BECKHOFF EL7037 - Manual (Page 180)

Configuration by means of the TwinCAT System Manager
Index 8000 ENC Settings Ch.1
Index Name Meaning Data type Flags Default value
8000:0 ENC Settings
Ch.1 Maximum subindex UINT8 RO 0x0E (14
dec
)
8000:08 Disable filter Deactivates the input filters. BOOLEAN RW 0x00 (0
dec
)
8000:0A Enable micro in-
crements The lower 8 bits of the counter value are extrapolated. BOOLEAN RW 0x00 (0
dec
)
8000:0E Reversion of rota-
tion Activates reversion of rotation of the encoder. BOOLEAN RW 0x00 (0
dec
)
Index 8010 STM Motor Settings Ch.1
Index Name Meaning Data type Flags Default value
8010:0 STM Motor Set-
tings Ch.1 Maximum subindex UINT8 RO 0x0A (10
dec
)
8010:01 Maximal current Maximum permanent motor coil current
Unit: 1 mA UINT16 RW 0x1388 (5000
dec
)
8010:02 Reduced current Reduced coil current
Unit: 1 mA UINT16 RW 0x09C4 (2500
dec
)
8010:03 Nominal voltage Nominal voltage (supply voltage) of the motor
Unit: 10 mV UINT16 RW 0x1388 (5000
dec
)
8010:04 Motor coil resis-
tance Internal resistance of the motor
Unit: 10 mOhm UINT16 RW 0x0064 (100
dec
)
8010:05 Motor EMF Countervoltage of the motor
Unit: 1 mV / (rad/s) UINT16 RW 0x0000 (0
dec
)
8010:06 Motor fullsteps Number of full motor steps UINT16 RW 0x00C8 (200
dec
)
8010:07 Encoder incre-
ments (4-fold) Number of encoder increments per revolution with
quadruple evaluation UINT16 RW 0x1000 (4096
dec
)
8010:09 Start velocity Minimum starting velocity of the motor
Unit: 10000 corresponds to 100% [
} 126]
UINT16 RW 0x0000 (0
dec
)
8010:0A Motor coil induc-
tance Inductance of the motor
Unit: 0.01 mH UINT16 RW 0x0000 (0
dec
)
8010:10 Drive on delay
time Delay between activation of driver stage and
„ready = 1“ UINT16 RW 0x0064 (100dez)
8010:11 Drive off delay
time Delay between deactivation of driver stage and
„ready = 0“ UINT16 RW 0x0096 (150dez)
Index 8011 STM Controller Settings Ch.1
Index Name Meaning Data type Flags Default value
8011:0 STM Controller
Settings Ch.1 Maximum subindex UINT8 RO 0x02 (2
dec
)
8011:01 Kp factor (curr.) Kp control factor of the current controller UINT16 RW 0x0096 (150
dec
)
8011:02 Ki factor (curr.) Ki control factor of the current controller UINT16 RW 0x000A (10
dec
)
EL70x7 180 Version 1.0