Configuration data

8000:0

ENC Settings Ch.1

Length of this object

UINT8

RO

0x0E (14_dec)

8000:0E

Reversion of rotation

Enables Reversion of rotation of the encoder.

BOOLEAN

RW

0x00 (0_dec)

8010:0

STM Motor Settings Ch.1

Length of this object

UINT8

RO

0x11 (17_dec)

8010:01

Maximal current

Maximum permanent motor coil current
Unit : 1 mA

UINT16

RW

0x05DC (1500_dec)

8010:02

Reduced current

Reduced coil current
Unit : 1 mA.

UINT16

RW

0x01F4 (500_dec)

8010:03

Nominal voltage

Nominal voltage (supply voltage) of the motor
Unit : 1 mV

UINT16

RW

0x5DC0 (24000_ddec)

8010:04

Motor coil resistance

Internal resistance of a coil
Unit : 10 mOhm

UINT16

RW

0x0064 (100_dec)

8010:05

Motor EMF

Motor countervoltage
Unit : 1 mV / (rad/s)

UINT16

RW

0x0000 (0_dec)

8010:06

Motor fullsteps

Motor full steps per revolution

UINT16

RW

0x00C8 (200_{dec -})

8010:09

Start velocity

Maximum possible start velocity of the motor

UINT16

RW

0x0000 (0_dec)

8010:10

Drive on delay time

Switch-on delay of the driver stage

UINT16

RW

0x0064 (100_dec)

8010:11

Drive off delay time

Switch-off delay of the driver stage

UINT16

RW

0x0096 (150_dec)

8011:0

STM Controller Settings Ch.1

Maximum subindex

UINT8

RO

0x08 (8_dec)

8011:01

Kp factor (curr.)

Kp control factor (proportional component) for the current controller
Unit: 0.001

UINT16

RW

0x0190 (400_dec)

8011:02

Ki factor (curr.)

Ki control factor (integral component) for the current controller
Unit: 0.001

UINT16

RW

0x0004 (4_dec)

8011:03

Inner window (curr.)

Inner window for the I component of the current controller
Unit : 1 %

UINT8

RW

0x00 (0_dec)

8011:05

Outer window (curr.)

Outer window for the I component of the current controller
Unit : 1 %

UINT8

RW

0x00 (0_dec)

8011:06

Filter cut off frequency (curr.)

Filter limit frequency of the current controller (low-pass)
Unit : 1 Hz

UINT16

RW

0x0000 (0_dec)

8011:07

Ka factor (curr.)

Ka control factor (acceleration component) for the current controller
Unit: 0.001

UINT16

RW

0x0064 (100_dec)

8011:08

Kd factor (curr.)

Kd control factor (acceleration component) for the current controller
Unit: 0.001

UINT16

RW

0x0064 (100_dec)

8012:0

STM Features Ch.1

Maximum subindex

UINT8

RO

0x36 (54_dec)

8012:01

Operation mode

permitted values:
0: Automatic
1: Velocity direct
2: Velocity controller
3: Position controller

BIT4

RW

0x00 (0_dec)

8012:05

Speed range

Permitted values:
0: 1000 Fullsteps / s
1: 2000 Fullsteps / s
2: 4000 Fullsteps / s
3: 8000 Fullsteps / s
4: 16000 Fullsteps / s
5: 32000 Fullsteps / s

BIT3

RW

0x01 (1_dec)

8012:09

Invert motor polarity

Activates reversal of the motor rotation direction.

BOOLEAN

RW

0x00 (0_dec)

8012:11

Select info data 1

Permitted values:

0: Status word
1: Motor coil voltage A (Unit: 1 mV)
2: Motor coil voltage B (Unit: 1 mV)
3: Motor coil current A (Unit: 1 mA)
4: Motor coil current B (Unit: 1 mA)
5: Duty cycle A (Unit: 1 %)
6: Duty cycle B (Unit: 1 %)
7: Motor velocitiy (value range: ± 10000
101: Internal temperature
103: Control voltage
104: Motor supply voltage
150: Drive - Status word
151: Drive - State
152: Drive - Position lag (low word)
153: Drive - Position lag (high word)

UINT8

RW

0x03 (3_dec)

8012:19

Select info data 2

Permitted values:

0: Status word
1: Motor coil voltage A (Unit: 1 mV)
2: Motor coil voltage B (Unit: 1 mV)
3: Motor coil current A (Unit: 1 mA)
4: Motor coil current B (Unit: 1 mA)
5: Duty cycle A (Unit: 1 %)
6: Duty cycle B (Unit: 1 %)
7: Motor velocitiy (value range: ± 10000
101: Internal temperature
103: Control voltage
104: Motor supply voltage
150: Drive - Status word
151: Drive - State
152: Drive - Position lag (low word)
153: Drive - Position lag (high word)

UINT8

RW

0x04 (4_dec)

8012:30

Invert digital input 1

Inversion of digital input 1

BOOLEAN

RW

0x00 (0_dec)

8012:31

Invert digital input 2

Inversion of digital input 2

BOOLEAN

RW

0x00 (0_dec)

8012:32

Function for input 1

Permitted values:

0: Normal input
1: Hardware enable
2: PLC cam
3: Auto start

BIT4

RW

0x02 (2_dec)

8012:36

Function for input 2

Permitted values:

0: Normal input
1: Hardware enable
2: PLC cam
3: Auto start

BIT4

RW

0x02 (2_dec)

8013:0

STM Controller Settings 2 Ch.1

Maximum subindex

UINT8

RO

0x08 (8_dec)

8013:01

Kp factor (velo./pos.)

Kp control factor (proportional component) for the velocity controller
Unit: 0.001

UINT16

RW

0x03E8 (1000_dec)

8013:02

Ki factor (velo./pos.)

Ki control factor (integral component) for the velocity controller
Unit: 0.001

UINT16

RW

0x0000 (0_dec)

8013:03

Inner window (velo./pos.)

Inner window for the I component of the velocity controller
Unit : 1 %

UINT8

RW

0x00 (0_dec)

8013:05

Outer window (velo./pos.)

Outer window for the I component of the velocity controller
Unit : 1 %

UINT8

RW

0x00 (0_dec)

8013:06

Filter cut off frequency (velo./pos.)

Filter limit frequency of the velocity controller (low-pass)
Unit : 1 Hz

UINT16

RW

0x0000 (0_dec)

8013:07

Ka factor (velo./pos.)

Ka control factor (acceleration component) for the velocity controller
Unit: 0.001

UINT16

RW

0x0000 (0_dec)

8013:08

Kd factor (velo./pos.)

Kd control factor (acceleration component) for the velocity controller
Unit: 0.001

UINT16

RW

0x0000 (0_dec)

8020:0

POS Settings Ch.1

Maximum subindex

UINT8

RO

0x11 (17_dec)

8020:01

Velocity min.

Minimum set velocity (range: 0-10000)

INT16

RW

0x0064 (100_dec)

8020:02

Velocity max.

Maximum set velocity (range: 0-10000)

INT16

RW

0x2710 (10000_dec)

8020:03

Acceleration pos.

Acceleration time in positive direction of rotation
Unit : 1 ms

UINT16

RW

0x03E8 (1000_dec)

8020:04

Acceleration neg.

Acceleration time in negative direction of rotation
Unit : 1 ms

UINT16

RW

0x03E8 (1000_dec)

8020:05

Deceleration pos.

Deceleration time in positive direction of rotation
Unit : 1 ms

UINT16

RW

0x03E8 (1000_dec)

8020:06

Deceleration neg.

deceleration time in negative direction of rotation
Unit : 1 ms

UINT16

RW

0x03E8 (1000_dec)

8020:07

Emergency deceleration

Emergency deceleration time (both directions of rotation)
Unit : 1 ms

UINT16

RW

0x0064 (100_dec)

8020:08

Calibration postion

Calibration position

UINT32

RW

0x00000000 (0_dec)

8020:09

Calibration velocity (towards plc cam)

Calibration velocity towards the cam (range: 0-10000)

INT16

RW

0x0064 (100_dec)

8020:0A

Calibration velocity (off plc cam)

Calibration velocity away from the cam (range: 0-10000)

INT16

RW

0x000A (10_dec)

8020:0B

Target window

Target window

UINT16

RW

0x000A (10_dec)

8020:0C

In-Target timeout

Timeout at target position
Unit : 1 ms

UINT16

RW

0x03E8 (1000_dec)

8020:0D

Dead time compensation

Dead time compensation
Unit : 1 µs

INT16

RW

0x0032 (50_dec)

8020:0E

Modulo factor

Modulo factor/position

UINT32

RW

0x00000000 (0_dec)

8020:0F

Modulo tolerance window

Tolerance window for modulo positioning

UINT32

RW

0x00000000 (0_dec)

8020:10

Position lag max.

maximum position lag

UINT16

RW

0x0000 (0_dec)

8020:11

Calibration acceleration (around plc cam)

Acceleration and braking ramps for homing runs

UINT16

RW

0x0000 (0_dec)

8021:0

POS Features Ch.1

Maximum subindex

UINT8

RO

0x16 (22_dec)

8021:01

Start type

permitted values:

0: Idle
1: Absolute
2: Relative
3: Endless plus
4: Endless minus
6: Additive
24832: Calibration (Hardware sync)
2457: Calibration (Plc cam)
28416: Calibration (Clear manual)
28160: Calibration (Set manual)
28161: Calibration (Set manual auto)
1029: Modulo current
773: Modulo minus
517: Modulo plus
261: Modulo short

UINT16

RW

0x0001 (1_dec)

8021:11

Time information

permitted values:

0: Elapsed time
current drive time since start of the travel command

BIT2

RW

0x00 (0_dec)

8021:13

Invert calibration cam search direction

Inversion of the direction of rotation towards the cam

BOOLEAN

RW

0x01 (1_dec)

8021:14

Invert sync impulse search direction

Inversion of the direction of rotation away from the cam

BOOLEAN

RW

0x00 (0_dec)

8021:15

Emergency stop on position lag error

Triggers an emergency stop if the maximum following error is exceeded

BOOLEAN

RW

0x00 (0_dec)

8021:16

Enhanced diag history

Provides detailed messages about the status of the positioning interface in the diag history

BOOLEAN

RW

0x00 (0_dec)