Configuration data
Index 8000 FB settings
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8000:0 | FB Settings | Maximum subindex | UINT8 | RO | 0x17 (23dec) |
8000:01 | Invert feedback direction | Inverting the count direction | BOOLEAN | RW | 0x00 (0dec) |
8000:02 | Referenced | Can be set to TRUE by the user. Is automatically set to FALSE as soon as a motor with a deviating serial number is recognized or if the feedback is single-turn. | BOOLEAN | RW | 0x00 (0dec) |
8000:0D | Offset position actual value source | Permitted values
| UINT8 | RW | 0x02 (2dec) |
8000:11 | Device type | 3: OCT (not changeable) | UINT32 | RW | 0x00000003 (3dec) |
8000:12 | Single-turn bits | Number of single-turn bits | UINT8 | RW | 0x14 (20dec) |
8000:13 | Multi-turn bits | Number of multi-turn bits | UINT8 | RW | 0x0C (12dec) |
8000:14 | Observer bandwidth | Bandwidth of the speed observer [Hz] | UINT16 | RW | 0x01F4 (500dec) |
8000:15 | Observer feed-forward | Load ratio [%] 50% = mass moments of inertia of input and output are equal | UINT8 | RW | 0x00 (0dec) |
8000:17 | Position offset | The position offset is subtracted from the raw position of the encoder. It can only be written with the axis stopped. | UINT32 | RW | 0x00000000 (0dec) |
Index 8001 FB Touch probe Settings
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8001:0 | FB Touch probe Settings | Maximum subindex | UINT8 | RO | 0x12 (18dec) |
8001:11 | Touch probe 1 source | Permitted values: 1: Touch probe input 1 | UINT16 | RW | 0x0001 (1dec) |
8001:12 | Touch probe 2 source | Permitted values: 2: Touch probe input 2 | UINT16 | RW | 0x0002 (2dec) |
Index 8008 FB OCT Settings
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8008:0 | FB OCT Settings | Maximum subindex | UINT8 | RO | 0x03 (3dec) |
8008:01 | Enable autoconfig | Configuration takes place automatically after the reading of the electronic identification plate | BOOLEAN | RW | 0x00 (0dec) |
8008:02 | Reconfig identical motor | When replacing identical motors, reconfiguration takes place automatically after reading the electronic identification plate. Enable autoconfig must be activated. | BOOLEAN | RW | 0x00 (0dec) |
8008:03 | Reconfig non-identical motor | When replacing non-identical motors, reconfiguration takes place automatically after reading the electronic identification plate. Enable autoconfig must be activated. | BOOLEAN | RW | 0x00 (0dec) |
Index 8010 DRV Amplifier Settings
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8010:0 | DRV Amplifier Settings | Maximum subindex | UINT8 | RO | 0x66 (102dec) |
8010:01 | Enable TxPDOToggle | Show TxPDO toggle in status word (bit 10) | BOOLEAN | RW | 0x00 (0dec) |
8010:02 | Enable input cycle counter | 1: enabled | BOOLEAN | RW | 0x00 (0dec) |
8010:11 | Device type | 1: Servo drive (cannot be changed) | UINT32 | RW | 0x00000001 (1dec) |
8010:12* | Current loop integral time | Integral component of current controller This value is affected by automatic scanning. | UINT16 | RW | 0x000A (10dec) |
8010:13* | Current loop proportional gain | Proportional component of current controller This value is affected by automatic scanning. | UINT16 | RW | 0x0064 (100dec) |
8010:14 | Velocity loop integral time | Integral component of velocity controller | UINT32 | RW | 0x00000032 (50dec) |
8010:15 | Velocity loop proportional gain | Proportional component of velocity controller | UINT32 | RW | 0x00000096 (150dec) |
8010:17 | Position loop proportional gain | Proportional component position controller | UINT32 | RW | 0x0000000A (10dec) |
8010:19 | Nominal DC link voltage | Nominal DC link voltage | UINT32 | RW | 0x0000BB80 (48000dec) |
8010:1A | Min DC link voltage | Minimum DC link voltage | UINT32 | RW | 0x00001A90 (6800dec) |
8010:1B | Max DC link voltage | Maximum DC link voltage | UINT32 | RW | 0x0000EA60 (60000dec) |
8010:29 | Amplifier I2T warn level | I²T model warning threshold | UINT8 | RW | 0x50 (80dec) |
8010:2A | Amplifier I2T error level | I²T model error threshold | UINT8 | RW | 0x69 (105dec) |
8010:2B | Amplifier Temperature warn level | Overtemperature warning threshold | UINT16 | RW | 0x0320 (800dec) |
8010:2C | Amplifier Temperature error level | Overtemperature error threshold | UINT16 | RW | 0x03E8 (1000dec) |
8010:31 | Velocity limitation | Velocity limitation | UINT32 | RW | 0x00040000 (262144dec) |
8010:32 | Short-Circuit Brake duration max | Max. duration of armature short circuit brake | UINT16 | RW | 0x03E8 (1000dec) |
8010:33 | Stand still window | Standstill window | UINT16 | RW | 0x0000 (0dec) |
*) see object Information / diagnostic data "FB OCT Nameplate"
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8010:39 | Select info data 1 | Selection "Info data 1" Permitted values: | UINT8 | RW | 0x01 (1dec) |
8010:3A | Select info data 2 | Selection "Info data 2" Permitted values: | UINT8 | RW | 0x01 (1dec) |
8010:41 | Low-pass filter frequency | Low-pass filter frequency The following values can be set: | UINT16 | RW | 0x0140 (320dec) |
8010:49 | Halt ramp deceleration | Halt ramp deceleration | UINT32 | RW | 0x0000F570 (62832dec) |
8010:50 | Following error window | Following error monitor: Following error window 0xFFFFFFFF (-1dec) = following error monitor off Any other value = following error monitor on | UINT32 | RW | 0xFFFFFFFF (-1 dec) |
8010:51 | Following error time out | Following error monitor: Timeout If the following error is larger than the following error window for a time that exceeds the timeout, this leads to an error reaction. | UINT16 | RW | 0x0000 (0 dec) |
8010:52 | Fault reaction option code | Permitted values | UINT16 | RW | 0x0000 (0 dec) |
8010:54 | Feature bits | The adjustable motor current values can be interpreted as peak values or rms values. The feature bit enables the conversion. Peak value → bit 0 = 0 normal output current → bit 1 = 0 From these, the following combinations can be set: 0dec → normal output current interpreted as peak value 1dec → normal output current interpreted as rms value 2dec → increased output current interpreted as peak value 3dec → increased output current interpreted as rms value | UINT32 | RW | 0x00000000 (0 dec) |
8010:57 | Velocity feed forward gain | Velocity pre-control | UINT8 | RW | 0x64 (100 dec) |
8010:65 | Invert direction of rotation | Invert direction of rotation | BOOLEAN | RW | 0x00 (0dec) |
8010:66 | Enable cogging torque compensation | Enable cogging torque compensation | BOOLEAN | RW | 0x00 (0dec) |
Index 8011 DRV Motor Settings
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8011:0 | DRV Motor Settings | Maximum subindex | UINT8 | RO | 0x2D (45dec) |
8011:11* | Max current | Peak current The adjustable motor current values can be interpreted as peak values or rms values. The Feature bit (0x8010:54) enables the conversion. Peak value → bit 0 = 0 This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates) | UINT32 | RW | 0x00001770 (6000dec) |
8011:12* | Rated current | Rated current The adjustable motor current values can be interpreted as peak values or rms values. The Feature bit (0x8010:54) enables the conversion. Peak value → bit 0 = 0 | UINT32 | RW | 0x000003E8 (1000dec) |
8011:13* | Motor pole pairs | Number of pole pairs This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates). | UINT8 | RW | 0x03 (3dec) |
8011:15* | Commutation offset | Commutation offset (between electrical zero position and mechanical single-turn zero position) | INT16 | RW | 0x0000 (0dec) |
8011:16* | Torque constant | Torque constant This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates | UINT32 | RW | 0x00000000 (0dec) |
8011:18* | Rotor moment of inertia | Mass moment of inertia of the motor This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates). | UINT32 | RW | 0x00000000 (0dec) |
8011:19* | Winding inductance | Inductance This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates). | UINT16 | RW | 0x000E (14dec) |
8011:1B* | Motor speed limitation | Velocity limitation This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates) | UINT32 | RW | 0x00040000 (262144dec) |
*) see object 0x9009 "FB OCT Nameplate"
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8011:29 | I2T warn level | I2T model warning threshold | UINT8 | RW | 0x50 (80dec) |
8011:2A | I2T error level | I2T model error threshold | UINT8 | RW | 0x69 (105dec) |
8011:2B* | Motor Temperature warn level | Overtemperature warning threshold This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates) | UINT16 | RW | 0x03E8 (1000dec) |
8011:2C* | Motor Temperature error level | Overtemperature error threshold This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates). | UINT16 | RW | 0x05DC (1500dec) |
8011:2D* | Motor thermal time constant | Thermal time constant This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates). | UINT16 | RW | 0x0028 (40dec) |
*) see object 0x9009 "FB OCT Nameplate"
Index 8012 DRV brake settings
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8012:0 | DRV Brake Settings | Maximum subindex | UINT8 | RO | 0x14 (20dec) |
8012:01 | Enable manual override | Enable manual actuation of the motor holding brake via 0x8012:02 | BOOLEAN | RW | 0x00 (0dec) |
8012:02 | Manual brake state |
| BOOLEAN | RW | 0x00 (0dec) |
8012:11* | Release delay | Time that the holding brake requires to open (release) after power was applied. This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates). | UINT16 | RW | 0x0000 (0dec) |
8012:12* | Application delay | Time that the holding brake requires to close (hold) after the power was switched off Unit: ms This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates). | UINT16 | RW | 0x0000 (0dec) |
8012:13 | Emergency application timeout | Time that the amplifier waits until the speed has reached the standstill window after the stop request (set speed 0 after halt ramp or Torque off). The holding brake is triggered irrespective of the speed if the set waiting time is exceeded. Unit: ms
| UINT16 | RW | 0x0000 (0dec) |
8012:14* | Brake moment of inertia | Mass moment of inertia of the brake This value is affected by automatic scanning. (see Automatic scanning of the electronic identification plates). | UINT16 | RW | 0x0000 (0dec) |
*) see object Information / diagnostic data "FB OCT Nameplate"
The following note relates to the DMC objects 0x6030, 0x7030, 0x8030 and 0x8031.
Data type INT64 for all positions in the travel distance control The data type INT64 is used for all positions in the travel distance control.
|
Index 8030 DMC settings
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8030:0 | DMC Settings | Maximum subindex | UINT8 | RO | 0x14 (20dec) |
8030:07 | Emergency deceleration | Deceleration for the emergency stop ramp. (In ms from rated motor speed to standstill) Unit: 1 ms | UINT16 | RW | 0x64 (100dec) |
8030:08 | Calibration position | If homing is successful, the "Actual position" is set to this value. | INT64 | RW | 0x0000000000000000 (0dec) |
8030:09 | Calibration velocity (towards plc cam) | Velocity on contact with the cam in 10000ths of the rated motor speed | INT16 | RW | 0x0064 (100dec) |
8030:0A | Calibration velocity (off plc cam) | Velocity on separation from the cam in 10000ths of the rated motor speed | INT16 | RW | 0x000A (10dec) |
8030:0E | Modulo factor | Feedback increments for one mechanical revolution | INT64 | RW | 0x0000000100000000 (4294967296dec) |
8030:12 | Block calibration torque limit | Torque limitation for approaching the end stop. In 1000ths of the rated motor current. | UINT16 | RW | 0x64 (100dec) |
8030:13 | Block calibration stop distance | After reaching the calibration position, the axis moves out of the end position by this distance. | INT64 | RW | 0x0000000100000000 (4294967296dec) |
8030:14 | Block calibration lag threshold | If this lag distance is exceeded, the axis is in the end position | INT64 | RW | 0x0000000100000000 (4294967296dec) |
8030:15 | Target position window | Target position window: The In-Target bit is set when the axis is within this window for at least the time set under 0x8030:16. | INT64 | RW | 0x16c16c1 |
8030:16 | Target position monitor time | s. 0x8030:15 time in Unit: ms | UINT16 | RW | 0x0014 (20dec) |
8030:17 | Target position timeout | When the set value generator has reached its end position | UINT16 | RW | 0x1770 (6000dec) |
Index 8031 DMC features
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8031:0 | DMC Features | Maximum subindex | UINT8 | RO | 0x1B (27dec) |
8031:13 | Invert calibration cam search direction | Invert travel direction to search for limit switch | BOOLEAN | RW | 0x00 (0dec) |
8031:14 | Invert sync impulse search direction | Direction of rotation to leave the limit switch | BOOLEAN | RW | 0x01 (1dec) |
8031:19 | Calibration cam source | Source for the reference switch 0: Input 1 | ENUM8 | RW | 0x00 (0dec) |
8031:1A | Calibration cam active level | State of the reference switch in the actuated state 0: Hi | ENUM8 | RW | 0x00 (0dec) |
8031:B | Latch source | Source for the latch unit 0: Input 1 | ENUM8 | RW | 0x00 (0dec) |