203Bh I2t Parameters Function This object contains the parameters for the I2t monitoring. The I2t monitoring is activated when a value greater than 0 is entered in 203Bh:01h and 203Bh:02h (see " I2t motor overload protection"). I2t can only be use for closed loop mode with a single exception: If I2t is activated in open loop mode, the current is limited to the set nominal current even when the set maximum current is greater. This feature was implemented for safety reasons, so that it is also possible to switch out of closed loop mode and into open loop mode with a very high short-time maximum current without damaging the motor. Object description Index 203Bh Object Name I2t Parameters Object Code ARRAY Data type UNSIGNED32 Saveable yes, category: tuning Firmware Version FIR-v1426 Change History Firmware Version FIR-v1512: Entry "Savable" modified from "No" to "yes, category: application". Firmware Version FIR-v1614: Entry "Saveable" modified from "yes, category: application" to "yes, category: tuning". Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 07h Sub-index 01h Name Nominal Current Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 02h Name Maximum Duration Of Peak Current Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 03h Name Threshold Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 04h Name CalcValue Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 05h Name LimitedCurrent Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 06h Name Status Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 07h Name ActualResistance Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Description The subentries are divided into two groups: sub-index 01h and 02h holding parameter for controlling, sub-index 03h to 06h are status values. The functions are as follows: 01h: Specifies the nominal current as root mean square (RMS) in mA, must be smaller than the peak current 2031h, otherwise monitoring will not be activated. 02h: Specifies the maximum time period of the peak current in ms. 03h: Threshold, specifies the limit in mA, from which is determined whether switching is to the maximum current or nominal current. 04h: CalcValue, specifies the calculated value that is compared to the threshold in order to set the current. 05h: LimitedCurrent, shows the actual current value as root mean square (RMS) that was set by I2t. 06h: Actual status. If the subentry value is "0", I2t is deactivated; if the value is "1", I2t is activated
203Bh I2t Parameters Function This object contains the parameters for the I2t monitoring. The I2t monitoring is activated when a value greater than 0 is entered in 203Bh:01h and 203Bh:02h (see " I2t motor overload protection"). I2t can only be use for closed loop mode with a single exception: If I2t is activated in open loop mode, the current is limited to the set nominal current even when the set maximum current is greater. This feature was implemented for safety reasons, so that it is also possible to switch out of closed loop mode and into open loop mode with a very high short-time maximum current without damaging the motor. Object description Index 203Bh Object Name I2t Parameters Object Code ARRAY Data type UNSIGNED32 Saveable yes, category: tuning Firmware Version FIR-v1426 Change History Firmware Version FIR-v1512: Entry "Savable" modified from "No" to "yes, category: application". Firmware Version FIR-v1614: Entry "Saveable" modified from "yes, category: application" to "yes, category: tuning". Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 07h Sub-index 01h Name Nominal Current Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 02h Name Maximum Duration Of Peak Current Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 03h Name Threshold Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 04h Name CalcValue Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 05h Name LimitedCurrent Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 06h Name Status Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 07h Name ActualResistance Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Description The subentries are divided into two groups: sub-index 01h and 02h holding parameter for controlling, sub-index 03h to 06h are status values. The functions are as follows: 01h: Specifies the nominal current as root mean square (RMS) in mA, must be smaller than the peak current 2031h, otherwise monitoring will not be activated. 02h: Specifies the maximum time period of the peak current in ms. 03h: Threshold, specifies the limit in mA, from which is determined whether switching is to the maximum current or nominal current. 04h: CalcValue, specifies the calculated value that is compared to the threshold in order to set the current. 05h: LimitedCurrent, shows the actual current value as root mean square (RMS) that was set by I2t. 06h: Actual status. If the subentry value is "0", I2t is deactivated; if the value is "1", I2t is activated
Function This object contains the parameters for the I2t monitoring. The I2t monitoring is activated when a value greater than 0 is entered in 203Bh:01h and 203Bh:02h (see " I2t motor overload protection"). I2t can only be use for closed loop mode with a single exception: If I2t is activated in open loop mode, the current is limited to the set nominal current even when the set maximum current is greater. This feature was implemented for safety reasons, so that it is also possible to switch out of closed loop mode and into open loop mode with a very high short-time maximum current without damaging the motor.
Object description Index 203Bh Object Name I2t Parameters Object Code ARRAY Data type UNSIGNED32 Saveable yes, category: tuning Firmware Version FIR-v1426 Change History Firmware Version FIR-v1512: Entry "Savable" modified from "No" to "yes, category: application". Firmware Version FIR-v1614: Entry "Saveable" modified from "yes, category: application" to "yes, category: tuning".
Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 07h Sub-index 01h Name Nominal Current Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 02h Name Maximum Duration Of Peak Current Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 03h Name Threshold Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 04h Name CalcValue Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 05h Name LimitedCurrent Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 06h Name Status Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h Sub-index 07h Name ActualResistance Data type UNSIGNED32 Access Read/write PDO Mapping No Admissible Values Specified Value 00000000h
Description The subentries are divided into two groups: sub-index 01h and 02h holding parameter for controlling, sub-index 03h to 06h are status values. The functions are as follows: 01h: Specifies the nominal current as root mean square (RMS) in mA, must be smaller than the peak current 2031h, otherwise monitoring will not be activated. 02h: Specifies the maximum time period of the peak current in ms. 03h: Threshold, specifies the limit in mA, from which is determined whether switching is to the maximum current or nominal current. 04h: CalcValue, specifies the calculated value that is compared to the threshold in order to set the current. 05h: LimitedCurrent, shows the actual current value as root mean square (RMS) that was set by I2t. 06h: Actual status. If the subentry value is "0", I2t is deactivated; if the value is "1", I2t is activated