cam that is evaluated as "active".

UINT8

RW

0x00 (0_dec)

8041:1B

Latch source

Signal source of the latch signal:

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

F800:0

FAN Settings

Fan settings

UINT8

RO

0x11 (17_dec)

F800:01

Select function of Fan mode/Standard output

Select fan output function:

BIT4

RW

0x01 (1_dec)

0

Fan mode

1

Digital output

F800:05

Select function of fan diag/Standard input

Select fan input function:

BIT4

RW

0x01 (1_dec)

0

Fan diag

1

Digital input

F800:11

Fan behaviour

Fan behavior

UINT8

RW

0x0D (13_dec)

0

Controlled by fan temperature sensor

1

Always on - low speed

4

Always on - mid speed

9

Always on - full speed

10

Controlled by terminal temperature

13

No fan installed