Configuration objects

0

PWM Settings Ch.n

USINT

RO

0x22 (34_dec)

03

Enable Dithering

Enables dithering. Dithering is a square wave signal that is modulated onto the current signal.

See chapter Dithering.

BOOL

RW

00

05

Watchdog

Enables the watchdog.

The watchdog sets the output to a defined value if EtherCAT communication is interrupted.

See chapter Behavior on EtherCAT failure: watchdog.

Possible values:

• 0_dec: Default Watchdog Value
• 1_dec: Watchdog Ramp Active
• 2_dec: Last Output Value Active

USINT

RW

0x0 (0_dec)

07

Operation Mode

Operation mode. Possible values:

• 0: "Current Control"
  The output operates as a PWM-controlled current output.
  Use "PWM Output" to specify the output current.
• 1: "Voltage Control"
  The output operates as a regular PWM output.
  Use "PWM Output" to specify the duty cycle.

USINT

RW

0x0 (0_dec)

09

Enable Feedforward

Enables the feedforward pre-control for the ohmic resistance of the load.

Before enabling, set the parameter 8pp0:19 "Coil Resistance" correctly.

BOOL

RW

00

0B

Offset

User calibration offset in [mA].

INT

RW

0x0 (0_dec)

0C

Gain

User calibration gain.

DINT

RW

0x10000 (65536_dec)

0D

Default Output

Parameter for the watchdog. See chapter Behavior on EtherCAT failure: watchdog.

INT

RW

0x0 (0_dec)

0E

Default Output Ramp

Parameter for the watchdog. See chapter Behavior on EtherCAT failure: watchdog.

UINT

RW

0xFFFF (65535_dec)

10

Max Current

Maximum output current.

Specification in % of the parameter 8ppF:06 "Nominal Current" (2 A)

USINT

RW

0x64 (100_dec)

12

Kp Factor

Proportional component of the current controller.

UINT

RW

0xFA (250_dec)

13

Ki Factor

Integral component of the current controller.

UINT

RW

0x4 (4_dec)

14

Kd Factor

Differential component of the current controller.

UINT

RW

0x0 (0_dec)

19

Coil Resistance

The ohmic resistance of the connected inductance in [0.01 Ohm].

Must only be set when using feedforward pre-control (8pp0:09).

UINT

RW

0xFA (250_dec)

1E

Dithering Frequency

Frequency of the dither in [Hz].

UINT

RW

0x64 (100_dec)

1F

Dithering Amplitude

Amplitude of the dither.

Specified as a percentage of the maximum current configured via 8pp0:10.

USINT

RW

0xA (10_dec)

21

Select Info Data 1

Possible values:

• 0_dec: Actual Current
• 1_dec: Set Current
• 2_dec: Duty Cycle
• 3_dec: Supply Voltage

USINT

RW

0x0 (0_dec)

22

Select Info Data 2

Possible values:

• 0_dec: Actual Current
• 1_dec: Set Current
• 2_dec: Duty Cycle
• 3_dec: Supply Voltage

USINT

RW

0x1 (1_dec)