Beckhoff KL2532 Documentation page 58

Access from the user program
R34: Maximum permanent motor coil current
This register reflects the maximum constant motor coil current specified by the motor manufacturer.
KL2532/KS2532: Default: 2500
KL2552/KS2552: Default: 8000
The unit is 0.001 A (example: 2500
R35: Rated current of the motor
This register reflects the rated motor current specified by the motor manufacturer.
KL2532/KS2532: Default: 1500
KL2552/KS2552: Default: 05000
The unit is 0.001 A (example: 1500
R36: Nominal voltage (supply voltage) of the motor
If the supply voltage increases above the set voltage due to feedback, the respective channel (chopper
resistor must be connected) is fully opened and the overvoltage reduced, provided the chopper function (see
R33 [} 57]) is activated.
KL2532/KS2532: Default: 24000
KL2552/KS2552: Default: 50000
The unit is 0.001 V (for example: 24000
R37: Kp factor (velocity controller, only KL2552)
This register contains the Kp factor for the proportional component of the internal velocity control (default:
100 ).
dec
The unit is 0.001 (example: 1000
R38: Ki factor (velocity controller, only KL2552)
This register contains the Ki factor for the integral component of the internal velocity control (default: 0
The unit is 0.001 (example: 1000
R39: Inner window of the I component (only KL2552)
The I component of the velocity control reduced linearly towards the zero point (default: 0
specifies the value from which the attenuation is activated (default: 0
The unit is 1% (for example: 1 = 1%). Value range: 0% - 100 %
R40: Outer window of the I component (only KL2552)
This register specifies the maximum value of the I component (default: 0
The unit is 1% (for example: 5
R41: Reduced torque (coil current in positive direction of rotation)
This register contains the reduced torque (coil current) in positive direction of rotation. It is activated by
CB1.0.
KL2532/KS2532: Default: 1500
KL2552/KS2552: Default: 2500
The unit is 0.001 A (for example: 500
R42: Encoder increments (KL2552 only)
This register contains the number of encoder increments per motor revolution (default: 0
58
, range: 0 - 2500 mA
dec
, range: 0 - 8000 mA
dec
= 2.5 A).
dec
, range: 0 - 1500 mA
dec
, range: 0 - 5000 mA
dec
= 1.5 A).
dec
, range: 0 V - 24 V
dec
, range: 0 V - 50 V
dec
= 24 V).
dec
=> Kp = 1.00). Value range: 0 - 65535
dec
=> Ki = 1.00). Value range: 0 - 65535
dec
= 5%). Value range: 0% - 100 %
dec
, range: 0 mA - 1500 mA
dec
, range: 0 mA - 5000 mA
dec
= 0.5 A).
dec
Version: 3.2.0
). This register
dec
).
dec
).
dec
).
dec
KL2532/KS2532, KL2552/KS2552
).
dec