BECKHOFF EL7037 - Manual (Page 158)

Configuration by means of the TwinCAT System Manager
Index Name Meaning Data type Flags Default value
8012:32 Function for input
1 permitted values: BIT4 RW 0x00 (0
dec
)
0: Normal input
1: Hardware enable
2: PLC cam
8012:36 Function for input
2 permitted values: BIT4 RW 0x00 (0
dec
)
0: Normal input
1: Hardware enable
2: PLC cam
8012:3A Function for output
1 permitted values: BIT4 RW 0x0F (15
dec
)
0: Normal output
1: Break (linked with driver enable)
15: Disabled
Index 8014 STM Controller Settings 3 Ch.1
Index Name Meaning Data type Flags Default value
8014:0 STM Controller
Settings 3 Ch.1 Maximum subindex UINT8 RO 0x09 (9
dec
)
8014:01 Feed forward
(pos.) Pilot control of the position controller UINT32 RW 0x000186A0
(100000
dec
)
8014:02 Kp factor (pos.) Kp control factor of the position controller UINT16 RW 0x01F4 (500
dec
)
8014:03 Kp factor (velo.) Kp control factor of the velocity controller
Unit: 0.1 mA / (rad/s) UINT32 RW 0x00000032
(50
dec
)
8014:04 Tn (velo.) Time constant Tn of the velocity controller
Unit: 0.01 ms UINT16 RW 0xC350 (50000
dec
)
8014:05 Sensorless param
1 First parameter (sensorless control) UINT16 RW 0x0000 (0
dec
)
8014:06 Sensorless param
2 Second parameter (sensorless control) UINT16 RW 0x0000 (0
dec
)
8014:07 Cross over veloc-
ity 1 First velocity transition (sensorless control)
Unit: 0.1 rad/s UINT16 RW 0x0000 (0
dec
)
8014:08 Cross over veloc-
ity 2 Second velocity transition (sensorless control)
Unit: 0.1 rad/s UINT16 RW 0x0000 (0
dec
)
8014:09 Cross over veloc-
ity 3 Third velocity transition (sensorless control)
Unit: 0.1 rad/s UINT16 RW 0x0000 (0
dec
)
EL70x7 158 Version 1.0