Technical Manual PD4-E-M (EtherCAT)
10 Description of the object dictionary
PDO mapping
no
Allowed values
Preset value
00000000
h
Subindex
06
h
Name
Status
Data type
UNSIGNED32
Access
read / write
PDO mapping
no
Allowed values
Preset value
00000000
h
Subindex
07
h
Name
ActualResistance
Data type
UNSIGNED32
Access
read / write
PDO mapping
no
Allowed values
Preset value
00000000
h
Description
The subindices are divided into two groups: subindex 01
h
and 02
h
contain parameters for the control,
subindices 03
h
to 06
h
are status values. The functions are as follows:
•
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
Version: 1.0.1 / FIR-v1748
161