Information and diagnostic data

9010:0

STM Info data Ch.1

General information for the modular device profile

UINT8

RO

0x13 (19_dec)

9010:01

Status word

Status-word (see index 0xA010)

UINT16

RO

0x0000 (0_dec)

9010:02

Motor coil voltage A

Motor voltage coil A
Unit 1 mV

UINT16

RO

0x0000 (0_dec)

9010:03

Motor coil voltage B

Motor voltage coil B
Unit 1 mV

UINT16

RO

0x0000 (0_dec)

9010:04

Motor coil current A

Motor current coil A
Unit 1 mA

UINT16

RO

0x0000 (0_dec)

9010:05

Motor coil current B

Motor current coil B
Unit 1 mA

UINT16

RO

0x0000 (0_dec)

9010:06

Duty cycle A

Duty-Cycle coil A
Unit 1 %

UINT16

RO

0x0000 (0_dec)

9010:07

Duty cycle B

Duty-Cycle coil B
Unit 1 %

UINT16

RO

0x0000 (0_dec)

9010:08

Motor velocity

Current velocity (value range +/- 10000)

INT16

RO

0x0000 (0_dec)

9010:09

Internal position

internal position

UINT32

RO

0x00000000 (0_dec)

9010:13

External position

External position (connected encoder)

UINT32

RO

0x00000000 (0_dec)

9020:0

POS Info data Ch.1

General information for the modular device profile

UINT8

RO

0x04 (4_dec)

9020:01

Status word

Status word

UINT16

RO

0x0000 (0_dec)

9020:03

State (drive controller)

Permitted values:

0: Init
1: Idle
272: Go cam
273: On cam
16: Start
17: Acceleration
18: Constant
19:Deceleration
288: Go sync impulse
289: Leave cam
4096: Pre target
4097: In target
32: Emergency stop
33: Normal stop
304: Calibration stop
8192: Drive end
8192: Wait for init
320: Is calibrated
321: Not calibrated
16384: Drive warning
32768: Error
65535: Undefined
256: Calibration start

UINT16

RO

0x0000 (0_dec)

9020:04

Actual positon lag

Current step error

INT32

RO

0x00000000 (0_dec)

A010:0

STM Diag data Ch.1

General information for the modular device profile

UINT8

RO

0x11 (17_dec)

A010:01

Saturated

Driver stage operates with maximum duty cycle

BOOLEAN

RO

0x00 (0_dec)

A010:02

Over temperature

Internal module temperature is higher than 80°C

BOOLEAN

RO

0x00 (0_dec)

A010:03

Torque overload

Motor current is higher than the rated current

BOOLEAN

RO

0x00 (0_dec)

A010:04

Under voltage

Motor supply voltage is 20% lower than the configured nominal voltage (warning), or Motor supply voltage is less than 8 V (error, see 0xA010:09)

BOOLEAN

RO

0x00 (0_dec)

A010:05

Over voltage

Motor supply voltage is 10% higher than the configured nominal voltage (see index 0x8010:03)

BOOLEAN

RO

0x00 (0_dec)

A010:06

Short circuit A

Short circuit in motor coil A

BOOLEAN

RO

0x00 (0_dec)

A010:07

Short circuit B

Short circuit in motor coil B

BOOLEAN

RO

0x00 (0_dec)

A010:08

No control power

The control voltage at the Up-contacts is lower than 12 V

BOOLEAN

RO

0x00 (0_dec)

A010:09

Misc error

• Module initialization failed or
• Supply voltage is lower than 8 V or
• Internal temperature of the Module is higher than 100°C (see index 0xF80F:05)

BOOLEAN

RO

0x00 (0_dec)

A010:0A

Configuration

CoE change has not yet been adopted into the current configuration

BOOLEAN

RO

0x00 (0_dec)

A010:11

Actual operation mode

Current operation mode (relevant for activated automatic, see 0x8012:01) permitted values:

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

BIT4

RO

0x00 (0_dec)

A020:0

POS Diag data Ch.1

General information for the modular device profile

UINT8

RO

0x06 (6_dec)

A020:01

Command rejected

Travel command was rejected.

BOOLEAN

RO

0x00 (0_dec)

A020:02

Command aborted

Travel command was aborted.

BOOLEAN

RO

0x00 (0_dec)

A020:03

Target overrun

Target position was overrun in the opposite direction.

BOOLEAN

RO

0x00 (0_dec)

A020:04

Target timeout

The target window was not reached within the in-target timeout

BOOLEAN

RO

0x00 (0_dec)

A020:05

Position lag

The maximum following error was exceeded.

BOOLEAN

RO

0x00 (0_dec)

A020:06

Emergency stop

An emergency stop was triggered (automatic or manual)

BOOLEAN

RO

0x00 (0_dec)

10F3:0

Diagnosis History

Max. Subindex

UINT8

RO

0x37 (55_dec)

10F3:01

Maximum Messages

Maximum number of stored messages.
A maximum of 50 messages can be stored

UINT8

RO

0x00 (0_dec)

10F3:02

Newest Message

Subindex of the latest message

UINT8

RO

0x00 0_dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message

UINT8

RO

0x00 (0_dec)

10F3:04

New Message available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0_dec)

10F3:05

Flags

not used

UINT16

RO

0x0000 (0_dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[28]

RO

{0}

…

…

…

…

…

…

10F3:37

Diagnosis Message 050

Message 50

OCTET-STRING[28]

RO

{0}

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2_dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0003 (3_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Length of this object

UINT8

RW

0x03 (3_dec)

F010:01

SubIndex 001

-

UINT32

RW

0x00001FF (511_dec)

F010:02

SubIndex 002

-

UINT32

RW

0x00002BF (703_dec)

F010:03

SubIndex 003

-

UINT32

RW

0x00002C0 (704_dec)

F081:0

Download revision

Max. Subindex

UINT8

RO

0x01 (1_dec)

F081:01

Revision number

The subindex 0xF081:01 (Download revision) describes the revision level of the module.

UINT32

RW

0x00000000 (0_dec)

F900:0

STM Info data

Max. Subindex

UINT8

RO

0x06 (6_dec)

F900:01

Software version (driver)

Software version of the driver card

STRING

RO

F900:02

Internal temperature

Internal module temperature
Unit: 1°C

INT8

RO

0x00 (0_dec)

F900:04

Control voltage

Control voltage
Unit: 1 mV,

UINT16

RO

0x0000 (0_dec)

F900:05

Motor supply voltage

Motor supply voltage
Unit: 1 mV

UINT16

RO

0x0000 (0_dec)

F900:06

Cycle time

Measured cycle time
Unit: 1 µs

UINT16

RO

0x0000 (0_dec)