Beckhoff EL72 1-901 Series Manual page 213

Index (hex) Name
2002:53 Position loop propor-
tional gain
2002:54 Feature bits
2002:55 Select info data 1
EL72x1-901x
Meaning
Proportional component position controller
Unit: mA / (rad/s)
The adjustable motor current values can be interpreted
as peak values or rms values. The feature bit enables
the conversion.
Peak value → Bit 0 = 0 (default with EL7201-001x)
Rms value → Bit 0 = 1 (default with EL7211-001x)
In the case of the EL7201-001x the output current can
be increased with the help of the ZB8610 fan cartridge.
normal output current → Bit 1 = 0 (default)
increased output current → Bit 1 = 1
From these, the following combinations can be set:
0 → normal output current interpreted as peak value
dec
1 → normal output current interpreted as rms value
dec
2 → increased output current interpreted as peak
dec
value
3 → increased output current interpreted as rms
dec
value
Selection "Info data 1"
Optional display of additional information in the cyclic
process data.
Permitted values:
Torque current (filtered 1ms) [1000th of rated current]
DC link voltage (mV)
PCB temperature (0.1 °C)
Errors:
Bit0: ADC Error
Bit1: Overcurrent
Bit2: Undervoltage
Bit3: Overvoltage
Bit4: Overtemperature
Bit5: I2T Amplifier
Bit6: I2T Motor
Bit7: Encoder
Bit8: Watchdog
Warnings:
Bit2: Undervoltage
Bit3: Overvoltage
Bit4: Overtemperature
Bit5: I2T Amplifier
Bit6: I2T Motor
Bit7: Encoder
I2T Motor [%]
I2T Amplifier [%]
Input Level:
Bit0: Digital Input 1 Level
Bit1: Digital Input 2 Level
Bit8: STO Input Level (STO variant, only)
Version: 1.9
Object description and parameterization
Data type Flags Default
UINT32 RW
UINT32 RW
UINT8 RW
0x00000000 (0 )
dec
0x00000000 (0 )
dec
0x00 (0 )
dec
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