NANOTEC PD4-C, Technical Manual, Page: 136 / 256

9 Description of the object dictionary
●
01
h
: The rated current specified in the motor data sheet is entered here in mA. This must be smaller
than the current entered in object 2031
h
, otherwise monitoring is not activated. The specified value is
interpreted as root mean square.
●
02
h
: Specifies the maximum duration of the peak current in ms.
●
03
h
: Threshold, specifies the limit in mA that determines whether the maximum current or rated current is
switched to.
●
04
h
: CalcValue, specifies the calculated value that is compared with the threshold for setting the current.
●
05
h
: LimitedCurrent, contains the momentary current as root mean square set by I
2
t.
●
06
h
: Current status. If the sub-entry value is "0", I
2
t is deactivated; if the value is "1", I
2
t is activated.
203Dh Torque Window
Function
Specifies a symmetrical range relative to the target torque within which the target is considered having been
met.
If the value is set to "FFFFFFFF"
h
, monitoring is switched off, the "Target reached" bit in object 6041
h
(statusword) is never set.
Object description
Index 203D
h
Object name Torque Window
Object Code VARIABLE
Data type UNSIGNED16
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0000
h
Firmware version FIR-v1540
Change history
Firmware version FIR-v1614: "Savable" entry changed from "no" to
"yes, category: application".
203Eh Torque Window Time
Function
The current torque must be within the "Torque Window" (203D
h
) for this time (in milliseconds) for the target
torque to be considered having been met.
Object description
Index 203E
h
Object name Torque Window Time
Object Code VARIABLE
Data type UNSIGNED16
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Version: 2.0.1 / FIR-v1650 136