Beckhoff EL72 1-901 Series Manual page 198

Object description and parameterization
Index 7010 DRV Outputs
Index (hex) Name
7010:0 DRV Outputs
7010:01 Controlword
7010:03 Modes of operation
7010:05 Target position
7010:06 Target velocity
7010:09 Target torque
7010:0A Torque offset
7010:0B Torque limitation
7010:0E Commutation angle
198
Meaning
Maximum subindex
Controlword
Bit 0: Switch on
Bit 1: Enable voltage
Bit 2: Quick stop (inverse)
Bit 3: Enable operation
Bit 4 - 6: reserved
Bit 7: Fault reset
Bit 8 - 15: reserved
Permitted values:
0x08: Cyclic synchronous position mode (CSP)
0x09: Cyclic synchronous velocity mode (CSV)
0x0A: Cyclic synchronous torque mode (CST)
0x0B: Cyclic synchronous torque mode with commuta-
tion angle (CSTCA)
Configured target position
Unit: the value must be multiplied by the correspond-
ing scaling factor [} 130]
Configured target velocity
The velocity scaling can be found in object 0x9010:14
[} 201] (Velocity encoder resolution)
Configured input value for torque monitoring
The value is specified in 1000th of the rated current
(0x8011:12 [} 194])
Equation for index 8010:54 [} 190] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (8011:16 [} 193])
Equation for index 8010:54 [} 190] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (8011:16 [} 193])
Torque value offset
The value is specified in 1000th of the rated current
(0x8011:12 [} 194])
Equation for index 8010:54 [} 190] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (8011:16 [} 193])
Equation for index 8010:54 [} 190] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (8011:16 [} 193])
Torque threshold value for torque monitoring (bipolar
limit)
The value is specified in 1000th of the rated current
(0x8011:12 [} 194])
Equation for index 8010:54 [} 190] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (8011:16 [} 193])
Equation for index 8010:54 [} 190] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (8011:16 [} 193])
Commutation angle (for CSTCA mode)
16
Unit: 360° / 2
Version: 1.9
Data type Flags Default
UINT8 RO 0x0E (14
UINT16 RO 0x0000 (0
UINT8 RW 0x00 (0
INT32 RW 0x00000000
(0
dec
INT32 RO 0x00000000
(0
dec
INT16 RO 0x0000 (0
INT16 RO 0x0000 (0
UINT16 RW 0x7FFF
(32767
UINT16 RO 0x0000 (0
EL72x1-901x
)
dec
)
dec
)
dec
)
)
)
dec
)
dec
)
dec
)
dec