Register description
All registers can be read or written via register communication. They are used for the parameterization of the terminal.
R0: Status word
The status word contains information about internal states, and provides an indication of errors that have occurred.
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Bit | R0.15 | R0.14 | R0.13 | R0.12 | R0.11 | R0.10 | R0.9 | R0.8 |
Name | - | NoControl Power | Torque Overload | Over Current | Under Voltage | Over Voltage | Low Voltage | Over Temperature |
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Bit | R0.7 | R0.6 | R0.5 | R0.4 | R0.3 | R0.2 | R0.1 | R0.0 |
Name | - | - | - | - | - | - | - | - |
Key
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Bit | Name | Description | |
|---|---|---|---|
R0.15 | - | reserved | |
R0.14 | NoControl Power | 1bin | The 24 V control voltage is not present at the power contacts |
R0.13 | Torque Overload | 1bin | Torque is greater than specified in R38 |
R0.12 | Over Current | 1bin | Overcurrent in the driver stage |
R0.11 | Under Voltage | 1bin | Supply voltage less than 7 V |
R0.10 | Over Voltage | 1bin | Supply voltage greater than 15% of the switch-on voltage (with R39=0) or greater than specified in R39 (with R39<>0) |
R0.9 | Low Voltage | 1bin | The supply voltage is 10 V less than the switch-on voltage |
R0.8 | Over Temperature | 1bin | The internal temperature of the terminal is greater than 80 °C (see R5) |
R0.0 - R0.7 | - | reserved | |
R1: Set position
You can specify the desired position, with which the terminal is to be loaded, here.
R2: Torque
This register always contains the last and maximum value of the previous milliseconds (register R46) for the current torque. This value is unitless, normalized relative to 1000, and always positive. It is calculated as follows:
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1.0 | M = | E x 1000 / VC | |
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where |
|
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1.1 | E = VC - VG |
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1.2 | VC = VS x DataOUT / 32767 |
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with
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M | Torque (magnitude) | [M] = 1 |
E | Control error | [E] = 1 V |
VS | Supply voltage | [VS] = 1 V |
VG | Countervoltage of the motor | [VG] = 1 V |
VC | Set velocity (set voltage, relative to the process data) | [VC] = 1 V |
R3: Supply voltage
Enables reading of the motor supply voltage. The unit is 1 mV (for example: 4800 = 48 V).
R5: Temperature register
The internal temperature of the terminal can be read, in °C, through register R6. The terminal will set bit SB.5 in the status byte as a warning if the temperature exceeds the threshold of 80°C. When the temperature falls back below 60°C, bit SB.5 will automatically be reset.
R6: Status byte
The status byte of the relevant channel is mapped here in addition.
R7: Command register
 | User code word For the following commands to be executed, it is first necessary for the user code word, 0x1235, to be entered into register R31. |
Command 0x7000: Restore Factory Settings
Entering 0x7000 in register R7 restores the factory settings for the following registers of both channels:
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R32: 0dec | R40: 100dec |
| Restore Factory Settings The command Restore Factory Settings simultaneously resets both channels of the DC motor output stage terminal to the delivery state, irrespective of which register set it is called! |
Command 0x8000: Software Reset
Entering 0x8000 in register R7 initiates a full software reset for the terminal. All internal variables (positions, latched values, errors, etc.) are cleared or are set to defined values that are read from the EEPROM. The internal circuits (D/A converter, output driver) are reinitialized during a software reset.
| |
Danger to persons and machines! During a software reset the motor is de-energized. Ensure that your system state permits this and that hazards for persons or machinery have been ruled out! |
R8: Terminal type
The terminal name is contained in register R8:
0x09EE (2542dec)
R9: Firmware version
Register R9 contains the ASCII coding of the terminal's firmware version, e.g. 0x3141 = '1A'. The '0x31' corresponds here to the ASCII character '1', while the '0x41' represents the ASCII character 'A'.
This value can not be changed.
R16: Hardware version number
Register R16 contains the hardware version of the terminal.
R31: Code word register
If you write values into the user registers without first entering the user code word (0x1235) into the code word register, the terminal will not accept the supplied data. The code word is reset if the terminal is restarted.
R32: Feature register
The feature register specifies the terminal's configuration.
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Bit | R32.15 | R32.14 | R32.13 | R32.12 | R32.11 | R32.10 | R32.9 | R32.8 |
Name | disVelocity Controller | disIPart | disIWindow | - | - | enChopper | enTorque Error | enUser StartValue |
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Bit | R32.7 | R32.6 | R32.5 | R32.4 | R32.3 | R32.2 | R32.1 | R32.0 |
Name | - | - | - | - | enAverage Notation | disWatchdog | enManu Scale | enUser Scale |
Key
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Bit | Name | Description | default | |
|---|---|---|---|---|
R32.15 | disVelocity Controller | 1bin | Velocity control is deactivated (proportional and integral component), see R42 | 0bin |
R32.14 | disIPart | 1bin | I component of the velocity control is deactivated (see R44 + R45) | 0bin |
R32.13 | disIWindow | 1bin | Inner window of the I component is deactivated (see R43) | 0bin |
R32.11 - R32.12 | - | reserved | ||
R32.10 | enChopper | 1bin | Chopper resistor is active (overvoltage protection, channel 2 only, see R39) | 0bin |
R32.9 | enTorque Error | 1bin | Torque cutoff active (see R38) | 0bin |
R32.8 | enUser StartValue | 1bin | User switch-on value active (see R35) | 0bin |
R32.4 - R32.7 | - | reserved | ||
R32.3 | enAverage Notation | 1bin | Signed amount representation active | 0bin |
R32.2 | disWatchdog | 1bin | Internal 100 ms watchdog deactivated | 0bin |
R32.1 | enManuScale | 1bin | Manufacturer scaling is active | 0bin |
R32.0 | enUserScale | 1bin | 0bin | |
R33: User scaling - offset
Here you can enter the user scaling offset, if user scaling is enabled (R32.0=1) (default: 0x0000). Examples:
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hex | ... | 0xFFFD | 0xFFFE | 0xFFFF | 0x0000 | 0x0001 | 0x0002 | ... |
Offset | ... | -3 | -2 | -1 | 0 | 1 | 2 | ... |
R34: User scaling - gain
Here you can enter the user scaling gain, if user scaling is activated (R32.0=1) is (default 4096dec).
Examples:
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hex | 0x0001 | 0x0800 | 0x0FFF | 0x1000 | 0x1001 | 0x1800 | 0x2000 | 0xFFFF |
dec | 1dec | 2048dec | 4095dec | 4096 dec | 4097dec | 6144dec | 8192dec | 65535dec |
Offset | 0.0002 | 0.5 | 0.0098 | 1 | 1.0002 | 1.5 | 2 | 15.9998 |
R35: User's switch-on value
If the activated watchdog (R32.2 = 0bin) is triggered after 100 ms due to a fieldbus or Terminal Bus error, this value becomes the output value.
R36: Maximum coil current of the motor
This register specifies the maximum coil current of the motor. The unit is 1 mA (example: 1500dec = 1.5 A).
5000 mA max.
R37: Rated current of the motor
This register specifies the rated current of the motor. The unit is 1 mA (example: 1,000dec = 1.0 A).
3500 mA max.
R38: Maximum torque
This register is used for configuring the maximum permitted torque for the application (default: 10000dec), see register description R2
If the current value (register R2) exceeds this threshold, with R32.9=0 only a warning is issued (SB1.5=1 and R0.13=1). If torque cutoff is active (R32.9=1), the motor is de-energized and an error is issued (SB1.6=1 and R0.13=1).
R39: Chopper voltage (channel 2 only)
If the supply voltage increases above the set chopper voltage due to feedback, the second channel (chopper resistor must be connected) is fully opened and the overvoltage reduced, provided the chopper function is activated (R32.10=1).
R40: Internal resistance of the motor
This register contains the internal resistance of the motor (default: 100dec).
The unit is 0.01 ohm (example: 100dec = 1.00 ohm).
R41: Automatic switch-off threshold for MixedDecay
MixedDecay: To avoid motor resonances at low speed, the motor is controlled via two pulsed transistors per half-wave.
This register contains the threshold at which the MixedDecay function of the motor controller chip is automatically deactivated (default: 20dec).
The unit is 1% (example: 20 = 20%).
R42: Kp factor
This register contains the Kp factor of the internal velocity control (default: 4096dec).
The unit is 1 / 4096 (example: 4096dec => Kp = 1.00).
R43: Inner window of the I component
The I-component of the velocity control is reduced towards zero (default: 1dec). This register specifies the value from which the attenuation is activated.
The unit is 1% (example: 1 = 1%).
R44: Maximum value of the I component
This register specifies the maximum value of the I-component (default: 5dec).
The unit is 1% (example: 5dec = 5%).
R45: Time constant Tn of the I component
This register controls the dynamic response of the I-controller (default: 100dec).
The unit is 1 (example: 100dec = 100).
R46: Time constant for deleting or limiting the maximum torque
The maximum torque is stored in register R2 for the time set in this register (default: 500dec).
The unit is 1 ms (example: 500 = 0.5 s).
The saved torque is then deleted and overwritten with the next larger value.
If torque cutoff is active, the motor is de-energized if the current torque for this time is greater than the value set in register R38.
R47: Time constant for limiting the rated motor current
The terminal energizes a connected motor with increasing mechanical load up to the current set in register R36. If this mechanical load is maintained, the motor current is reduced to the rated current via a 1/T function after this set time (default: 10,000dec).
The unit is 1 ms (example: 10000 = 10 s).
R62, R63: Internal parameters for current control
These registers are used internally by the terminal for current control and must not be modified!