Beckhoff KL2532 Documentation page 51

Register page 0
Register no. Comment
Feature register 1
R32 [} 56]
Feature register 2
R33 [} 57]
Maximum permanent motor coil
R34 [} 58]
current
Rated current of the motor
R35 [} 58]
Nominal voltage (supply volt-
R36 [} 58]
age) of the motor
Kp factor (velocity controller)
R37 [} 58]*
Ki factor (velocity controller)
R38 [} 58]*
Inner window of the I component (velocity controller)
R39 [} 58]*
Outer window of the I component (velocity controller)
R40 [} 58]*
Reduced torque (coil current in
R41 [} 58]
positive direction of rotation)
Encoder increments
R42 [} 58]*
Rated motor speed at rated voltage
R43 [} 59]*
Internal resistance of the motor
R44 [} 59]
Threshold for automatic torque reduction (in positive di-
R45 [} 59]
rection of rotation)
Time for current reduction on overload
R46 [} 59]
Time for shutdown on overload
R47 [} 59]
Threshold for automatic torque reduction (in negative
R48 [} 59]
direction of rotation)
Reduced torque (coil current in
R49 [} 59]
negative direction of rotation)
Kp factor (current controller)
R50 [} 59]*
Ki factor (current controller)
R51 [} 60]*
Inner window of the I component (current controller)
R52 [} 60]
Outer window of the I component (current controller)
R53 [} 60]
Ka factor (velocity controller)
R54 [} 60]*
Kd factor (velocity controller)
R55 [} 60]*
R56 reserved
R63 reserved
*) Only the KL2552 supports these registers, not the KL2532
KL2532/KS2532, KL2552/KS2552
Default value
0x0000
0x0000
KL2532/KS2532 0x09C4
KL2552/KS2552 0x1F40
KL2532/KS2532 0x05DC
KL2552/KS2552 0x1388
KL2532/KS2532 0x5DC0
KL2552/KS2552 0xC350
0x0064
0x0000
0x0000
0x0000
KL2532/KS2532 0x05DC
KL2552/KS2552 0x09C4
0x0000
0x0000
0x0000
0x0064
0x07D0
0x00C8
0x0064
KL2532/KS2532 0x05DC
KL2552/KS2552 0x09C4
0x0190
0x0004
0x0000
0x0000
0x0000
0x0000
-
-
Version: 3.2.0
Access from the user program
R/W Memory
0 R/W EEPROM
dec
0 R/W EEPROM
dec
2500 R/W EEPROM
dec
8000 R/W EEPROM
dec
1500 R/W EEPROM
dec
5000 R/W EEPROM
dec
24000 R/W EEPROM
dec
50000 R/W EEPROM
dec
100 R/W EEPROM
dec
0 R/W EEPROM
dec
0 R/W EEPROM
dec
0 R/W EEPROM
dec
1500 R/W EEPROM
dec
2500 R/W EEPROM
dec
0 R/W EEPROM
dec
0 R/W EEPROM
dec
0 R/W EEPROM
dec
100 R/W EEPROM
dec
2000 R/W EEPROM
dec
200 R/W EEPROM
dec
100 R/W EEPROM
dec
1500 R/W EEPROM
dec
2500 R/W EEPROM
dec
400 R/W EEPROM
dec
4 R/W EEPROM
dec
0 R/W EEPROM
dec
0 R/W EEPROM
dec
0 R/W EEPROM
dec
0 R/W EEPROM
dec
- - -
- - -
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