CL3-E CANopen/USB Technical Manual

203Bh I2t Parameters

Function

This object contains the parameters for the I2t monitoring.

The I2t monitoring is activated when a value greater than 0 is entered in 203Bh:01h and 203Bh:02h (see " I2t motor overload protection").

I2t can only be use for closed loop mode with a single exception: If I2t is activated in open loop mode, the current is limited to the set nominal current even when the set maximum current is greater. This feature was implemented for safety reasons, so that it is also possible to switch out of closed loop mode and into open loop mode with a very high short-time maximum current without damaging the motor.

Object description


Index 203Bh
Object Name I2t Parameters
Object Code ARRAY
Data type UNSIGNED32
Saveable yes, category: tuning
Firmware Version FIR-v1426
Change History

Firmware Version FIR-v1512: Entry "Savable" modified from "No" to "yes, category: application".

Firmware Version FIR-v1614: Entry "Saveable" modified from "yes, category: application" to "yes, category: tuning".


Value description


Sub-index 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 07h


Sub-index 01h
Name Nominal Current
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 02h
Name Maximum Duration Of Peak Current
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 03h
Name Threshold
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 04h
Name CalcValue
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 05h
Name LimitedCurrent
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 06h
Name Status
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 07h
Name ActualResistance
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000000h

Description

The subentries are divided into two groups: sub-index 01h and 02h holding parameter for controlling, sub-index 03h to 06h are status values. The functions are as follows:

  • 01h: Specifies the nominal current as root mean square (RMS) in mA, must be smaller than the peak current 2031h, otherwise monitoring will not be activated.
  • 02h: Specifies the maximum time period of the peak current in ms.
  • 03h: Threshold, specifies the limit in mA, from which is determined whether switching is to the maximum current or nominal current.
  • 04h: CalcValue, specifies the calculated value that is compared to the threshold in order to set the current.
  • 05h: LimitedCurrent, shows the actual current value as root mean square (RMS) that was set by I2t.
  • 06h: Actual status. If the subentry value is "0", I2t is deactivated; if the value is "1", I2t is activated
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