Configuration Data - Beckhoff EL72 1-901 Series Manual

Object description and parameterization
7.2.1

Configuration data

Index 2002 Amplifier Settings
Index (hex) Name
2002:0 Amplifier Settings
2002:11 Device type
2002:12* Current loop integral
time
2002:13* Current loop proportional
gain
2002:14 Velocity loop integral
time
2002:15 Velocity loop propor-
tional gain
2002:17 Position loop propor-
tional gain
2002:19 Nominal DC link voltage Nominal DC link voltage
2002:1A Min DC link voltage
2002:1B Max DC link voltage
2002:29 Amplifier I2T warn level
2002:2A Amplifier I2T error level
2002:2B Amplifier temperature
warn level
2002:2C Amplifier temperature er-
ror level
2002:31 Velocity limitation
2002:32 Short circuit brake dura-
tion max
2002:33 Stand still window
2002:41 Low-pass filter frequency Low-pass filter frequency
2002:49 Halt ramp deceleration
212
Meaning
Maximum subindex
1: Servo drive (cannot be changed)
Integral component of current controller
Unit: 0.1 ms
This value is affected by automatic scanning. (see Au-
tomatic scanning of the electronic type plates [} 143])
Proportional component of current controller
Unit: 0.1 V/A
This value is affected by automatic scanning. (see Au-
tomatic scanning of the electronic type plates [} 143])
Integral component of velocity controller
Unit: 0.1 ms
Proportional component of velocity controller
Unit: mA / (rad/s)
Proportional component position controller
Unit: (rad/s) / rad
Unit: mV
Minimum DC link voltage
Unit: mV
Maximum DC link voltage
Unit: mV
I²T model warning threshold
Unit: %
I²T model error threshold
Unit: %
Overtemperature warning threshold
Unit: 0.1 °C
Overtemperature error threshold
Unit: 0.1 °C
Velocity limitation
Unit: rpm
Max. duration of armature short circuit brake
Unit: ms
Standstill window
Unit: rpm
Unit: Hz
The following values can be set:
0 Hz = off
160 Hz
320 Hz
Halt ramp deceleration
Unit: 0.1 rad / s²
Version: 1.9
Data type Flags Default
UINT8 RO 0x49 (73
dec
UINT32 RW 0x00000001 (1
UINT16 RW 0x000A (10
UINT16 RW 0x0064 (100
UINT32 RW 0x00000032
(50 )
dec
UINT32 RW 0x00000096
(150 )
dec
UINT32 RW 0x0000000A
(10 )
dec
UINT32 RW 0x0000BB80
(48000 )
dec
UINT32 RW 0x00001A90
(6800 )
dec
UINT32 RW 0x0000EA60
(60000 )
dec
UINT8 RW 0x50 (80
dec
UINT8 RW 0x69 (105
UINT16 RW 0x0320 (800
UINT16 RW 0x03E8 (1000
UINT32 RW 0x00040000
(262144
dec
UINT16 RW 0x03E8 (1000
UINT16 RW 0x0000 (0
UINT16 RW 0x0140 (320
UINT32 RW 0x0000F570
(62832 )
dec
EL72x1-901x
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dec
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dec
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dec
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dec