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Configuration Register Object 6410:9

MOTORCON - Motor configuration register (Object 6410:9)

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
DIRCON IDXCON GEARINV REVCON HALCON TPMCON PWMCON PSDTRQ INCCON ROTCON MODCON
ro ro ro ro ro ro ro ro ro ro ro

 

Field Bit Function
MODCON Modulation modes:
0 0 block commutation (BLDC)
0 1 sine wave commutation (BLAC)
1 0 half bridge modulation (DC-Motor)

Dynamic adjustment of commutation angle (SSI interface only, Version >= v3r0449)

1 1 full bridge modulation (DC-Motor)
ROTCON Position sensor and commutation:
0 0 Hall sensors for commutation and positioning
0 1 Hall sensors for commutation, incremental encoder for velocity/positioning
1 0 Hall sensors for commutation/velocity, incremental encoder for positioning
1 1 Hall sensors for commutation, incremental encoder time difference for velocity, incremental encoder pulse counting for positioning
INCCON Input edge selection incremental encoder (if bit IOCON.INC = 1):
0 encoder resolution * 2
1 encoder resolution * 4
PSDTRQ Pseudo Torque Mode
0 Pseudo Torque Mode deactivated
1 Pseudo Torque Mode activated. Current demand value equals velocity demand value.
PWMCON PWM mode control:
0 0 PWM frequency 15.6 kHz, 9bit, edge aligned mode
0 1 PWM frequency 15.6 kHz, 9bit, center aligned mode
1 0 PWM frequency 31.2 kHz, 9bit, edge aligned mode
1 1 PWM frequency 15.6 kHz, 10bit, edge aligned mode (4q modulation)
TMPCON Motor temperature sensor (only XI if bit IOCON.TMP = 1):
0 0 not connected
1 0 voltage is proportional to motor temperature
1 1 voltage is inverse proportional to motor temperature
0 1 reserved for internal use
HALCON Hall sensor self test:
0 0 position of drive must not be changed during power off
1 0 position may change +-1 increment during power off, automatic correction
1 1 any change in position of motor will be corrected
0 1 reserved for internal use
REVCON Torque reversal:
0 motor control does not support torque reversal
1 motor control supports torque reversal (4q modulation only)
GEARINV Inverting gear:
0 no gear or non-inverting gear
1 non-inverting gear
IDXCON Index pulse incremental encoder (if bit IOCON.INC = 1):
0 index pulse not available
1 index pulse available
DIRCON Sequence Hall sensors (if bit IOCON.HAL = 0):
0 W – V – U
1 U – V – W

Write access to register MOTORCON is only allowed in configuration or production mode. The customer has read access only.