Beckhoff EL72 1 Series - Page 140

EL72x1-0000 (MDP742) - Object description and parameterization
EL72x1140 Version: 3.3
Index (hex) Name Meaning Data type Flags Default
8010:52 Fault reaction option
code
Possible values:
0: Disable drive function, motor is free to rotate
1: Slow down on slow down ramp
UINT16 RW 0x0000 (0
dec
)
8010:53 Position loop propor-
tional gain
Proportional part of position controller
Unit: mA / (rad/s)
UINT32 RW 0x00000000
(0
dec
)
8010:54 Feature bits The feature bit switches:
Peak value → Bit 0 = 0 (default for EL7201-000x)
RMS value → Bit 0 = 1 (default for EL7211-000x)
With the help of the fan cartridge ZB8610, it is possible
to increase the output current of the EL7201-000x
rated output current (2.8 A
rms)
→ Bit 1 = 0 (default)
increased output current (4.5
rms)
→ Bit 1 = 1
The following combination are possible:
0
dec
→ rated output current,
interpretation as peak value
1
dec
→ rated output current,
interpretation as RMS value
2
dec
→increased output current,
interpretation as peak value
3
dec
→ increased output current,
interpretation as RMS value
UINT32 RW 0x00000000
(0
dec
)
Index 8011 DRV Motor Settings
Index (hex) Name Meaning Data type Flags Default
8011:0 DRV Motor Settings Maximum subindex UINT8 RO 0x2D (45
dec
)
8011:11 Max current Peak current
Unit: mA
The adjustable motor current values can be interpreted
as a peak value or RMS value.
The feature bit (8010:54 [}137]) switches:
Peak value → Bit 0 = 0 (default for EL7201)
RMS value → Bit 0 = 1 (default for EL7211)
UINT32 RW 0x00001770
(6000
dec
)
8011:12 Rated current Rated current
Unit: mA
The adjustable motor current values can be interpreted
as a peak value or RMS value.
The feature bit (8010:54 [}137]) switches:
Peak value → Bit 0 = 0 (default for EL7201)
RMS value → Bit 0 = 1 (default for EL7211)
UINT32 RW 0x000003E8
(1000
dec
)
8011:13 Motor pole pairs Number of pole pairs UINT8 RW 0x03 (3
dec
)
8011:15 Commutation offset Commutation offset (between electrical zero position
and mechanical single-turn zero position)
Unit: °
INT16 RW 0x0000 (0
dec
)
8011:16 Torque constant Torque constant
Unit: mNm / A
UINT32 RW 0x00000000
(0
dec
)
8011:18 Rotor moment of iner-
tia
Mass moment of inertia of the motor
Unit: g cm^2
UINT32 RW 0x00000000
(0
dec
)
8011:19 Winding inductance Inductance
Unit: 0.1 mH
UINT16 RW 0x000E (14
dec
)
8011:1B Motor speed limitation Velocity limitation
Unit: rpm
UINT32 RW 0x00040000
(262144
dec
)
8011:29 I2T warn level I2T model warning threshold
Unit: %
UINT8 RW 0x50 (80
dec
)
8011:2A I2T error level I2T model error threshold
Unit: %
UINT8 RW 0x69 (105
dec
)
8011:2D Motor thermal time
constant
Thermal time constant
Unit: 0.1 s
UINT16 RW 0x0028 (40
dec
)