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)

9010:08

Motor velocity

Current motor velocity

INT16

RO

0x0000 (0_dec)

9010:09

Internal position

Internal position (micro increments)

UINT32

RO

0x00000000 (0_dec)

9010:0B

Motor load

Current motor load
Unit: 0.01°

INT16

RO

0x0000 (0_dec)

9010:0D

Motor dc current

Current motor current (DC vector)
Unit: 1 mA

INT16

RO

0x0000 (0_dec)

9010:0E

Tn (curr.)

Internally calculated time constant of the current controller
Unit: 0.01 ms

UINT16

RO

0x0000 (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
16: Start
17: Acceleration
18: Constant
19:Deceleration
20: Deceleration on change
32: Emergency stop
33: Normal stop
256: Calibration start
257: Go cam acceleration
258: On cam deceleration
272: Go cam
273: On cam
274: Back to cam
288: Go sync impulse
289: Leave cam
304: Calibration stop
320: Is calibrated
321: Not calibrated
4096: Pre target
4097: In target
8192: Drive end
8192: Wait for init
16384: Drive warning
32768: Error
65535: Undefined

UINT16

RO

0x0000 (0_dec)

9020:04

Actual position 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 temperature of the module is higher than 80°C

BOOLEAN

RO

0x00 (0_dec)

A010:03

Torque overload

Duty cycle output at 100%

BOOLEAN

RO

0x00 (0_dec)

A010:04

Under voltage

Supply voltage is lower than 7 V

BOOLEAN

RO

0x00 (0_dec)

A010:05

Over voltage

Supply voltage is 10% higher than the rated voltage (see Index 0x8010:03)

BOOLEAN

RO

0x00 (0_dec)

A010:06

Short circuit

Short circuit of motor coil

BOOLEAN

RO

0x00 (0_dec)

A010:08

No control power

No power supply to driver stage

BOOLEAN

RO

0x00 (0_dec)

A010:09

Misc error

• Initialization failed 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)

A010:0B

Motor stall

A loss of step has occurred

BOOLEAN

RO

0x00 (0_dec)

A010:0C

Open load A

BOOLEAN

RO

0x00 (0_dec)

A010:0D

Open load B

BOOLEAN

RO

0x00 (0_dec)

A010:11

Actual operation mode

permitted values:

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

BOOLEAN

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

Motion command was rejected

BOOLEAN

RO

0x00 (0_dec)

A020:02

Command aborted

Motion command was aborted

BOOLEAN

RO

0x00 (0_dec)

A020:03

Target overrun

Target window was overshot 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)

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

0x000001FF (511_dec)

F010:02

SubIndex 002

-

UINT32

RW

0x000002BF (703_dec)

F010:03

SubIndex 003

-

UINT32

RW

0x000002C0 (704_dec)

F081:0

Download revision

General information for the modular device profile

UINT8

RO

0x01 (1_dec)

F081:01

Revision number

Revision number

UINT32

RW

0x00000000 (0_dec)

F900:0

STM Info data

General information for the modular device profile

UINT8

RO

0x06 (6_dec)

F900:01

Software version (driver)

Software version of the output driver

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, 10 mV with field-oriented control

UINT16

RO

0x0000 (0_dec)

F900:05

Motor supply voltage

Motor supply voltage
Unit: 1 mV, 10 mV with field-oriented control

UINT16

RO

0x0000 (0_dec)

F900:06

Cycle time

current cycle time
Unit: 1 µs

UINT16

RO

0x0000 (0_dec)

FB40:0

Memory interface

General information for the modular device profile

UINT8

RO

0x03 (3_dec)

FB40:01

Address

reserved

UINT32

RW

0x00000000 (0_dec)

FB40:02

Length

reserved

UINT16

RW

0x0000 (0_dec)

FB40:03

Data

reserved

OCTET STRING[8]

RW

{0}