Access from the user program
KL2532/KS2532, KL2552/KS2552
58
Version: 3.2.0
R34: Maximum permanent motor coil current
This register reflects the maximum constant motor coil current specified by the motor manufacturer.
KL2532/KS2532: Default: 2500
dec
, range: 0 - 2500 mA
KL2552/KS2552: Default: 8000
dec
, range: 0 - 8000 mA
The unit is 0.001 A (example: 2500
dec
= 2.5 A).
R35: Rated current of the motor
This register reflects the rated motor current specified by the motor manufacturer.
KL2532/KS2532: Default: 1500
dec
, range: 0 - 1500 mA
KL2552/KS2552: Default: 05000
dec
, range: 0 - 5000 mA
The unit is 0.001 A (example: 1500
dec
= 1.5 A).
R36: Nominal voltage (supply voltage) of the motor
If the supply voltage increases above the set voltage due to feedback, the respective channel (chopper
resistor must be connected) is fully opened and the overvoltage reduced, provided the chopper function (
KL2532/KS2532: Default: 24000
dec
, range: 0 V - 24 V
KL2552/KS2552: Default: 50000
dec
, range: 0 V - 50 V
The unit is 0.001 V (for example: 24000
dec
= 24 V).
R37: Kp factor (velocity controller, only KL2552)
This register contains the Kp factor for the proportional component of the internal velocity control (default:
100
dec
).
The unit is 0.001 (example: 1000
dec
=> Kp = 1.00). Value range: 0 - 65535
R38: Ki factor (velocity controller, only KL2552)
This register contains the Ki factor for the integral component of the internal velocity control (default: 0
dec
).
The unit is 0.001 (example: 1000
dec
=> Ki = 1.00). Value range: 0 - 65535
R39: Inner window of the I component (only KL2552)
The I component of the velocity control reduced linearly towards the zero point (default: 0
dec
). This register
specifies the value from which the attenuation is activated (default: 0
dec
).
The unit is 1% (for example: 1 = 1%). Value range: 0% - 100 %
R40: Outer window of the I component (only KL2552)
This register specifies the maximum value of the I component (default: 0
dec
).
The unit is 1% (for example: 5
dec
= 5%). Value range: 0% - 100 %
R41: Reduced torque (coil current in positive direction of rotation)
This register contains the reduced torque (coil current) in positive direction of rotation. It is activated by
CB1.0.
KL2532/KS2532: Default: 1500
dec
, range: 0 mA - 1500 mA
KL2552/KS2552: Default: 2500
dec
, range: 0 mA - 5000 mA
The unit is 0.001 A (for example: 500
dec
= 0.5 A).
R42: Encoder increments (KL2552 only)
This register contains the number of encoder increments per motor revolution (default: 0
dec
).
