Beckhoff EL72 1 Series Documentation page 155

Index 2003 Motor Settings
Index (hex) Name
2003:0 Motor Settings
2003:11 Max current
2003:13 Motor pole pairs
2003:15 Commutation offset
2003:16 Torque constant
2003:18 Rotor moment of iner-
tia
2003:19 Winding inductance
2003:29 Motor I2T warn level
2003:2A Motor I2T error level
2003:2D Motor thermal time
constant
Index 2004 Brake Settings
Index (hex) Name
2004:0 Brake Settings
2004:01 Manual override (re-
lease)
2004:11 Release delay
2004:12 Application delay
2004:13 Emergency application
timeout
2004:14 Brake moment of iner-
tia
Index 2010 Feedback Settings
Index (hex) Name
2010:0 Feedback Settings
2010:01 Invert feedback direc-
tion
2010:11 Device type
2010:12 Singleturn bits
2010:13 Multiturn bits
EL72x1
EL72x1-0001 (DS402) - Object description and parameterization
Meaning
Maximum subindex
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)
Number of pole pairs
Commutation offset (between electrical zero position
and mechanical single-turn zero position)
Unit: °
Torque constant
Unit: mNm / A
Mass moment of inertia of the motor
Unit: g cm^2
Inductance
Unit: 0.1 mH
I2T model warning threshold
Unit: %
I2T model error threshold
Unit: %
Thermal time constant
Unit: 0.1 s
Meaning
Maximum subindex
Release the motor holding brake manually
This object describes the time that the holding brake
needs to open (to be released) after voltage is applied
This object describes the time that the holding brake
needs to close (to be applied) after voltage is removed
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.
Mass moment of inertia of the brake
Unit: g cm^2
Meaning
Maximum subindex
Inverting the count direction
1: Resolver (cannot be changed)
Number of single- and multi-turn-bits [} 95]
Version: 3.3
Data type Flags Default
UINT8 RO 0x2D (45
UINT32 RW 0x00001770
(6000
UINT8 RW 0x03 (3
INT16 RW 0x0000 (0
UINT32 RW 0x00000000
(0
dec
UINT32 RW 0x00000000
(0
dec
UINT16 RW 0x000E (14
UINT8 RW 0x50 (80
UINT8 RW 0x69 (105
UINT16 RW 0x0028 (40
Data type Flags Default
UINT8 RO 0x14 (20
BOOLEAN RW 0x00 (0
UINT16 RW 0x0000 (0
UINT16 RW 0x0000 (0
UINT16 RW 0x0000 (0
UINT16 RW 0x0000 (0
Data type Flags Default
UINT8 RO 0x13 (19
BOOLEAN RW 0x00 (0
UINT32 RO 0x00000001
(1
dec
UINT8 RW 0x14 (20
UINT8 RW 0x0C (12
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