AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 3 of 63
3.5.2 Protection functions............................................................................................26
3.5.2.1 Limiting of current ..........................................................................................26
3.5.2.2 I²t monitoring.................................................................................................26
3.5.2.3 Torque deactivation .........................................................................................27
3.5.2.4 Temperature monitoring ...................................................................................28
3.5.2.5 Overvoltage protection in case of feedback .........................................................28
3.5.2.6 Position lag monitoring....................................................................................28
3.5.2.7 Oscillation detection........................................................................................29
3.5.3 Restore factory setting ........................................................................................29
3.6 Warnings/errors......................................................................................................29
3.6.1 Warnings ...........................................................................................................29
3.6.2 Errors ................................................................................................................29
3.6.2.1 Error Codes .....................................................................................................30
4Parameter ............................................................................................................... 31
4.1 Process data ..........................................................................................................31
4.1.1 ControlWord .......................................................................................................31
4.1.2 StatusWord ........................................................................................................32
4.1.3 TargetValue........................................................................................................32
4.1.4 ActualValue........................................................................................................32
4.1.5 GenericMappingParameter1...................................................................................33
4.1.6 UnsignedInteger8 ...............................................................................................33
4.1.7 GenericMappingChannel1 .....................................................................................33
4.1.8 GenericMappingChannel2 .....................................................................................34
4.2 Positioning............................................................................................................34
4.2.1 OffsetApplication ................................................................................................34
4.2.2 SpindlePitch.......................................................................................................35
4.2.3 CountingDirection...............................................................................................35
4.2.4 CalibrationValue..................................................................................................35
4.2.5 TargetWindow.....................................................................................................36
4.2.6 LoopType...........................................................................................................36
4.2.7 LoopLength........................................................................................................37
4.2.8 GearRatioNumerator ............................................................................................37
4.2.9 GearRatioDenominator .........................................................................................37
4.2.10 DeltaInch...........................................................................................................38
4.2.11 TargetWindowReachedMode..................................................................................38
4.3 Actuator................................................................................................................38
4.3.1 OperatingMode ...................................................................................................38
4.3.2 AccelerationPositionMode ....................................................................................39
4.3.3 VelocityPositionMode ..........................................................................................39
4.3.4 DecelerationPositionMode ....................................................................................40
4.3.5 AccelerationVelocityMode.....................................................................................40
4.3.6 AccelerationInchingMode.....................................................................................40
4.3.7 VelocityInchingMode ...........................................................................................41
