ASCII - Command DRVCNFG    
Syntax Transmit DRVCNFG [Data]    
Syntax Receive DRVCNFG <Data>   Available in  
Type Variable rw   MMI No
ASCII Format Integer32   CANBus Object Number 3672 (hex)
DIM -   PROFIBUS PNU 1970 (dec) IND = 1 (dec)
Range long int   DPR 370 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer32
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 2.13    
Configuration Yes   Last Change of this Object 2.14
Function Group drive configuration   EEPROM Yes
Short Description Configuration parameter for additional drive functionality


The configuration parameter offers the possibility to change/correct the behaviour of the servo amplifier via setting of configuration bits. A resetted bit results in the default or old behaviour of the drive.

The chosen bit combination has to be given as decimal number.

Example: If bit 2 and 5 are set the number is 2^2+2^5 = 4 + 32 = 36
Bit significance Description
0 0x1 reserved
1 0x2 reserved
2 0x4 reserved
3 0x8 reserved
4 0x10 reserved
5 0x20 reserved
6 0x40 reserved
7 0x80 reserved
8 0x100 = 1 A single turn absolute sine encoder is executed as a multi turn encoder.

On power up the absolute position of the single turn absolute encoder is read and stored in PFB.
Homing is not required.

This setting is also used for analog hall feedbacks with setting ENCLINES = 1
9 0x200 reserved
10 0x400 reserved
11 0x800 reserved
12 0x1000 reserved
13 0x2000 = 1 Configuration for following tasks: At start of the following task it's checked if the planed moving distance is smaller than the deceleration distance. In case the result is positive the deceleration ramp of the active motion task is used.

= 0 The following task is always started. The braking ramp can be very fast.
14 0x4000 reserved
15 0x8000 = 1 Endat-position will be read only once

= 0 Endat-position will be read multiple times (up to 5). THE absolute position will be taken only
if value is equal every time.

see also
16 0x1 0000 = 1 With following tasks the acceleration ramp of it will be taken always

= 0 One of the following ramps is taken:

- Is the velocity of the following task greater and in the same direction, the acceleration
ramp of the following task is taken

- Is the velocity of the following task less and in the same direction, the braking ramp of
the former task is taken

- Is the velocity of the following task is in the opposite direction, the braking ramp of the
first is taken and the acceleration ramp of the following task
17 0x2 0000 reserved
18 0x4 0000 reserved
19 0x8 0000 = 1 The external position PFB0 won't be reset at end of homing

= 0 The external position PFB0 will be set to ROFFS at end of homing
20 0x10 0000 reserved
21 0x20 0000 = 1 no checksum verification of EQI feedback

= 0 checksum verification of EQI feedback activated

see also
22 0x40 0000 = 1 no encoder-pulses with disabled power stage

= 0 encoder-pulses also with disabled power stage
23 0x80 0000 reserved
24 0x100 0000 = 1 If bit 13 is set, the drive moves back to its target position

= 0 No return
25 0x200 0000 reserved
26 0x400 0000 reserved
27 0x800 0000 reserved
28 0x1000 0000 reserved
29 0x2000 0000 reserved
30 0x4000 0000 = 1 Enhanced surveillance of SinCos amplitude. It isn't just the sum of the squares monitored but also the simple sum of the signals. Upon any breach MAXDIFFI the variable is incremented. Once MAXDIFFI exceeds MAXDIFF, a warning is generated n23. The variable MAXDIFFI is set to 0 every 8 minutes. When enabled, the value MAXDIFFI is a statement about the quality of SinCos signals.
31 0x8000 0000 reserved