Technical Manual PD4-E-M (EtherCAT)
10 Description of the object dictionary
Data type
INTEGER32
Access
read / write
PDO mapping
no
Allowed values
Preset value
000000C8
h
Description
The subindices have the following function:
•
01
h
: Specifies the current limit value above which blocking is to be detected. Positive numerical
values specify the current limit in mA, negative numbers specify a percentage of object 2031
:01
h
.
Example: The value "1000" corresponds to 1000 mA (= 1 A); the value "-70" corresponds to 70% of
2031
h
.
•
02
h
: Specifies the time in ms that the motor is to continue to travel against the block after block
detection.
203Bh I2t Parameters
Function
This object contains the parameters for I
2
t monitoring.
I
2
t monitoring is activated by entering a value greater than 0 in 203B
h
:02 (see I2t Motor
With one exception, I
2
t monitoring can only be used for closed loop mode: If I
2
t is activated in open
loop mode, the current is reduced to the smaller of 203B
.
Object description
Index
203B
h
Object name
I2t Parameters
Object Code
ARRAY
Data type
UNSIGNED32
Savable
yes, category: tuning
Firmware version
FIR-v1426
Change history
Firmware version FIR-v1512: "Savable" entry changed from "no" to
"yes, category: application".
Firmware version FIR-v1512: The number of entries was changed
from 7 to 8.
Firmware version FIR-v1614: "Savable" entry changed from "yes,
category: application" to "yes, category: tuning".
Value description
Subindex
00
h
Name
Highest Sub-index Supported
Data type
UNSIGNED8
Access
read only
PDO mapping
no
Version: 1.0.1 / FIR-v1748
159
