Beckhoff EL72 1 Series - Page 155

EL72x1-0001 (DS402) - Object description and parameterization
EL72x1 155Version: 3.3
Index 2003 Motor Settings
Index (hex) Name Meaning Data type Flags Default
2003:0 Motor Settings Maximum subindex UINT8 RO 0x2D (45
dec
)
2003:11 Max current Peak current
Unit: mA
The adjustable motor current values can be interpreted
as a peak value or RMS value.
The feature bit (2002:54 [}154]) switches:
Peak value → Bit 0 = 0 (default for EL7201)
RMS value → Bit 0 = 1 (default for EL7201)
UINT32 RW 0x00001770
(6000
dec
)
2003:13 Motor pole pairs Number of pole pairs UINT8 RW 0x03 (3
dec
)
2003:15 Commutation offset Commutation offset (between electrical zero position
and mechanical single-turn zero position)
Unit: °
INT16 RW 0x0000 (0
dec
)
2003:16 Torque constant Torque constant
Unit: mNm / A
UINT32 RW 0x00000000
(0
dec
)
2003:18 Rotor moment of iner-
tia
Mass moment of inertia of the motor
Unit: g cm^2
UINT32 RW 0x00000000
(0
dec
)
2003:19 Winding inductance Inductance
Unit: 0.1 mH
UINT16 RW 0x000E (14
dec
)
2003:29 Motor I2T warn level I2T model warning threshold
Unit: %
UINT8 RW 0x50 (80
dec
)
2003:2A Motor I2T error level I2T model error threshold
Unit: %
UINT8 RW 0x69 (105
dec
)
2003:2D Motor thermal time
constant
Thermal time constant
Unit: 0.1 s
UINT16 RW 0x0028 (40
dec
)
Index 2004 Brake Settings
Index (hex) Name Meaning Data type Flags Default
2004:0 Brake Settings Maximum subindex UINT8 RO 0x14 (20
dec
)
2004:01 Manual override (re-
lease)
Release the motor holding brake manually BOOLEAN RW 0x00 (0
dec
)
2004:11 Release delay This object describes the time that the holding brake
needs to open (to be released) after voltage is applied
UINT16 RW 0x0000 (0
dec
)
2004:12 Application delay This object describes the time that the holding brake
needs to close (to be applied) after voltage is removed
UINT16 RW 0x0000 (0
dec
)
2004:13 Emergency application
timeout
Time the amplifier waits, until the rotation speed
reaches the stand still window after stop request (set
rotation speed 0 or Torque off). If the set waiting time
is exceeded, the holding brake is triggered indepen-
dently of the rotation speed.
Note:
For rotatory axes and the setting „torque off“ in error
case, this parameter has to be set at least to the „coast
to the stop“ time of the axis.
For suspended (hanging) axes and the setting „torque
off“ in error case, this parameter has to be set to an
appropriate short time, to prevent the axis/load from
drop/fall.
UINT16 RW 0x0000 (0
dec
)
2004:14 Brake moment of iner-
tia
Mass moment of inertia of the brake
Unit: g cm^2
UINT16 RW 0x0000 (0
dec
)
Index 2010 Feedback Settings
Index (hex) Name Meaning Data type Flags Default
2010:0 Feedback Settings Maximum subindex UINT8 RO 0x13 (19
dec
)
2010:01 Invert feedback direc-
tion
Inverting the count direction BOOLEAN RW 0x00 (0
dec
)
2010:11 Device type 1: Resolver (cannot be changed) UINT32 RO 0x00000001
(1
dec
)
2010:12 Singleturn bits
Number of single- and multi-turn-bits [}95]
UINT8 RW 0x14 (20
dec
)
2010:13 Multiturn bits UINT8 RW 0x0C (12
dec
)