NANOTEC PD4-C5918M4204-E-01, Manual

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Manual PD4-C (USB)
12 Object directory description
Version: 1.4.1 / 22.07.2016 / FIR-v1626 109
Access Read/write
PDO Mapping No
Admissible Values
Specified Value 00000000
h
Description
The subentries are divided into two groups: sub-index 01
h
and 02
h
holding parameter for controlling,
sub-index 03
h
to 06
h
are status values. The functions are as follows:
• 01
h
: Specifies the nominal current as root mean square (RMS) in mA, must be smaller than the
peak current 2031
h
, otherwise monitoring will not be activated.
• 02
h
: Specifies the maximum time period of the peak current in ms.
• 03
h
: Threshold, specifies the limit in mA, from which is determined whether switching is to the
maximum current or nominal current.
• 04
h
: CalcValue, specifies the calculated value that is compared to the threshold in order to set the
current.
• 05
h
: LimitedCurrent, shows the actual current value as root mean square (RMS) that was set by I
2
t.
• 06
h
: Actual status. If the subentry 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 to be
reached.
If the value of the torque window is FFFFFFFF
h
, the torque window control is switched off, the bit
"target reached" in object 6041
h
(Statusword) will never get set..
Object description
Index 203D
h
Object Name Torque Window
Object Code VARIABLE
Data type UNSIGNED16
Saveable yes, category: application
Savable No
Access Read/write
PDO Mapping RX - PDO
Admissible Values
Specified Value 0000
h
Firmware Version FIR-v1540
Change History
Firmware Version FIR-v1614: Entry "Saveable" modified from "No" to
"yes, category: application".
203Eh Torque Window Time
Function
For this time period in milliseconds, the actual torque must be within the "Torque Window" (203D
h
) for
the target velocity to be considered as reached.