Configuration data

8000:0

FB Settings

Observer settings

UINT8

RO

0x16 (22_dec)

8000:11

Device type

Description of the available feedback profiles (incremental encoder and Hall sensor)

UINT32

RW

0x00000605 (1541_dec)

8000:14

Observer bandwidth

Bandwidth of the velocity observer
Unit: [Hz]

Typical value range: 200 ... 500 Hz

UINT16

RW

0x00C8 (200_dec)

8000:15

Observer feed-forward

Load ratio
Unit: [%]

100% = load-free

50% = mass moments of inertia of input and output are equal

Pre-control for velocity measurement.

UINT8

RW

0x00 (0_dec)

8000:16

Sub-increment bits

Bitwise shift to left from target and actual position and following error

UINT8

RW

0x00 (0_dec)

8001:0

FB Touch probe Settings

Maximum subindex

UINT8

RO

0x12 (18_dec)

8001:11

Touch probe 1 source

Position value digital input 1:

1: Touch probe input 1
5: Hardware zero impluse

INT16

RW

0x0001 (1_dec)

8001:12

Touch probe 2 source

Position value digital input 2:

2: Touch probe input 2
5: Hardware zero impluse

INT16

RW

0x0002 (2_dec)

8008:0

FB Settings ENC

Maximum subindex

UINT8

RO

0x13 (19_dec)

8008:01

Invert feedback direction

Inversion of the encoder counting direction. Adjusted by the Scan Feedback feature.

BOOLEAN

RW

0x00 (0_dec)

8008:02

Enable power supply

Enabling the encoder supply voltage

BOOLEAN

RW

0x00 (0_dec)

8008:05

Enable ENC C input

Enabling the C-input of the module for the evaluation of the C-track at the incremental encoder

BOOLEAN

RW

0x01 (1_dec)

8008:11

Supply voltage output

Voltage level of encoder supply
Unit: [mV]

Typical value range: 2 ... 24 V

UINT32

RW

0x00001388 (5000_dec)

8008:12

Encoder type

Encoder type selection:

0: disabled
1: RS422 differential
2: TTL single ended
3: HTL differential
4: HTL single ended (default)
5: RS422 differential - high impedance input
6: TTL single ended - input filters disabled
7: open collector

UINT16

RW

0x0004 (4_dec)

8008:13

Encoder Increments per Revolution

Resolution of the encoder after 4-fold evaluation

UINT32

RW

0x00001000 (4096_dec)

800A:0

FB Settings Hall

Maximum subindex

UINT8

RO

0x14 (20_dec)

800A:02

Enable power supply

Activates voltage supply for the Hall sensor

BOOLEAN

RW

0x00 (0_dec)

800A:05

Enable extrapolation

Extrapolation of the measured values of the Hall sensor.

This does not improve the physical resolution.

BOOLEAN

RW

0x00 (0_dec)

800A:11

Supply voltage output

Voltage level of the supply voltage for the Hall sensor,
Unit: [mV]

Typical value range: 2 … 4 V

UINT32

RW

0x00001388 (5000_dec)

800A:12

Phasing

Arrangement of the Hall sensors. Determined by the Scan Feedback function.

See chapter Scan Feedback.

0: A-B: 60° / B-C. 60
1: A-B: 120° / B-C. 120° (default)
2: A-B: 240° / B-C. 240
3: A-B: 300° / B-C. 300
4: A-B: 60° / B-C. 240
5: A-B: 120° / B-C. 300
6: A-B: 240° / B-C. 60
7: A-B: 300° / B-C. 120

UINT8

RW

0x01 (1_dec)

800A:13

Hall commutation adjust

Commutation offset of the Hall sensors in 60° increments. Determined by the Scan Feedback function.

See chapter Scan Feedback.

0: 0° (default)
1: 60°
2: 120°
3: 180°
4: 240°
5: 300°

UINT8

RW

0x00 (0_dec)

800A:14

Hall sensor type

Enable or disable the Open Collector Hall sensor inputs

0: disabled
1: open collector (default)

UINT8

RW

0x01 (1_dec)

8010:0

DRV Amplifier Settings

Amplifier settings

UINT8

RO

0x64 (100_dec)

8010:01

Enable TxPDOToggle

Activate or deactivate the TxPDO toggle in bit 10 of the status word

BOOLEAN

RW

0x00 (0_dec)

8010:02

Enable input cycle counter

1: enabled

Two-bit counter that is incremented with each process data cycle up to a maximum value of 3, after which it starts again at 0

The low bit is represented in bit 10 and the high bit in bit 14 of the Status word.

BOOLEAN

RW

0x00 (0_dec)

8010:04

Repeat find commutation

Repeat the commutation angle determination. (Effective for all FOC operation modes)

BOOLEAN

RW

0x01 (1_dec)

8010:05

Enable cogging torque compensation

Enable or disable the cogging torque compensation (for FOC operation modes only).

BOOLEAN

RW

0x00 (0_dec)

8010:12

Current loop integral time

Integral component of current controller
Unit: 0.1 ms

UINT16

RW

0x000A (10_dec)

8010:13

Current loop proportional gain

Proportional component of current controller
Unit: 0.1 V/A

UINT16

RW

0x000A (10_dec)

8010:14

Velocity loop integral time (current mode)

Integral component of velocity controller
Unit: 0.1 ms

(For feedback systems with field-oriented control (FOC). See chapter Configuration of the feedback system)

UINT32

RW

0x00000032 (50_dec)

8010:15

Velocity loop proportional gain (current mode)

Proportional component of velocity controller
Unit: µA / (°/s)

(For feedback systems with field-oriented control (FOC). See chapter Configuration of the feedback system)

UINT32

RW

0x00000014 (20_dec)

8010:17

Position loop proportional gain

Proportional component of position controller
Unit: (°/s) / °

UINT32

RW

0x0000000A (10_dec)

8010:19

Nominal DC link voltage

Injected DC link voltage
Unit: mV

UINT32

RW

0x0000BB80 (48000_dec)

8010:1A

Min DC link voltage

Minimum DC link voltage
Unit: mV

UINT32

RW

0x00001A90 (6800_dec)

8010:1B

Max DC link voltage

Maximum DC link voltage
Unit: mV

UINT32

RW

0x0000EA60 (60000_dec)

8010:29

Amplifier I2T warn level

I²T model warning threshold
Unit: %

UINT8

RW

0x50 (80_dec)

8010:2A

Amplifier I2T error level

I²T model error threshold
Unit: %

UINT8

RW

0x69 (105_dec)

8010:2B

Amplifier Temperature warn level

Warning threshold for overtemperature of the module
Unit: 0.1 °C

UINT16

RW

0x0320 (800_dec)

8010:2C

Amplifier Temperature error level

Error threshold for overtemperature of the module
Unit: 0.1 °C

UINT16

RW

0x03E8 (1000_dec)

8010:31

Velocity limitation

Limitation of the velocity setpoint setting
Unit: 1/min

UINT32

RW

0x000186A0 (100000_dec)

8010:33

Stand still window

Standstill window
Unit: 1/min

Velocity range for which the axis is considered to be at a standstill.

UINT16

RW

0x0000 (0_dec)

8010:39

Select info data 1

Selection "Info data 1"
Optional display of additional information in the cyclic process data.

Permitted values:

UINT8

RW

0x02 (2_dec)

2

DC link voltage (mV) (default)

4

PCB temperature - module temperature (0.1 °C)

7

I2T Motor
Unit: [%]

8

I2T Amplifier
Unit: [%]

10

Digital inputs

Bit0: Digital Input 1 Level
Bit1: Digital Input 2 Level
Bit2: unused
Bit3: unused
Bit4: Encoder A
Bit5: Encoder B
Bit6: Encoder C
Bit7: unused
Bit8: Hall Sensor U
Bit9: Hall Sensor V
Bit10: Hall Sensor W
Bit 11: unused
Bit12: Hardware Enable Input Level (required for STO functionality)

12

Phase Voltage U
Unit: [mV]

13

Phase Voltage V
Unit: [mV]

14

Phase Voltage W
Unit: [mV]

8010:3A

Select info data 2

Selection "Info data 2"
Optional display of additional information in the cyclic process data.

UINT8

RW

0x04 (4_dec)

2

DC link voltage (mV) (default)

4

PCB temperature - module temperature (0.1 °C)

7

I2T Motor
Unit: [%]

8

I2T Amplifier
Unit: [%]

10

Digital inputs

Bit0: Digital Input 1 Level
Bit1: Digital Input 2 Level
Bit2: unused
Bit3: unused
Bit4: Encoder A
Bit5: Encoder B
Bit6: Encoder C
Bit7: unused
Bit8: Hall Sensor U
Bit9: Hall Sensor V
Bit10: Hall Sensor W
Bit 11: unused
Bit12: Hardware Enable Input Level (required for STO functionality)

12

Phase Voltage U
Unit: [mV]

13

Phase Voltage V
Unit: [mV]

14

Phase Voltage W
Unit: [mV]

8010:50

Following error window

Following error monitoring: following error window

Unit: reference to increments of the raw position data. Can be scaled in the PLC if necessary.

0xFFFFFFFF (-1_dec) =
following error monitoring OFF

Any other value =
following error monitoring ON
Unit: [inc]

Applies in conjunction with index 0x8010:51 "Following error time out."

UINT32

RW

0xFFFFFFFF (-1_dec)

8010:51

Following error time out

Following error monitoring: timeout
Unit: ms

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)

8010:54

Feature bits

Reserved

UINT32

RW

0x00000000 (0_dec)

8010:57

Position loop Velocity feed forward gain

Velocity pre-control of the position controller
Unit: %

UINT8

RW

0x64 (100_dec)

8010:58

Select info data 3

Selection "Info data 3"
Optional display of additional information in the cyclic process data.

Permitted values:

UINT8

RW

0x07 (7_dec)

2

DC link voltage (mV) (default)

4

PCB temperature - module temperature (0.1 °C)

7

I2T Motor
Unit: [%]

8

I2T Amplifier
Unit: [%]

10

Digital inputs

Bit0: Digital Input 1 Level
Bit1: Digital Input 2 Level
Bit2: unused
Bit3: unused
Bit4: Encoder A
Bit5: Encoder B
Bit6: Encoder C
Bit7: unused
Bit8: Hall Sensor U
Bit9: Hall Sensor V
Bit10: Hall Sensor W
Bit 11: unused
Bit12: Hardware Enable Input Level (required for STO functionality)

12

Phase Voltage U
Unit: [mV]

13

Phase Voltage V
Unit: [mV]

14

Phase Voltage W
Unit: [mV]

8010:59

Error suppression mask

Error suppression mask

Bit 0: suppresses detection of a wire break of the motor phases

Bit 1: suppresses commutation angle monitoring

UINT32

RW

0x00000000 (0_dec)

8010:5A

Velocitiy loop integral time (voltage mode)

Integral component of velocity controller
Unit: 0.1 ms

(For feedback systems with six-step. See controller optimization Sensorless operation and Operation with Hall sensors only)

UINT32

RW

0x000001F4 (500_dec)

8010:5B

Velocity loop proportional gain (voltage mode)

Proportional component of velocity controller
Unit: µV / (°/s)

(For feedback systems with six-step. See controller optimization Sensorless operation and Operation with Hall sensors only)

UINT32

RW

0x00000064 (100_dec)

8010:5C

Velocity loop voltage feed forward gain (voltage mode)

Velocity pre-control of the velocity controller
Unit: %

(For feedback systems with six-step. See controller optimization Sensorless operation and Operation with Hall sensors only)

UINT8

RW

0x32 (50_dec)

8010:5E

Sensorless offset voltage scaling

Configures the voltage output at standstill
Unit: %

UINT16

RW

0x0032 (50_dec)

8010:5F

Sensorless observer bandwidth

Bandwidth of the position/velocity observer in sensorless operation
Unit:Hz

UINT16

RW

0x0064 (100_dec)

8010:60

Sensorless max. acceleration

Max. acceleration
Unit:° / s²

UINT32

RW

0x0000186A0 (100000_dec)

8010:61

Cogging torque compensation

Contains the coefficients of the cogging torque compensation. These are determined by the Cogging Scan function. See chapter Scan Motor Cogging

OCTET-STRING[16]

RW

{0}

8010:62

Position loop deadband window

Deadband window of the position controller [Inc]

For position deviations smaller than the defined range, the following applies (provided the target velocity is within the "Stand still window" (see parameter: 0x8010:33)):

0 - 75% position controller switched off

75 - 100% linear transition of the position controller gain

UINT32

RW

0x00000000 (0_dec)

8010:63

Find commutation time

Defines the time for determining the commutation angle [0.1 s]

This process is divided into two phases. In total, it takes twice the time specified here. Required time depends on application

UINT16

RW

0x0009 (9_dec)

8010:64

Commutation type

Method for determining the commutation angle:

1: FOC with incremental encoder (default)
2: Six Step with hall
3: Six Step sensorless
4: FOC with incremental encoder and hall

UINT8

RW

0x01 (1_dec)

8011:0

DRV Motor Settings

Maximum subindex

UINT8

RO

0x31 (49_dec)

8011:11

Max current

Peak current
Unit: mA

Limitation by maximum output current of the EJ7411 module.

The motor current values are to be specified as peak value.

UINT32

RW

0x00001770 (6000_dec)

8011:12

Rated current

Nominal current of the motor
Unit: mA

Corresponds to the maximum continuous motor output current.

The motor current values are to be specified as peak value.

"Target Torque", "Torque actual value" and "Torque limitation" are scaled relative to the "rated current" in per mill

UINT32

RW

0x000003E8 (1000_dec)

8011:13

Motor pole pairs

Number of pole pairs

UINT8

RW

0x01 (1_dec)

8011:16

Torque constant

Torque constant
Unit: mNm / A

UINT32

RW

0x00000032 (50_dec)

8011:18

Rotor moment of inertia

Moment of inertia of the motor including mechanics
Unit: g cm²

UINT32

RW

0x00000064 (100_dec)

8011:19

Winding inductance

Winding inductance
Unit: 0.01 mH

UINT16

RW

0x0064 (100_dec)

8011:1B

Motor speed limitation

Motor speed limitation
Unit: 1/min

UINT32

RW

0x000186A0 (100000_dec)

8011:29

I2T warn level

I2T motor warning threshold
Unit: %

UINT8

RW

0x50 (80_dec)

8011:2A

I2T error level

I2T motor error threshold
Unit: %

UINT8

RW

0x69 (105_dec)

8011:2D

Motor thermal time constant

Motor thermal time constant of the winding
Unit: 0.1 s

UINT16

RW

0x0028 (40_dec)

8011:2E

Rated speed

Nominal speed
Unit: 1 /min

UINT32

RW

0x000003E8 (1000_dec)

8011:2F

Rated voltage

Nominal voltage of the motor
Unit: mV

UINT32

RW

0x0000B880 (48000_dec)

8011:30

Winding resistance

Winding resistance phase - phase
Unit: mOhm

UINT32

RW

0x000003E8 (1000_dec)

8011:31

Voltage constant

Voltage constant
Unit: µV / (1 / min)

Specifies the voltage induced by the motor as a generator (counter-electromotive force).

UINT32

RW

0x0000B880 (48000_dec)

8012:0

DRV brake settings

Maximum subindex

UINT8

RO

0x14 (20_dec)

8012:01

Manual override (release)

Manual release of the motor holding brake

Intended for commissioning purposes.

BOOLEAN

RW

0x00 (0_dec)

8012:11

Release delay

Time that the holding brake requires to open (release) after power was applied.
Unit: ms

UINT16

RW

0x0000 (0_dec)

8012:12

Application delay

Time that the holding brake requires to close (hold) after the power was switched off.
Unit: ms

UINT16

RW

0x0000 (0_dec)

8012:13

Emergency application timeout

Time that the amplifier waits until the speed reaches the standstill window after a stop request.
If the set waiting time is exceeded, the holding brake is triggered independently of the speed.

Unit: ms

• Note:
  This parameter must be adjusted to at least the longest time of "coasting" of the axis.
• In the case of suspended axes, this parameter should be set to a very short time in order to prevent the axis/load from sagging.

UINT16

RW

0x0000 (0_dec)

8012:14

Brake moment of inertia

Motor brake moment of inertia
Unit: g cm²

UINT16

RW

0x0000 (0_dec)

8040:0

DMC Settings

Settings for Drive Motion Control.

UINT8

RW

0x17 (23_dec)

8040:07

Emergency deceleration

Deceleration for the emergency stop ramp.

Indication in milliseconds from nominal motor speed to standstill.

UINT16

RW

0x64 (100_dec)

8040:08

Calibration position

If homing is successful, the "Actual position" is set to this value.

Observe the note on the data type!

UINT64

RW

0x00 (0_dec)

8040:09

Calibration velocity (towards plc cam)

Speed for driving on the referencing cams.

Is specified in 10,000ths of 0x8011:1B "Motor speed limitation".

UINT16

RW

0x64 (100_dec)

8040:0A

Calibration velocity (off plc cam)

Speed to drive down from the referencing cam.

Is specified in 10,000ths of 0x8011:1B "Motor speed limitation".

UINT16

RW

0x0A (10_dec)

8040:0E

Modulo factor

Modulo factor for modulo travel commands.

The default value of 2^32 corresponds to a single-turn revolution and thus e.g. 360°.

UINT64

RW

0x100000000 (4294967296_dec)

8040:12

Block calibration torque limit

Torque limitation for block calibration.

The value is specified in 1000ths of 0x8011:12 "Rated current".

UINT16

RW

0x64 (100_dec)

8040:13

Block calibration stop distance

Specifies the distance by which to move out of the block after calibration.

Observe the note on the data type!

UINT64

RW

0x100000000 (4294967296_dec)

8040:14

Block calibration lag threshold

Maximum permissible following error during block calibration.

Observe the note on the data type!

UINT64

RW

0x100000000 (4294967296_dec)

8040:15

Target position window

General position target window for travel commands for reaching the InTarget state.

Observe the note on the data type!

The "Target position window" is valid in connection with 0x8040:16 "Target position monitor time".

UINT64

RW

0x16C16C1 (23860929_dec)

8040:16

Target position monitor time

The actual position must be within the position target window 0x8040:15 for the specified time to reach the InTarget state.

Unit: ms.

UINT16

RW

0x14 (20_dec)

8040:17

Target position timeout

Specifies the time for the timer to start when the setpoint generator reaches the target position.

If the InTarget condition (see 0x8040:15 and 0x8040:16) is not reached within this time,

• the travel command is aborted.
• The function block for the travel command returns an error.

Unit: ms.

UINT16

RW

0x1770 (6000_dec)

8041:0

DMC Features

Drive Motion Control functions

UINT8

RW

0x1B (27_dec)

8041:13

Invert calibration cam search direction

For the default homing sequence the direction for referencing cam search can be inverted.

• FALSE:
  the cam is looked for in the direction of positive movement.
• TRUE:
  the cam is looked for in the direction of negative movement.

BOOLEAN

RW

0x00 (0_dec)

8041:14

Invert sync impulse search direction

For the default homing sequence the direction for sync pulse search can be inverted.

• FALSE:
  sync pulse is looked for in the direction of positive movement.
• TRUE:
  sync pulse is looked for in the direction of negative movement.

BOOLEAN

RW

0x01 (1_dec)

8041:19

Calibration cam source

Signal source of the referencing cam:

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

8041:1A

Calibration cam active level

Signal level of the referencing cam that is evaluated as "active".

UINT8

RW

0x00 (0_dec)

8041:1B

Latch source

Signal source of the latch signal:

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)