Beckhoff EL7031, Документация

Страница: 174 / 255

Commissioning
EL70x1 174 Version: 4.4
Index 8012 STM Features Ch.1
Index (hex) Name Meaning Data type Flags Default
8012:19 Select info data 2 Selection "Info data
2" 0 Status word UINT8 RW 0x04 (4
dec
)
1 Motor voltage coil A
(unit 1 mV)
2 Motor voltage coil B
(unit 1 mV)
3 Motor current coil A
(unit 1 mA)
4 Motor current coil B
(unit 1 mA)
5 Duty-Cycle coil A
(unit 1%)
6 Duty-Cycle coil B
(unit 1%)
7 Current velocity
(value range +/- 10000)
... reserved
101 Internal temperature of the
driver card
... reserved
103 Control voltage
104 Motor supply voltage
... reserved
150 Drive - Status word
151 Drive - State
152 Drive - Position lag (low word)
153 Drive - Position lag (high
word)
... reserved
255 reserved
8012:30 Invert digital input 1 Inversion of digital input 1 BOOLEAN RW 0x00 (0
dec
)
8012:31 Invert digital input 2 Inversion of digital input 2 BOOLEAN RW 0x00 (0
dec
)
8012:32 Function for input 1 Selection of the
function for input 1 0 Normal input BIT4 RW 0x02 (0
dec
)
1 Hardware Enable
2 Plc cam
3 Auto start
8012:36 Function for input 2 Selection of the
function for input 2 0 Normal input BIT4 RW 0x02 (0
dec
)
1 Hardware Enable
2 Plc cam
3 Auto start
Index 8013 STM Controller Settings 2 Ch.1
Index (hex) Name Meaning Data type Flags Default
8013:0 STM Controller Set-
tings 2 Ch.1 Maximum subindex UINT8 RO 0x08 (8
dec
)
8013:01 Kp factor (velo.) Kp control factor (proportional component) for the veloc-
ity controller (unit: 0.001) UINT16 RW 0x03E8
(1000
dec
)
8013:02 Ki factor (velo.) Ki control factor (integral component) for the velocity con-
troller (unit: 0.001) UINT16 RW 0x0000 (0
dec
)
8013:03 Inner window (velo.) Inner window for the I component of the velocity con-
troller (unit: 1%) UINT8 RW 0x00 (0
dec
)
8013:05 Outer window (velo.) Outer window for the I component of the velocity con-
troller (unit: 1%) UINT8 RW 0x00 (0
dec
)
8013:06 Filter cut off frequency
(velo.) Filter limit frequency of the velocity controller (low-pass,
unit: 1 Hz) UINT16 RW 0x0000 (0
dec
)
8013:07 Ka factor (velo./pos.) Ka control factor (acceleration component) for the veloc-
ity controller (unit: 0.001) UINT16 RW 0x0000 (0
dec
)
8013:08 Kd factor (velo./pos.) Kd control factor (deceleration component) for the current
controller (unit: 0.001) UINT16 RW 0x0000 (0
dec
)