Information and diagnostic data
Channel specific
Index 9010 STM Info data Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
9010:0 | STM Info data Ch.1 | General information for the modular device profile | UINT8 | RO | 0x13 (19dec) |
9010:01 | Status word | Status-word (see index 0xA010) | UINT16 | RO | 0x0000 (0dec) |
9010:02 | Motor coil voltage A | Motor voltage coil A | UINT16 | RO | 0x0000 (0dec) |
9010:03 | Motor coil voltage B | Motor voltage coil B | UINT16 | RO | 0x0000 (0dec) |
9010:04 | Motor coil current A | Motor current coil A | UINT16 | RO | 0x0000 (0dec) |
9010:05 | Motor coil current B | Motor current coil B | UINT16 | RO | 0x0000 (0dec) |
9010:06 | Duty cycle A | Duty-Cycle coil A | UINT16 | RO | 0x0000 (0dec) |
9010:07 | Duty cycle B | Duty-Cycle coil B | UINT16 | RO | 0x0000 (0dec) |
9010:08 | Motor velocity | Current velocity (value range +/- 10000) | INT16 | RO | 0x0000 (0dec) |
9010:09 | Internal position | internal position | UINT32 | RO | 0x00000000 (0dec) |
9010:13 | External position | External position (connected encoder) | UINT32 | RO | 0x00000000 (0dec) |
Index 9020 POS Info data Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
9020:0 | POS Info data Ch.1 | General information for the modular device profile | UINT8 | RO | 0x04 (4dec) |
9020:01 | Status word | Status word | UINT16 | RO | 0x0000 (0dec) |
9020:03 | State (drive controller) | Permitted values: 0: Init | UINT16 | RO | 0x0000 (0dec) |
9020:04 | Actual positon lag | Current step error | INT32 | RO | 0x00000000 (0dec) |
Index A010 STM Diag data Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
A010:0 | STM Diag data Ch.1 | General information for the modular device profile | UINT8 | RO | 0x11 (17dec) |
A010:01 | Saturated | Driver stage operates with maximum duty cycle | BOOLEAN | RO | 0x00 (0dec) |
A010:02 | Over temperature | Internal module temperature is higher than 80°C | BOOLEAN | RO | 0x00 (0dec) |
A010:03 | Torque overload | Motor current is higher than the rated current | BOOLEAN | RO | 0x00 (0dec) |
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 (0dec) |
A010:05 | Over voltage | Motor supply voltage is 10% higher than the configured nominal voltage (see index 0x8010:03) | BOOLEAN | RO | 0x00 (0dec) |
A010:06 | Short circuit A | Short circuit in motor coil A | BOOLEAN | RO | 0x00 (0dec) |
A010:07 | Short circuit B | Short circuit in motor coil B | BOOLEAN | RO | 0x00 (0dec) |
A010:08 | No control power | The control voltage at the Up-contacts is lower than 12 V | BOOLEAN | RO | 0x00 (0dec) |
A010:09 | Misc error |
| BOOLEAN | RO | 0x00 (0dec) |
A010:0A | Configuration | CoE change has not yet been adopted into the current configuration | BOOLEAN | RO | 0x00 (0dec) |
A010:0C | Open load A | Open load, bridge A (the terminal switches the motor off automatically). ATTENTION: This error message must be acknowledged by the user (index 0x7010:02)! | BOOLEAN | RO | 0x00 (0dec) |
A010:0C | Open load A | Open load, bridge B (the terminal switches the motor off automatically). ATTENTION: This error message must be acknowledged by the user (index 0x7010:02)! | BOOLEAN | RO | 0x00 (0dec) |
A010:11 | Actual operation mode | Current operation mode (relevant for activated automatic, see 0x8012:01) permitted values: 0: Automatic | BIT4 | RO | 0x00 (0dec) |
Index A020 POS Diag data Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
A020:0 | POS Diag data Ch.1 | General information for the modular device profile | UINT8 | RO | 0x06 (6dec) |
A020:01 | Command rejected | Travel command was rejected. | BOOLEAN | RO | 0x00 (0dec) |
A020:02 | Command aborted | Travel command was aborted. | BOOLEAN | RO | 0x00 (0dec) |
A020:03 | Target overrun | Target position was overrun in the opposite direction. | BOOLEAN | RO | 0x00 (0dec) |
A020:04 | Target timeout | The target window was not reached within the in-target timeout | BOOLEAN | RO | 0x00 (0dec) |
A020:05 | Position lag | The maximum following error was exceeded. | BOOLEAN | RO | 0x00 (0dec) |
A020:06 | Emergency stop | An emergency stop was triggered (automatic or manual) | BOOLEAN | RO | 0x00 (0dec) |
Device specific
Index 10F3 Diagnosis History
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
10F3:0 | Diagnosis History | Max. Subindex | UINT8 | RO | 0x37 (55dec) |
10F3:01 | Maximum Messages | Maximum number of stored messages. | UINT8 | RO | 0x00 (0dec) |
10F3:02 | Newest Message | Subindex of the latest message | UINT8 | RO | 0x00 0dec) |
10F3:03 | Newest Acknowledged Message | Subindex of the last confirmed message | UINT8 | RO | 0x00 (0dec) |
10F3:04 | New Message available | Indicates that a new message is available | BOOLEAN | RO | 0x00 (0dec) |
10F3:05 | Flags | not used | UINT16 | RO | 0x0000 (0dec) |
10F3:06 | Diagnosis Message 001 | Message 1 | OCTET-STRING[28] | RO | {0} |
… | … | … | … | … | … |
10F3:37 | Diagnosis Message 050 | Message 50 | OCTET-STRING[28] | RO | {0} |
Index F000 Modular device profile
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F000:0 | Modular device profile | General information for the modular device profile | UINT8 | RO | 0x02 (2dec) |
F000:01 | Module index distance | Index distance of the objects of the individual channels | UINT16 | RO | 0x0010 (16dec) |
F000:02 | Maximum number of modules | Number of channels | UINT16 | RO | 0x0003 (3dec) |
Index F008 Code word
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F008:0 | Code word | reserved | UINT32 | RW | 0x00000000 (0dec) |
Index F010 Module list
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F010:0 | Module list | Length of this object | UINT8 | RW | 0x03 (3dec) |
F010:01 | SubIndex 001 | - | UINT32 | RW | 0x00001FF (511dec) |
F010:02 | SubIndex 002 | - | UINT32 | RW | 0x00002BF (703dec) |
F010:03 | SubIndex 003 | - | UINT32 | RW | 0x00002C0 (704dec) |
Index F081 Download revision
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F081:0 | Download revision | Max. Subindex | UINT8 | RO | 0x01 (1dec) |
F081:01 | Revision number | The subindex 0xF081:01 (Download revision) describes the revision level of the module. | UINT32 | RW | 0x00000000 (0dec) |
Index F900 STM Info data
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F900:0 | STM Info data | Max. Subindex | UINT8 | RO | 0x06 (6dec) |
F900:01 | Software version (driver) | Software version of the driver card | STRING | RO |
|
F900:02 | Internal temperature | Internal module temperature | INT8 | RO | 0x00 (0dec) |
F900:04 | Control voltage | Control voltage | UINT16 | RO | 0x0000 (0dec) |
F900:05 | Motor supply voltage | Motor supply voltage | UINT16 | RO | 0x0000 (0dec) |
F900:06 | Cycle time | Measured cycle time | UINT16 | RO | 0x0000 (0dec) |