Configuration objects

0

Amplifier Settings Ch.x

USINT

RO

0x7A (122_dec)

12

Current loop integral time

Integral component of current controller.

Unit: [0.1 ms]

UINT

RW

0xA (10_dec)

13

Current loop proportional gain

Proportional component of current controller.

Unit: [0.1 V/A]

UINT

RW

0x64 (100_dec)

14

Velocity loop integral time

Integral component of velocity controller.

Unit: [0.1 ms]

UDINT

RW

0x96 (150_dec)

15

Velocity loop proportional gain

Proportional component of velocity controller.

Unit: [mA / (rad/s)]

UDINT

RW

0x14 (20_dec)

17

Position loop proportional gain

Proportional component position controller.

Unit: [(rad/s) / rad]

UDINT

RW

0xA (10_dec)

29

Amplifier I2T warn level

I²T model warning threshold.

Unit: [%]

USINT

RW

0x50 (80_dec)

2A

Amplifier I2T error level

I²T model error threshold.

Unit: [%]

USINT

RW

0x69 (105_dec)

31

Velocity limitation

Velocity limitation. If a gear ratio is configured (parameter 6091/6891), this limit value refers to the load side.

Unit: [1/min]

UDINT

RW

0x186A0 (100000_dec)

32

Short circuit brake duration max

Maximum holding time for anchor short-circuit braking

Unit: [ms]

UINT

RW

0x3E8 (1000_dec)

33

Stand still window

Standstill window

Unit: [1/min]

UINT

RW

0x1 (1_dec)

49

Halt ramp deceleration

Halt ramp deceleration.

Unit: [0.1 rad / s²]

UDINT

RW

0xF570 (62832_dec)

54

Feature bits

Reserved. Please do not change.

UDINT

RW

0x0 (0_dec)

55

Select info data 1

Possible values:

• 2_dec: DC link voltage (mV)
• 4_dec: PCB temperature (0.1 °C)
• 7_dec: I2T Motor
• 8_dec: I2T Amplifier
• 10_dec: Digital inputs

USINT

RW

0x2 (2_dec)

56

Select info data 2

Possible values:

• 2_dec: DC link voltage (mV)
• 4_dec: PCB temperature (0.1 °C)
• 7_dec: I2T Motor
• 8_dec: I2T Amplifier
• 10_dec: Digital inputs

USINT

RW

0x4 (4_dec)

57

Velocity feed forward gain

Scaling factor for velocity feedforward from the position interpolator.

USINT

RW

0x64 (100_dec)

58

Select info data 3

Possible values:

• 2_dec: DC link voltage (mV)
• 4_dec: PCB temperature (0.1 °C)
• 7_dec: I2T Motor
• 8_dec: I2T Amplifier
• 10_dec: Digital inputs

USINT

RW

0x7 (7_dec)

59

Error suppression mask

Reserved. Please do not change.

UDINT

RW

0x0 (0_dec)

5F

Sensorless observer bandwidth

Observer bandwidth for sensorless control

Unit: [Hz]

UINT

RW

0xC8 (200_dec)

62

Position loop deadband window

Deadband window of the position controller

Unit: [increments]

UDINT

RW

0x0 (0_dec)

64

Commutation type

Possible values:

• 5_dec: Sensorless FOC with forced startup

USINT

RW

0x5 (5_dec)

6D

Torque feed forward gain

Internal torque feedforward: scaling factor

UDINT

RW

0x0 (0_dec)

6E

Torque feed forward filter time

Internal torque feedforward: filter time.

Unit: [0.1 ms]

UDINT

RW

0xA (10_dec)

71

Error Code Options

Choice of diagnostic messages that are displayed in 0x6n3F “Error code” (PDO mapping possible)

Possible values:

• 1_dec: Display Errors
• 3_dec: Display Errors Warnings
• 7_dec: Display Errors Warnings Infos

USINT

RW

0x7 (7_dec)

72

Stand still torque limitation

Output standstill holding current for sensorless control

UINT

RW

0x1F4 (500_dec)

73

Acceleration limitation

Maximum acceleration (setpoint limit)

Unit: [0.1 rad/s²]

UDINT

RW

0xF570 (62832_dec)

79

Sensorless Startup Current Scaling

Motor starting current for sensorless control. The current configured here is output at low speeds (“forced startup” phase).

Specified in parts per thousand of the rated motor current.
I.e. 1000 = rated motor current

UINT

RW

0x2EE (750_dec)

7A

Sensorless Stall Reaction

Reaction to a detected commutation error (Motor Stall) in sensorless control.

Possible values:

• 0_dec: Stop motor with drive error
• 1_dec: Restart motor
• 255_dec: Disable Stall Monitoring

USINT

RW

0x0 (0_dec)

0

Motor Settings Ch.x

USINT

RO

0x34 (52_dec)

11

Max current

Peak current

Unit: [mA]

UDINT

RW

0x445C (17500_dec)

13

Motor pole pairs

Number of pole pairs

USINT

RW

0x1 (1_dec)

16

Torque constant

Torque constant

Unit: [mNm/A]

UDINT

RW

0x12C (300_dec)

18

Rotor moment of inertia

Motor moment of inertia

Unit: [g cm²]

UDINT

RW

0x1EF (495_dec)

19

Winding inductance

Winding inductance

Unit: [0.1 mH]

UINT

RW

0x186 (390_dec)

29

Motor I2T warn level

I²t model warning threshold

Unit: [%]

USINT

RW

0x50 (80_dec)

2A

Motor I2T error level

I²t model error threshold

Unit: [%]

USINT

RW

0x69 (105_dec)

2D

Motor thermal time constant

Thermal time constant

Unit: [0.1 s]

UINT

RW

0x28 (40_dec)

2E

Rated speed

Rated speed

Unit: [rpm]

UDINT

RW

0x3E8 (1000_dec)

30

Winding resistance

Winding resistance

Unit: [mOhm]

UDINT

RW

0x578 (1400_dec)

31

Voltage constant

Motor back‑EMF voltage constant

Unit: [µV/(1/min)]

UDINT

RW

0x4E20 (20000_dec)

34

Configured motor current

Limits the output current.

(The output current is limited to the lower of "Rated current" and "Configured motor current".)

This parameter allows you to prevent the channel from drawing a disproportionately large share of the available U_P total current relative to the other channels.

UDINT

RW

0x1618 (5656_dec)

0

Brake Settings Ch.x

USINT

RO

0x18 (24_dec)

01

Enable manual override

Enable for manual control of the holding brake

BOOL

RW

00

02

Manual brake state

Possible values:

• 0_dec: Release
• 1_dec: Apply

BOOL

RW

00

05

Brake option

Configuration for inverted motor brakes

Possible values:

• 0_dec: Enable output to release brake
• 1_dec: Disable output to release brake

USINT

RW

0x0 (0_dec)

09

External override

Choice of a digital input that can be used to open the motor brake independently of the drive controller, e.g. for maintenance.

Possible values:

• 0_dec: Disabled
• 2_dec: Digital Input 1
• 3_dec: Digital Input 1 (only INIT/PREOP/SAFEOP)
• 4_dec: Digital Input 2
• 5_dec: Digital Input 2 (only INIT/PREOP/SAFEOP)

USINT

RW

0x0 (0_dec)

11

Release delay

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

Unit: [ms]

UINT

RW

0x0 (0_dec)

12

Application delay

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

Unit: [ms]

UINT

RW

0x0 (0_dec)

13

Emergency application timeout

Time that the amplifier waits for the velocity to reach the standstill limit after a stop request.
If the waiting time is exceeded, the holding brake is triggered; regardless of the velocity.

Note: This parameter must be set at least to the longest time the axis needs to come to a standstill after it has been switched torque-free.

For vertical axes, this parameter should be set to a low value to prevent the axis or load from falling very far.

Unit: [ms]

UINT

RW

0x0 (0_dec)

14

Brake moment of inertia

Moment of inertia of the brake.

Unit: [g cm²]

UINT

RW

0x0 (0_dec)

18

Brake Output Features

Control of a motor brake (depending on the drive controller) via a digital output

Possible values:

• 0_dec: Disabled
• 1_dec: Use Digital Output 1 as additional brake output
• 2_dec: Use Digital Output 2 as additional brake output

USINT

RW

0x0 (0_dec)

0

Filter Settings Ch.x

USINT

RO

0x19 (25_dec)

10

Low pass frequency 1

Unit: [Hz]

REAL

RW

0.0

11

Low pass damping 1

REAL

RW

0.0

12

High pass frequency 1

Unit: [Hz]

REAL

RW

0.0

13

High pass damping 1

REAL

RW

0.0

14

Filter type 1

Possible values:

• 0_dec: No_Filter
• 1_dec: Low_pass_filter_1_order
• 2_dec: Phase_correction_filter_1_order
• 3_dec: Low_pass_filter_2_order
• 4_dec: Phase_correction_filter_2_order
• 5_dec: Notch_filter

INT

RW

0x0 (0_dec)

15

Low pass frequency 2

Unit: [Hz]

REAL

RW

0.0

16

Low pass damping 2

REAL

RW

0.0

17

High pass frequency 2

Unit: [Hz]

REAL

RW

0.0

18

High pass damping 2

REAL

RW

0.0

19

Filter type 2

Possible values:

• 0_dec: No_Filter
• 1_dec: Low_pass_filter_1_order
• 2_dec: Phase_correction_filter_1_order
• 3_dec: Low_pass_filter_2_order
• 4_dec: Phase_correction_filter_2_order
• 5_dec: Notch_filter

INT

RW

0x0 (0_dec)

0

Digital Output Settings Ch.x

USINT

RO

0x2 (2_dec)

01

Use Output 1 as +24V power supply

If “TRUE”: The respective digital output is always active and serves as supply voltage, e.g. for limit switches

BOOL

RW

00

02

Use Output 2 as +24V power supply

BOOL

RW

00

0

Feedback Settings Ch.1

USINT

RO

0x17 (23_dec)

11

Device type

UDINT

RW

0x0 (0_dec)

12

Singleturn bits

Number of single-turn bits used to represent the position in the process image.

The sum of the single-turn bits and multi-turn bits must be 32.

USINT

RW

0x14 (20_dec)

13

Multiturn bits

Number of multi-turn bits used to represent the position in the process image.

The sum of the single-turn bits and multi-turn bits must be 32.

USINT

RW

0xC (12_dec)

14

Observer bandwidth

Bandwidth of the velocity observer in [Hz]

UINT

RW

0xC8 (200_dec)

15

Observer feed-forward

Load ratio in [%] between internal rotor inertia of the motor and the total inertia of the driven system.

Load ratio = internal moment of inertia / (internal moment of inertia + mass moment of inertia of the load).

Examples:

100 % = load-free

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

USINT

RW

0x64 (100_dec)

17

Position offset

The position offset is subtracted from the raw position of the encoder.

It can only be written with the axis stopped.

DINT

RW

0x0 (0_dec)

0

Vendor data Ch.x

USINT

RO

0x18 (24_dec)

11

Amplifier peak current

Amplifier peak current (peak value)

Unit: [mA]

UDINT

RW

0x445C (17500_dec)

12

Amplifier rated current

Amplifier rated current (peak value)

Unit: [mA]

UDINT

RW

0x1618 (5656_dec)

13

Amplifier thermal time constant

Thermal time constant

Unit: [0.1 s]

UINT

RW

0x23 (35_dec)

14

Amplifier overcurrent threshold

Per‑phase instantaneous current threshold for short‑circuit detection

Unit: [mA]

UDINT

RW

0x7530 (30000_dec)

15

Max rotary field frequency

Maximum rotary field frequency

Unit: [Hz]

UINT

RW

0x257 (599_dec)

18

Vendor feature bits

UDINT

RW

0x0 (0_dec)

1A

Amplifier Rated Sum Current

Unit: [mA]

UDINT

RW

0x2C30 (11312_dec)

0

DMC Settings Ch.x

-

USINT

RO

0x17 (23_dec)

07

Emergency deceleration

Deceleration for the emergency stop ramp. (In [ms] from rated motor speed to standstill)

UINT

RW

0x64 (100_dec)

08

Calibration position

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

LINT

RW

0x0 (0_dec)

09

Calibration velocity (towards plc cam)

Velocity when hitting the cam in 10000ths of the rated motor speed.

INT

RW

0x64 (100_dec)

0A

Calibration Velocity (off plc cam)

Velocity when driving off the cam in 10000ths of the rated motor speed.

INT

RW

0xA (10_dec)

0E

Modulo factor

Feedback increments for one mechanical revolution.

LINT

RW

0x100000000 (4294967296_dec)

12

Block calibration torque limit

Torque limitation for approaching the end stop. In parts per thousand of the rated motor current.

UINT

RW

0x64 (100_dec)

13

Block calibration stop distance

After reaching the calibration position, the axis moves out of the end position by this distance.

LINT

RW

0x100000000 (4294967296_dec)

14

Block calibration lag threshold

When this following error is exceeded, the axis is in the end position.

LINT

RW

0x100000000 (4294967296_dec)

15

Target position window

Target position window:

The in-target bit is set when the axis is within this window for at least the time set under subindex 16.

LINT

RW

0x16C16C1 (23860929_dec)

16

Target position monitor time

See subindex 15

Unit: [ms]

UINT

RW

0x14 (20_dec)

17

Target position timeout

When the setpoint generator has reached its end position and the axis is not in the target window after this time has elapsed, the task is terminated and the in-target bit is not set.

Unit: [ms]

UINT

RW

0x1770 (6000_dec)

0

DMC Features Ch.x

USINT

RO

0x1B (27_dec)

13

Invert calibration cam search direction

Invert the direction of movement to search for the limit switch.

Default: FALSE = search with positive direction of rotation.

BOOL

RW

00

14

Invert sync impulse search direction

Invert the direction of rotation to exit the limit switch.

Default: TRUE = exit in negative direction of rotation.

BOOL

RW

01

19

Calibration cam source

Source for the reference switch:

• 0_dec: Input 1
• 1_dec: Input 2

USINT

RW

0x0 (0_dec)

1A

Calibration cam active level

State of the reference switch in the actuated state:

• 0_dec: Hi
• 1_dec: Low

USINT

RW

0x0 (0_dec)

1B

Latch source

Source for the latch unit:

• 0_dec: Input 1
• 1_dec: Input 2

USINT

RW

0x0 (0_dec)

F800:0

DRV Amplifier Settings

USINT

RO

0x17 (23_dec)

F800:10

Nominal DC link voltage

Rated DC link voltage.

Unit: [mV]

UDINT

RW

0xBB80 (48000_dec)

F800:11

Min DC link voltage

Minimum DC link voltage.

Unit: [mV]

UDINT

RW

0x1A90 (6800_dec)

F800:12

Max DC link voltage

Maximum DC link voltage.

Unit: [mV]

UDINT

RW

0xEA60 (60000_dec)

F800:15

Amplifier Temperature warn level

Amplifier temperature warning threshold.

Unit: [0.1 °C]

UINT

RW

0x320 (800_dec)

F800:16

Amplifier Temperature error level

Amplifier temperature error threshold.

Unit: [0.1 °C]

UINT

RW

0x3E8 (1000_dec)

F800:17

Feature bits

UDINT

RW

0x0 (0_dec)