|ASCII - Command||DRVCNFG|
|Syntax Transmit||DRVCNFG [Data]|
|Syntax Receive||DRVCNFG <Data>||Available in|
|ASCII Format||Integer32||CANBus Object Number||3672 (hex)|
|DIM||-||PROFIBUS PNU||1970 (dec) IND = 1 (dec)|
|Range||long int||DPR||370 (dec)|
|Opmode||All||Data Type Bus/DPR||Integer32|
|Configuration||Yes||Last Change of this Object||2.0|
|Short Description||Configuration parameter for compatible behaviour|
|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 0 (0x1)||= 1 CANopen bootup-message on emergency-identifier without data bytes
= 0 CANopen bootup-message on emergency-identifier with eight data bytes
|Bit 1 (0x2)||= 1 CANopen state machine is influenced by the internal state of the power stage,
i.e. HW-enable or separate SW-Enable switches the state machine
= 0 CANopen state machine is controlled mainly by CANopen control word
|Bit 2 (0x4)||= 1 SDO length check. If SDO is send with a wrong data length, the answer will be
an abort SDO telegram
= 0 no SDO length check
|Bit 3 (0x8)||= 1 PDO mapping and communication parameters, SDO
parameters 6093, 6094 are saved with the other drive parameters to EEProm after a SAVE command
= 0 no saving of above CANopen specific parameters
|Bit 4 (0x10)||= 1 reserved
= 0 reserved
|Bit 5 (0x20)||= 1 The bit "reference set" (see TRJSTAT) will have a delay of minimum the value of INPT (in ms) after starting a homing. This configuration can be used to guarantee
a high/low and low/high flank when doing fast homing types like "Setting the reference"
(NREF 0) or "homing within one revolution" (NREF 5), where the time can be very short,
especially when the reference had been set before
= 0 No delay of the "reference set"-bit.
|Bit 6 (0x40)||= 1 No overvoltage surveillance of sine/cosine feedback voltage at X1 (S600) or X2 (S400)
= 0 Overvoltage surveillance of sine/cosine feedback voltage at X1 (S600) or X2 (S400)
|Bit 7 (0x80)||= 1 Overflow-surveillance of multi-turn-encoders switched off
= 0 Overflow-surveillance of multi-turn-encoders switched on
|Bit 8 (0x100)||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.
Firmware > 4.94 is required.
|Bit 9 (0x200)||= 1 Default value for the maximum motor temperature is 1000 Ohm
= 0 Default value for the maximum motor temperature is 291 Ohm
|Bit 10 (0x400)||= 1 NMT command 0x82 does the same as NMT command 0x2
= 0 NMT command 0x82 works correctly (ver > )
|Bit 11 (0x800)||= 1 The PDO-mapping is deleted only by writing 0 to subindex 0 of the mapping SDO. Writing
the right number of mapped data is accepted, otherwise abort SDO reaction.
= 0 The PDO-mapping is deleted by writing any value to subindex 0 of the mapping SDO.
|Bit 12 (0x1000)||= 1 Scaling of velocity in profile velocity mode (CANopen) in rpm
= 0 Scaling of velocity in profile velocity mode (CANopen) according to SDO 6094 sub 1/2
|Bit 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.
|Bit 14 (0x4000)||= 1 The CANopen ramp parameters SDO 6083 / 6084 are checked against their limits. If the values are outside, an abort SDO will be send, but the limits will be set as values.
= 0 If the values are outside the limits, an abort SDO will be generated and the values won't be
|Bit 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 all the time
|Bit 16 (0x10000)||= 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
|Bit 17 (0x20000)||Reserved|
|Bit 18 (0x40000)||= 1 The priority of the RS232-channel is never increased above the CAN-priority
= 0 The priority of the RS232-channel is increased above the CAN-priority for some functions
|Bit 19 (0x80000)||= 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
|Bit 20 (0x100000)||= 1 Some changes according to CANopen-profile DSP 402:
- bit 11 of CANopen status word (movement limited) is supported with the following
warnings: nodeguarding, SW- or HW-limit switches, "no reference point set"
- bootup-message on nodeguard-identifier (0x700 + CAN-node-address) - nodeguarding-surveillance independent of powerstage-enable, on nodeguarding-error a nodeguarding- emergency-object is generated (error code 8130)
- SPSET-function expanded (with negative manufacturer specific values)
= 0 old behaviour
|Bit 21 (0x200000)||= 1 no checksum-calculation with EQI-feedback-systems
= 0 checksum-calculation with EQI-feedback-systems
|Bit 22 (0x400000)||= 1 no encoder-pulses with disabled power stage
= 0 encoder-pulses also with disabled power stage
|Bit 23 (0x800000)||= 1 special function for SW-switches SWE5/SWE5N: Warning n08 is given when trying to start a motion task beyond the position limits. If the position is touched by movements within
the range, no warning message is sent.
= 0 default function for SWE5/SWE5N
|Bit 24 (0x1000000)||= 1 If bit 13 is set, the drive moves back to its target position
= 0 No return
|Bit 25 (0x2000000)||= 1 If Tx-PDO 1 is configured as event-triggered, it is checked every 2 milliseconds.
= 0 If Tx-PDO 1 is configured as event-triggered, it is checked every 4 milliseconds.
|Bit 26 (0x4000000)||= 1 Fixed minimum response time of 3 ms to a new setpoint in profile position mode (DSP 402)
= 0 Variable response time (depends on drive load, greater jitter time in response time
|Bit 27 (0x8000000)||=1 Bit 8 of DS 402 status word (toggle bit) changes after every start of a motion task.
= 0 Bit 8 of DS 402 status word (toggle bit) changes when the motion task trajectory is at
its target position.
|Bit 28 (0x10000000)||= 1 PFB0 is resetted with the homing move (to ROFFS)
= 0 PFB0 is not resetted during the homing move
|Bit 29 (0x20000000)||= 1 Reading of the absolute EnDat / Hiperface position at disabled power stage
= 0 Reading of the absolute EnDat / Hiperface position only at power-on
|Bit 30 (0x40000000)||= 1 Fault message F04 at position difference (if bit 29 = 1)
= 0 If there is a position difference, it will be corrected (if bit 29 = 1)
|Bit 31 (0x80000000)||= 1 reserved
= 0 reserved