Parameter Overview - Baumuller b maXX BM3000 Operating Manual

4.4
Configuration
Control
EtherCAT master
Drive master
EtherCAT slave 1
Transfer P147.21 at direct torque init stress only (P147.1 Bit 16 = 1)
Figure 115:
The drive master writes its actual values (coupling command master, torque set value
master, torque init stress actual value master (optional)) in the telegram received from the
control and sends up the telegram to the drive slave. The drive slave reads this values in
the same bus cycle as its set values. Therefore

4.4.18.1 Parameter overview

Functional block:
Number Name
147.1 Mode
147.2 Status master
147.3 Status slave
147.4 Coupling command master
147.5 Torque coupling factor mas-
ter
147.6 Torque coupling factor slave FLOAT
147.7 Compensating controller P-
gain
147.8 Compensating controller
integral action time
147.9 Compensating controller out-
put upper limit
284 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
EtherCAT
Actual values
P147.4 Coupling command master
P147.19 Torque set value master
(P147.21 Torque init stress
actual value master)
Cross communication via EtherCAT
m the drive master must be located physically in the EtherCAT cycle in front of the drive
slave in order that the drive slave gets the actual values.
m the coupling command master, the torque set value master and torque init stress ac-
tual value master (optional) must be mapped in the drive master and the drive slave
in the same address area.
FbTrqCoupling[147]
Type Min
UDINT 0
UINT 0
UINT 0
UINT 0
FLOAT 0
0
FLOAT 0
FLOAT 0
FLOAT 0
EtherCAT
Drive slave
EtherCAT slave 2
Set values
P147.4 Coupling command master
EtherCAT
P147.19 Torque set value master
cross communication
(P147.21 Torque init stress
Max Default Value Unit
0xFFFFFFFF 0
0xFFFF 0
0xFFFF 0
1 0
1 0
1 0
10000 2
100000 10
180000 18000
actual value master)
Factor
1:1 X
1:1 X
1:1 X
1:1
1:1 X
1:1 X
Grad/ 1:1 X
Nms
ms 1:1 X
Grad/s 1:1 X
Baumüller Nürnberg GmbH
X