Objects for parameterization

8000:08

Disable filter

Deactivates the input filter.

-

BOOL

FALSE

8000:0A

Enable micro increments

Enables extrapolation of the "Counter value". The lower 8 bits of the counter value are extrapolated.

-

BOOL

FALSE

8000:0E

Reversion of rotation

Inverts the counting direction of the encoder.

-

BOOL

FALSE

8010:01

Maximal current

The maximum current that the current controller outputs per motor winding.

The maximum value that should be entered here is the nominal motor current.

mA

UINT

1000_dec

8010:02

Reduced current

Setpoint for the winding current when the motor is at standstill.

mA

UINT

1000_dec

8010:03

Nominal voltage

The DC link voltage U_P

10 mV

UINT

5000_dec

8010:04

Motor coil resistance

The winding resistance of the motor.

0.01 Ω

UINT

100_dec

8010:05

Motor EMF

The voltage constant k_e for calculating the back electromotive force (BEMF)

The voltage constant can be found in the data sheet of the motor. Alternatively, you can determine it experimentally.

mV/
(rad/s)

UINT

0

8010:06

Motor fullsteps

Number of full steps per motor revolution.

-

UINT

200_dec

8010:07

Encoder increments (4-fold)

Number of encoder increments per revolution with 4-fold evaluation.
Usually this is the resolution (ppr) of the encoder multiplied by 4.

-

UINT

4096_dec

8010:09

Start velocity

This value is a threshold value. EP7047 keeps the motor at standstill, as long as the speed setting "velocity" is smaller than this value.

It is specified in 0.01 % of the parameter 8012:05 "Speed range".

0.01 %

UINT

0

8010:0A

Motor coil inductance

The winding inductance of the motor.

0.01 mH

UINT

0

8010:10

Drive on delay time

Delay between enabling of the driver stage (variable "Enable") and setting the "Ready" status bit to 1.

ms

UINT

100_dec

8010:11

Drive off delay time

Delay between setting the "Ready" status bit to 0 and disabling the driver stage.

ms

UINT

150_dec

01

Operation mode

Operation mode

0_dec: Automatic
1_dec: Velocity direct
2_dec: Position controller
3_dec: Ext. Velocity mode
4_dec: Ext. Position mode
5_dec: Velocity sensorless (not recommended)

-

USINT

0_dec

05

Speed range

The maximum step frequency that EP7047-1032 outputs.

Full steps / s

USINT

1_dec

08

Feedback type

Possible values:

0: "Encoder"
1: "Internal counter"

-

USINT

1_dec

09

Invert motor polarity

Reverses the direction of rotation of the motor.

-

BOOL

FALSE

0A

Error on step lost

Activates the error message for step loss:
If this parameter is TRUE and a step loss is detected:

• The output stage is switched off
• The variable "Error" in the process data object "STM Status" is set to TRUE.

-

BOOL

FALSE

11

Select info data 1

This value determines the content of the variable "Info data 1" in the process data object "STM Synchron info data".

Possible values:

0_dec: Status word
7_dec: Motor velocity
11_dec: Motor load
13_dec: Motor dc current
101_dec: Internal temperature
103_dec: control voltage
104_dec: Motor supply voltage
150_dec: Drive – Status word
151_dec: Drive – State
152_dec: Drive - Position lag (low word)
153_dec: Drive - Position lag (high word)

-

USINT

11_hex

19

Select info data 2

This value determines the content of the variable "Info data 2" in the process data object "STM Synchron info data".

Possible values: see subindex 11 "Select info data 1"

-

USINT

13_dec

8014:01

Feed forward (pos.)

Pre-control of the position controller.

UDINT

100000_dec

8014:02

Kp factor (pos.)

Proportional component of the position controller.

UINT

500_dec

8014:03

Kp factor (velo.)

Proportional component of the velocity controller.

0.1 mA / (rad/s)

UDINT

50_dec

8014:04

Tn (velo.)

Time constant Tn of the velocity controller.

0.01 ms

UINT

50000_dec