Cofiguration data

8000:0

ENC Settings Ch.1

Max. Subindex

UINT8

RO

0x0E (14_dec)

8000:08

Disable filter

0: Activates the input filter (inputs A, /A, B, /B, C, /C only)

1: Deactivates the input filter
If a filter is activated a signal edge must be present for at least 2.4 µs in order to be counted as an increment.

BOOLEAN

RW

0x00 (0_dec)

8000:0A

Enable micro increments

If activated, the terminal interpolates micro-increments between the integral encoder increments in DC mode. The lower 8 bits of the counter value are used in each case for the display. A 32-bit counter thus becomes a 24+8-bit counter, a 16-bit counter becomes a 8+8-bit counter.

BOOLEAN

RW

0x00 (0_dec)

8000:0E

Reversion of rotation

Activates reversion of rotation

BOOLEAN

RW

0x00 (0_dec)

8010:0

ENC Settings Ch.2

Max. Subindex

UINT8

RO

0x0E (14_dec)

8010:08

Disable filter

0: Activates the input filter (inputs A, /A, B, /B, C, /C only)

1: Deactivates the input filter
If a filter is activated a signal edge must be present for at least 2.4 µs in order to be counted as an increment.

BOOLEAN

RW

0x00 (0_dec)

8010:0A

Enable micro increments

If activated, the terminal interpolates micro-increments between the integral encoder increments in DC mode. The lower 8 bits of the counter value are used in each case for the display. A 32-bit counter thus becomes a 24+8-bit counter, a 16-bit counter becomes a 8+8-bit counter.

BOOLEAN

RW

0x00 (0_dec)

8010:0E

Reversion of rotation

Activates reversion of rotation

BOOLEAN

RW

0x00 (0_dec)

8020:0

DCM Motor Settings Ch.1

Max. Subindex

UINT8

RO

0x0F (15_dec)

8020:01

Maximal current

Maximum permanent motor coil current

Unit: 1 mA

UINT16

RW

0x1388 (5000_dec)

8020:02

Nominal current

Motor nominal current

Unit: 1 mA

UINT16

RW

0x0DAC (3500_dec)

8020:03

Nominal voltage

Nominal voltage (supply voltage) of the motor

Unit:1 mV

UINT16

RW

0xC350 (50000_dec)

8020:04

Motor coil resistance

Internal resistance of the motor

Unit: 0.01 ohm

UINT16

RW

0x0064 (100_dec)

8020:05

Reduced current (positive)

Reduced torque in positive direction of rotation

Unit: 1 mA

UINT16

RW

0x07D0 (2000_dec)

8020:06

Reduced current (negative)

Reduced torque in negative direction of rotation

Unit: 1 mA

UINT16

RW

0x07D0 (2000_dec)

8020:07

Encoder increments (4-fold)

Number of encoder increments per revolution with quadruple evaluation

UINT16

RW

0x0000 (0_dec)

8020:08

Maximal motor velocity

Nominal speed of the motor at the nominal voltage

Unit: 1 rpm

UINT16

RW

0x0000 (0_dec)

8020:0C

Time for switch-off at overload

Time for switch-off at overload

Unit: 1 ms

UINT16

RW

0x00C8 (200_dec)

8020:0D

Time for current lowering at overload

Time for current lowering at overload (from max. current to nominal current)

Unit: 1 ms

UINT16

RW

0x07D0 (2000_dec)

8020:0E

Torque auto-reduction threshold (positive)

Process data threshold for automatic torque reduction in the positive direction of rotation

Unit: 1 %

UINT8

RW

0x00 (0_dec)

8020:0F

Torque auto-reduction threshold (negative)

Process data threshold for automatic torque reduction in the negative direction of rotation

Unit: 1 %

UINT8

RW

0x00 (0_dec)

8021:0

DCM Controller Settings Ch.1

Max. Subindex

UINT8

RO

0x12 (18_dec)

8021:01

Kp factor (curr.)

Kp control factor of the current controller

UINT16

RW

0x00C8 (200_dec)

8021:02

Ki factor (curr.)

Ki control factor of the current controller

UINT16

RW

0x0002 (2_dec)

8021:03

Inner window (curr.)

Inner window for the I component

Unit: 1 %

UINT8

RW

0x00 (0_dec)

8021:05

Outer window (curr.)

Outer window for the I component

Unit: 1 %

UINT8

RW

0x00 (0_dec)

8021:06

Filter cut off frequency (curr.)

Limit frequency of the current controller

Unit: 1 Hz

UINT16

RW

0x0000 (0_dec)

8021:11

Voltage adjustment enable

Activates the compensation of voltage fluctuations (only in the operating mode "Direct velocity")

BOOLEAN

RW

0x00 (0_dec)

8021:12

Current adjustment enable

Activates the R x I compensation

BOOLEAN

RW

0x00 (0_dec)

8022:0

DCM Features Ch.1

Max. Subindex

UINT8

RO

0x36 (54_dec)

8022:01

Operation mode

Operation mode

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

...: reserved

15: Chopper resistor
Existing overvoltage (10% > nominal voltage 0x8020:03) is reduced via connected chopper resistor.

BIT4

RW

0x00 (0_dec)

8022:09

Invert motor polarity

Inverts the direction of rotation of the motor

BOOLEAN

RW

0x00 (0_dec)

8022:0A

Torque error enable

Activates the automatic overload cut-off (see also subindex 0x8020:0C)

BOOLEAN

RW

0x00 (0_dec)

8022:0B

Torque auto reduce

Activates the automatic torque reduction (see also subindex 0x8020:0D – 0x8020:0F)

BOOLEAN

RW

0x00 (0_dec)

8022:11

Select info data 1

Selection "Info data 1"

0: Status word
1: Motor coil voltage
2: Motor coil current
3: Current limit
4: Control error
5: Duty cycle

....: reserved

7: Motor velocity
8: Overload time

...: reserved

101: Internal temperature

...: reserved

103: Control voltage
104: Motor supply voltage

...: reserved

150: Status word (drive controller)
151: State (drive controller)
152: Drive - Position lag (low word) (drive controller)
153: Drive - Position lag (high word) (drive controller)

...: reserved

UINT8

RW

0x01 (1_dec)

8022:19

Select info data 2

Selection "Info data 2"

see subindex 0x8022:11

UINT8

RW

0x02 (2_dec)

8022:30

Invert digital input 1

Inversion of digital input 1

BOOLEAN

RW

0x00 (0_dec)

8022:31

Invert digital input 2

Inversion of digital input 2

BOOLEAN

RW

0x00 (0_dec)

8022:32

Function for input 1

Function of digital input 1

0: Normal input
1: Hardware enable
2: Plc cam

…: reserved

BIT4

RW

0x00 (0_dec)

8022:36

Function for input 2

Function of digital input 2

see subindex 0x8022:32

BIT4

RW

0x00 (0_dec)

8023:0

DCM Controller Settings 2 Ch.1

Max. Subindex

UINT8

RO

0x08 (8_dec)

8023:01

Kp factor (velo./pos.)

Kp control factor of the velocity/position controller

UINT16

RW

0x00C8 (200_dec)

8023:02

Ki factor (velo./pos.)

Ki control factor of the velocity/position controller

UINT16

RW

0x0002 (2_dec)

8023:03

Inner window (velo./pos.)

Inner window for the I component

Unit: 1%

UINT8

RW

0x00 (0_dec)

8023:05

Outer window (velo./pos.)

Outer window for the I component

Unit: 1%

UINT8

RW

0x00 (0_dec)

8023:06

Filter cut off frequency (velo./pos.)

Limit frequency of the velocity/position controller

Unit: 1 Hz

UINT16

RW

0x0000 (0_dec)

8023:07

Ka factor (velo./pos.)

Ka control factor of the velocity/position controller

UINT16

RW

0x0000 (0_dec)

8023:08

Kd factor (velo./pos.)

Kd control factor of the velocity/position controller

UINT16

RW

0x0014 (20_dec)

8030:0

DCM Motor Settings Ch.2

Max. Subindex

UINT8

RO

0x0F (15_dec)

8030:01

Maximal current

Maximum permanent motor coil current

Unit: 1 mA

UINT16

RW

0x1388 (5000_dec)

8030:02

Nominal current

Motor nominal current

Unit: 1 mA

UINT16

RW

0x0DAC (3500_dec)

8030:03

Nominal voltage

Nominal voltage (supply voltage) of the motor

Unit: 1 mV

UINT16

RW

0xC350 (50000_dec)

8030:04

Motor coil resistance

Internal resistance of the motor

Unit: 0.01 ohm

UINT16

RW

0x0064 (100_dec)

8030:05

Reduced current (positive)

Reduced torque in positive direction of rotation

Unit: 1 mA

UINT16

RW

0x07D0 (2000_dec)

8030:06

Reduced current (negative)

Reduced torque in negative direction of rotation

Unit: 1 mA

UINT16

RW

0x07D0 (2000_dec)

8030:07

Encoder increments (4-fold)

Number of encoder increments per revolution with quadruple evaluation

UINT16

RW

0x0000 (0_dec)

8030:08

Maximal motor velocity

Rated motor velocity at nominal voltage

Unit: 1 rpm

UINT16

RW

0x0000 (0_dec)

8030:0C

Time for switch-off at overload

Time for switch-off at overload

Unit: 1 ms

UINT16

RW

0x00C8 (200_dec)

8030:0D

Time for current lowering at overload

Time for current lowering at overload (from max. current to nominal current)

Unit: 1 ms

UINT16

RW

0x07D0 (2000_dec)

8030:0E

Torque auto-reduction threshold (positive)

Process data threshold for automatic torque reduction in the positive direction of rotation

Unit: 1 %

UINT8

RW

0x00 (0_dec)

8030:0F

Torque auto-reduction threshold (negative)

Process data threshold for automatic torque reduction in the negative direction of rotation

Unit: 1 %

UINT8

RW

0x00 (0_dec)

8031:0

DCM Controller Settings Ch.2

Max. Subindex

UINT8

RO

0x12 (18_dec)

8031:01

Kp factor (curr.)

Kp control factor of the current controller

UINT16

RW

0x00C8 (200_dec)

8031:02

Ki factor (curr.)

Ki control factor of the current controller

UINT16

RW

0x0002 (2_dec)

8031:03

Inner window (curr.)

Inner window for the I component

Unit: 1%

UINT8

RW

0x00 (0_dec)

8031:05

Outer window (curr.)

Outer window for the I component

Unit: 1%

UINT8

RW

0x00 (0_dec)

8031:06

Filter cut off frequency (curr.)

Limit frequency of the current controller

Unit: 1 Hz

UINT16

RW

0x0000 (0_dec)

8031:11

Voltage adjustment enable

Activates the compensation of voltage fluctuations (only in the operating mode "Direct velocity")

BOOLEAN

RW

0x00 (0_dec)

8031:12

Current adjustment enable

Activates the R x I compensation

BOOLEAN

RW

0x00 (0_dec)

8032:0

DCM Features Ch.2

Max. Subindex

UINT8

RO

0x36 (54_dec)

8032:01

Operation mode

Operation mode

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

...: reserved

15: Chopper resistor
Existing overvoltage (10% > nominal voltage 0x8030:03) is reduced via connected chopper resistor.

BIT4

RW

0x00 (0_dec)

8032:09

Invert motor polarity

Inverts the direction of rotation of the motor

BOOLEAN

RW

0x00 (0_dec)

8032:0A

Torque error enable

Activates the automatic overload cut-off (see also subindex 0x8030:0C)

BOOLEAN

RW

0x00 (0_dec)

8032:0B

Torque auto reduce

Activates the automatic torque reduction (see also subindex 0x8030:0D – 0x8030:0F)

BOOLEAN

RW

0x00 (0_dec)

8032:11

Select info data 1

Selection "Info data 1"

0: Status word
1: Motor coil voltage
2: Motor coil current
3: Current limit
4: Control error
5: Duty cycle

....: reserved

7: Motor velocity
8: Overload time

...: reserved

101: Internal temperature

...: reserved

103: Control voltage
104: Motor supply voltage

...: reserved

150: Status word (drive controller)
151: State (drive controller)
152: Drive - Positon lag (low word) (drive controller)
153: Drive - Position lag (high word) (drive controller)

...: reserved

UINT8

RW

0x01 (1_dec)

8032:19

Select info data 2

Selection "Info data 2" see subindex 0x8032:11

UINT8

RW

0x02 (2_dec)

8032:30

Invert digital input 1

Inversion of digital input 1

BOOLEAN

RW

0x00 (0_dec)

8032:31

Invert digital input 2

Inversion of digital input 2

BOOLEAN

RW

0x00 (0_dec)

8032:32

Function for input 1

Function of digital input 1

0: Normal input
1: Hardware enable
2: Plc cam
...: reserved

BIT4

RW

0x00 (0_dec)

8032:36

Function for input 2

Function of digital input 2 see subindex 0x8032:32

BIT4

RW

0x00 (0_dec)

8033:0

DCM Controller Settings 2 Ch.2

Max. Subindex

UINT8

RO

0x08 (8_dec)

8033:01

Kp factor (velo./pos.)

Kp control factor of the velocity/position controller

UINT16

RW

0x00C8 (200_dec)

8033:02

Ki factor (velo./pos.)

Ki control factor of the velocity/position controller

UINT16

RW

0x0002 (2_dec)

8033:03

Inner window (velo./pos.)

Inner window for the I component

Unit: 1%

UINT8

RW

0x00 (0_dec)

8033:05

Outer window (velo./pos.)

Outer window for the I component

Unit: 1%

UINT8

RW

0x00 (0_dec)

8033:06

Filter cut off frequency (velo./pos.)

Limit frequency of the velocity/position controller

Unit: 1 Hz

UINT16

RW

0x0000 (0_dec)

8033:07

Ka factor (velo./pos.)

Ka control factor of the velocity/position controller

UINT16

RW

0x0000 (0_dec)

8033:08

Kd factor (velo./pos.)

Kd control factor of the velocity/position controller

UINT16

RW

0x0014 (20_dec)

8040:0

POS Settings Ch.1

Max. Subindex

UINT8

RO

0x10 (16_dec)

8040:01

Velocity min.

Minimum set velocity

Range: 0-10000

INT16

RW

0x0064 (100_dec)

8040:02

Velocity max.

Maximum set velocity

Range: 0-10000)

INT16

RW

0x2710 (10000_dec)

8040:03

Acceleration pos.

Acceleration in positive direction of rotation

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8040:04

Acceleration neg.

Acceleration in negative direction of rotation

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8040:05

Deceleration pos.

Deceleration in positive direction of rotation

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8040:06

Deceleration neg.

Deceleration in negative direction of rotation

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8040:07

Emergency deceleration

Emergency deceleration (both directions of rotation)

Unit: 1 ms

UINT16

RW

0x0064 (100_dec)

8040:08

Calibration position

Calibration position

UINT32

RW

0x00000000 (0_dec)

8040:09

Calibration velocity (towards plc cam)

Calibration velocity towards the cam

Rrange: 0-10000

INT16

RW

0x0064 (100_dec)

8040:0A

Calibration Velocity (off plc cam)

Calibration velocity away from the cam

Range: 0-10000

INT16

RW

0x000A (10_dec)

8040:0B

Target window

Target window

UINT16

RW

0x000A (10_dec)

8040:0C

In-Target timeout

Timeout at target position

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8040:0D

Dead time compensation

Dead time compensation

Unit: 1 µs

INT16

RW

0x0032 (50_dec)

8040:0E

Modulo factor

Modulo factor/position

UINT32

RW

0x00000000 (0_dec)

8040:0F

Modulo tolerance window

Tolerance window for modulo positioning

UINT32

RW

0x00000000 (0_dec)

8040:10

Position lag max.

Max. permitted position lag

UINT16

RW

0x0000 (0_dec)

8041:0

POS Features Ch.1

UINT8

RO

0x16 (22_dec)

8041:01

Start type

Standard start type

0: Idle
1: Absolute
2: Relative
3: Endless plus
4: Endless minus
6: Additive
24832: Calibration (Hardware sync)
24576: 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)

8041:11

Time information

Time information in subindex 0x6040:22/0x6050:22 (“Actual drive time”)

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

...: reserved

BIT2

RW

0x00 (0_dec)

8041:13

Invert calibration cam search direction

Inversion of the direction of rotation towards the cam

BOOLEAN

RW

0x01 (1_dec)

8041:14

Invert sync impulse search direction

Inversion of the direction of rotation away from the cam

BOOLEAN

RW

0x00 (0_dec)

8041:15

Emergency stop on position lag error

Lag error monitoring has triggered

As soon as "Position lag" = 1.

• an emergency stop is triggered.
• The "Misc Error" is set to 1 and a PDO error is generated.

BOOLEAN

RW

0x00 (0_dec)

8041:16

Enhanced diag history

TRUE:
Additional messages are output during the travel command (each change of the state machine (index 0x9040:03)

BOOLEAN

RW

0x00 (0_dec)

8050:0

POS Settings Ch.2

Max. Subindex

UINT8

RO

0x10 (16_dec)

8050:01

Velocity min.

Minimum set velocity

Range: 0-10000

INT16

RW

0x0064 (100_dec)

8050:02

Velocity max.

Maximum set velocity

Range: 0-10000

INT16

RW

0x2710 (10000_dec)

8050:03

Acceleration pos.

Acceleration in positive direction of rotation

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8050:04

Acceleration neg.

Acceleration in negative direction of rotation

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8050:05

Deceleration pos.

Deceleration in positive direction of rotation

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8050:06

Deceleration neg.

Deceleration in negative direction of rotation

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8050:07

Emergency Deceleration

Emergency deceleration (both directions of rotation)

Unit: 1 ms

UINT16

RW

0x0064 (100_dec)

8050:08

Calibration position

Calibration position

UINT32

RW

0x00000000 (0_dec)

8050:09

Calibration velocity (towards plc cam)

Calibration velocity towards the cam

Range: 0-10000

INT16

RW

0x0064 (100_dec)

8050:0A

Calibration Velocity (off plc cam)

Calibration velocity away from the cam

Range: 0-10000

INT16

RW

0x000A (10_dec)

8050:0B

Target window

Target window

UINT16

RW

0x000A (10_dec)

8050:0C

In-Target timeout

Timeout at target position

Unit: 1 ms

UINT16

RW

0x03E8 (1000_dec)

8050:0D

Dead time compensation

Dead time compensation

Unit: 1 µs

INT16

RW

0x0032 (50_dec)

8050:0E

Modulo factor

Modulo factor/position

UINT32

RW

0x00000000 (0_dec)

8050:0F

Modulo tolerance window

Tolerance window for modulo positioning

UINT32

RW

0x00000000 (0_dec)

8050:10

Position lag max.

Max. permitted position lag

UINT16

RW

0x0000 (0_dec)

8051:0

POS Features Ch.2

Max. Subindex

UINT8

RO

0x16 (22_dec)

8051:01

Start type

Standard start type

0: Idle
1: Absolute
2: Relative
3: Endless plus
4: Endless minus
6: Additive
24832: Calibration (Hardware sync)
24576: 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)

8051:11

Time information

Time information in subindex 0x6040:22/0x6050:22 (“Actual drive time”)

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

...: reserved

BIT2

RW

0x00 (0_dec)

8051:13

Invert calibration cam search direction

Inversion of the direction of rotation towards the cam

BOOLEAN

RW

0x01 (1_dec)

8051:14

Invert sync impulse search direction

Inversion of the direction of rotation away from the cam

BOOLEAN

RW

0x00 (0_dec)

8051:15

Emergency stop on position lag error

Lag error monitoring has triggered
As soon as "Position lag" = 1,

• an emergency stop is triggered.
• The "Misc Error" is set to 1 and a PDO error is generated.

BOOLEAN

RW

0x00 (0_dec)

8051:16

Enhanced diag history

TRUE:
Additional messages are output during the travel command (each change of the state machine (index 0x9050:03)

BOOLEAN

RW

0x00 (0_dec)