ASCII - Command DRVCNFG4    
Syntax Transmit DRVCNFG4 [Data]    
Syntax Receive DRVCNFG4 <Data>   Available in  
Type Variable rw   MMI No
ASCII Format Integer32   CANBus Object Number 38CE (hex)
DIM   PROFIBUS PNU 1774 (dec) IND = 33 (dec)
Range 32 Bit   DPR 974 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer32
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 5.40    
Configuration Yes   Last Change of this Object 2.10
Function Group drive configuration   EEPROM Yes
Short Description Configuration parameter for additional drive functionality

Description

The configuration parameter DRVCNFG4 offers the possibility to change/correct the behaviour of the servo amplifier via setting of configuration bits.
Bit value description
0 0x1 1 = no reverse to the base position at wake&shake
1 0x2 1 = switch off the corrected calculation of PVMAX for SERCOS. The "old" calculation only works if PGEARI = 2^PRBASE, the new calculation solves this problem. When there is compatibility problems, this can be reversed through setting the bit.
2 0x4 1 = Enable the automatic reset for the SinCos module in the FPGA. By very disturbed SinCos signals, it may cause problems in the position detection. If this bit is set, the FPGA position is monitored by the help of the hardware counter. If required, the FPGA module is reset.
3 0x8 1 = monitoring by the software of the output stage fault F14. If this monitoring is active, F14 will be reported befor the hardware monitoring indicates this fault.

This is a protection of the drive if the value of the current loop is worthly wrong!

see also ERRCODE *
4 0x10 reserved
5 0x20 no monitoring of feedback fault F04 by using a digital encoder (ENDAT2.2 or BISS-C) for the second feedback
6 0x40 1 = no raise of the threshold at high regen power.
To keep the regen in the DC-bus connection evenly, the threshold is increased with increasing power. This causes the regen resistor to be switched on after a delay. For drives that are not connected with the DC link, this effect can be undesirable.
7 0x80 1 = CAN/EtherCAT: the output stage is not enabled in the DS402 status "Switched On".
8 0x100 1 = EtherCAT state "Operation Enable" is only reported when the command values are accepted. This state isn't reported when the power stage is enabled (message only after the settling time has expired for the power stage).
9 0x200 1 = instead of using the zero crossing of the external feedback, the zero crossing of theprimary feedback (resolver) is used at the homing.
10 0x400 1 = no reset of the integral component of velocity controll loop if stage is inhibited. This setting can be useful to minimize slippage of suspended loads when brake control.
11 0x800 1 = improved calculation of the actual value of the speed in "hall-only mode". This function is currently not active by default (for compatibility reasons) but should be used with the new "hall-only" -applications.
12 0x1000 1 = "flying synchronization" with a rotating motor. In the initialization phase/releasing the final stage of the speed controller is synchronized to the current speed of the motor. This means that once the velocity setpoint is set to the actual value of velocity in releasing the final stage. As long as no new setpoint has been received (e.g. fieldbus, analogue or RS232) the velocity is constant. Caution: If the function is active, it can lead to drifting of the motorshaft.
13 0x2000 1 = X1 initialization for SSI reading. This function is only useful in conjunction with a macro program, if the SSI interface is to be read in the macro program without appropriate FBTYPE/GEARMODE/EXTPOS settings.
14 0x4000 1 = X5 initialization for SSI reading. This function is only useful in conjunction with a macro program, if the SSI interface is to be read in the macro program without appropriate FBTYPE/GEARMODE/EXTPOS settings.
15....31 - reserved