Beckhoff EL7031, Documentation

Page: 172 / 255

Commissioning
EL70x1 172 Version: 4.4
Index 8010 STM Motor Settings Ch.1
Index (hex) Name Meaning Data type Flags Default
8010:0 STM Motor Settings
Ch.1 Maximum subindex UINT8 RO 0x11 (17
dec
)
8010:01 Maximal current Maximum permanent motor coil current (unit: 1 mA) UINT16 RW 0x05DC
(1500
dec
)
8010:02 Reduced current Reduced coil current (reduced torque, unit: 1 mA) UINT16 RW 0x01F4
(500
dec
)
8010:03 Nominal voltage Nominal voltage (supply voltage) of the motor (unit: 1
mV) UINT16 RW 0x5DC0
(24000
dec
)
8010:04 Motor coil resistance Internal resistance of a coil (unit: 0.01 ohm) UINT16 RW 0x0064
(100
dec
)
8010:05 Motor EMF Motor countervoltage (unit: 1 mV/(rad/s)) UINT16 RW 0x0000 (0
dec
)
8010:06 Motor fullsteps Motor full steps per revolution UINT16 RW 0x00C8
(200
dec
)
8010:09 Start velocity Maximum possible start velocity of the motor UINT16 RW 0x0000 (0
dec
)
8010:10 Drive on delay time Switch-on delay of the driver stage UINT16 RW 0x0064
(100
dec
)
8010:11 Drive off delay time Switch-off delay of the driver stage UINT16 RW 0x0096
(150
dec
)
Index 8011 STM Controller Settings Ch.1
Index (hex) Name Meaning Data type Flags Default
8011:0 STM Controller Set-
tings Ch.1 Maximum subindex UINT8 RO 0x08 (8
dec
)
8011:01 Kp factor (curr.) Kp control factor (proportional component) for the current
controller (unit: 0.001) UINT16 RW 0x0190
(400
dec
)
8011:02 Ki factor (curr.) Ki control factor (integral component) for the current con-
troller (unit: 0.001) UINT16 RW 0x0004 (4
dec
)
8011:03 Inner window (curr.) Inner window for the I component of the current controller
(unit: 1%) UINT8 RW 0x00 (0
dec
)
8011:05 Outer window (curr.) Outer window for the I component of the current con-
troller (unit: 1%) UINT8 RW 0x00 (0
dec
)
8011:06 Filter cut off frequency
(curr.) Filter limit frequency of the current controller (low-pass,
unit: 1 Hz) UINT16 RW 0x0000 (0
dec
)
8011:07 Ka factor (curr.) Ka control factor (acceleration component) for the current
controller (unit: 0.001) UINT16 RW 0x0064
(100
dec
)
8011:08 Kd factor (curr.) Kd control factor (deceleration component) for the current
controller (unit: 0.001) UINT16 RW 0x0064
(100
dec
)