Configuration data

8000:0

ENC Settings Ch.1

Length of this object

UINT8

RO

0x0E (14_dec)

8000:08

Disable filter

Deactivates the input filters

BOOLEAN

RW

0x00 (0_dec)

8000:0A

Enable micro increments

The lower 8 bits of the counter value are extrapolated.

BOOLEAN

RW

0x00 (0_dec)

8000:0E

Reversion of rotation

Activates 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 (2500_dec)

8010:03

Nominal voltage

Nominal voltage (supply voltage) of the motor
Unit: 10 mV

UINT16

RW

0x0960 (2400_dec)

8010:04

Motor coil resistance

Internal resistance of the motor
Unit: 10 mOhm

UINT16

RW

0x0064 (100_dec)

8010:05

Motor EMF

Countervoltage of the motor
Unit: 1 mV / (rad/s)

UINT16

RW

0x0000 (0_dec)

8010:06

Motor fullsteps

Number of full motor steps

UINT16

RW

0x00C8 (200_dec-)

8010:07

Encoder increments (4fold)

Number of encoder increments per revolution with 4-fold evaluation

UINT16

RW

0x1000 (4096_dec)

8010:09

Start velocity

Minimum starting velocity of the motor
Unit: 10000 corresponds to 100%

UINT16

RW

0x0000 (0_dec)

8010:0A

Motor coil inductance

Inductance of the motor
Unit: 0.01 mH

UINT16

RW

0x0000 (0_dec)

8010:10

Drive on delay time

Delay between activation of the driver stage and Ready = 1
Unit: 1 ms

UINT16

RW

0x0064 (100_dec)

8010:11

Drive off delay time

Delay between Ready = 0 and deactivation of the driver stage
Unit: 1 ms

UINT16

RW

0x0096 (150_dec)

8011:0

STM Controller Settings Ch.1

Length of this object

UINT8

RO

0x02 (2_dec)

8011:01

Kp factor (curr.)

Kp control factor of the current controller

UINT16

RW

0x0096 (150_dec)

8011:02

Ki factor (curr.)

Ki control factor of the current controller

UINT16

RW

0x000A (10_dec)

8012:0

STM Features Ch.1

Length of this object

UINT8

RO

0x3A (58_dec)

8012:01

Operation mode

Permitted values:
0: Automatic
1: Velocity direct
3: Position controller
4: Ext. Velocity mode
5: Ext. Position mode
6: Velocity sensorless

BIT4

RW

0x00 (0_dec)

8012:05

Speed range

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

BIT3

RW

0x01 (1_dec)

8012:08

Feedback type

Permitted values:
0: Encoder
1: Internal counter

BIT1

RW

0x01 (1_dec)

8012:09

Invert motor polarity

Invert the direction of rotation of the motor

BOOLEAN

RW

0x00 (0_dec)

8012:0A

Error on step lost

Error on loss of step

BOOLEAN

RW

0x00 (0_dec)

8012:0B

Fan cartridge present

Fan cartridge present

BOOLEAN

RW

0x00 (0_dec)

8012:11

Select info data 1

Permitted values:
0: Status word
7: Motor velocity
11: Motor load
13: Motor dc current
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

0x0B (11_dec)

8012:19

Select info data 2

Permitted values:
0: Status word
7: Motor velocity
11: Motor load
13: Motor dc current
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

0x0D (13_dec)

8012:30

Invert digital input 1

Invert digital input

BOOLEAN

RW

0x00 (0_dec)

8012:31

Invert digital input 2

Invert digital input

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

0x00 (0_dec)

8012:36

Function for input 2

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

BIT4

RW

0x00 (0_dec)

8012:3A

Function for output 1

Permitted values:
0: Normal output
1: Break (linked with driver enable)
15: Disabled

BIT4

RW

0x0F (15_dec)

8014:0

STM Controller Settings 3 Ch.1

Length of this object

UINT8

RO

0x09 (9_dec)

8014:01

Feed forward (pos.)

Pilot control of the position controller

UINT32

RW

0x000186A0 (100000_dec)

8014:02

Kp factor (pos.)

Kp control factor of the position controller

UINT16

RW

0x01F4 (500_dec)

8014:03

Kp factor (velo.)

Kp control factor of the velocity controller
Unit: 0.01 ms

UINT32

RW

0x00000032 (50_dec)

8014:04

Tn (velo.)

Time constant Tn of the velocity controller
Unit: 0.1 mA/(rad/s)

UINT16

RW

0xC350 (50000_dec)

8014:05

Sensorless param 1

First parameter (sensorless control)

UINT16

RW

0x0000 (0_dec)

8014:06

Sensorless param 2

Second parameter (sensorless control)

UINT16

RW

0x0000 (0_dec)

8014:07

Cross over velocity 1

First velocity transition (sensorless control)
Unit: 0.1 rad/s

UINT16

RW

0x0000 (0_dec)

8014:08

Cross over velocity 2

Second velocity transition (sensorless control)
Unit: 0.1 rad/s

UINT16

RW

0x0000 (0_dec)

8014:09

Cross over velocity 3

Third velocity transition (sensorless control)
Unit: 0.1 rad/s

UINT16

RW

0x0000 (0_dec)

8020:0

POS Settings Ch.1

Length of this object

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 position

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

Target position timeout
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 allowable step error

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

Length of this object

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 motion 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)