Users can change Compax3-EPL objects by writing to C3 with SDO. Below shows a common example of writing to the C3's torque limit (upper and lower) which must also be Verified (VP). This current limit is by default set in the C3 ServoManager software and by default 200% and is in % of the motor's rated current (at rated speed).
REM this example sets for user torque limit value to 100
P37378=1 : REM NodeID OF Compax3 EPL drive
gosub C3PlusTLM
gosub C3MinusTLM
gosub VP
END
_C3PlusTLM
''EPL Object Index x200B
''C3.Limit_CurrentPositive
''positive current limit, value to be entered always positive
''100% correspond to the rated motor current
''0x200B HEX=8203 (integer)
P37379=8203 : REM SDO Index as integer value
p37380= 0 : rem SubIndex as integer value
p37381= 3 REM DataType
p37520=100 : REM VALUE TO WRITE TO EPL Object
GOSUB WriteSDO
RETURN
_C3MinusTLM
''EPL Object Index x200C
''C3.Limit_CurrentNegative
''negative current limit, value to be entered always positive
''100% correspond to the rated motor current
''0x200c HEX=8204 (integer)
P37379=8204 : REM SDO Index as integer value 37379
p37380= 0 : rem SubIndex as integer value
p37381= 3 REM DataType
p37520=100 : REM VALUE TO WRITE TO EPL Object
GOSUB WriteSDO
RETURN
_WriteSDO
set 16642 : rem send sdo data
inh 16658 : rem wait for write to start
inh-16658 : rem wait for write to complete
RETURN
_VP
''EPL Object Index 0x2016.10
''C3.ValidParameter_Global
''Set all objects or parameters to valid
''This is automatically performed after the power is turned on.
''"VP" command is activated by writing a value <> 0;
''Command is performed if 0 is read.
''0x2016 hex= 8214 (integer)
P37379=8214 : REM SDO Index as integer value 37379
p37380= 10 : rem SubIndex as integer value
p37381= 6 REM DataType
p37520=1
set 16642 : rem send sdo data
inh 16658 : rem wait for write to start
inh-16658 : rem wait for write to complete
RETURN
ENDP
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