Configuration data

8000:0

ENC Settings Ch.1

Maximum subindex

UINT8

RO

0x0E (14_dec)

8000:0E

Reversion of Rotation

Activates reversion of rotation of the encoder.

BOOLEAN

RW

0x00 (0_dec)

8010:0

STM Motor Settings Ch.1

Maximum subindex

UINT8

RO

0x11 (17_dec)

8010:01

Maximal current

Maximum permanent motor coil current
(unit: 1 mA)

UINT16

RW

0x0AF0 (2800_dec)

8010:02

Reduced current

Reduced coil current (reduced torque, unit: 1 mA)

UINT16

RW

0x0578 (1400_dec)

8010:03

Nominal voltage

Nominal voltage (supply voltage) of the motor
(unit: 1 mV)

UINT16

RW

0x5DC0 (24000_dec)

8010:04

Motor coil resistance

Internal resistance of a coil
(unit: 0.01 ohm)

UINT16

RW

0x0064 (100_dec)

8010:05

Motor EMF

Motor countervoltage
(unit: 1 mV/(rad/s))

UINT16

RW

0x0000 (0_dec)

8010:06

Motor fullsteps

Motor full steps per revolution

UINT16

RW

0x00C8 (200_dec)

8010:09

Start velocity

Maximum possible start velocity of the motor

UINT16

RW

0x0000 (0_dec)

8010:10

Drive on delay time

Switch-on delay of the driver stage

UINT16

RW

0x0064 (100_dec)

8010:11

Drive off delay time

Switch-off delay of the driver stage

UINT16

RW

0x0096 (150_dec)

8011:0

STM Controller Settings Ch.1

Maximum subindex

UINT8

RO

0x08 (8_dec)

8011:01

Kp factor (curr.)

Kp control factor (proportional component) for the current controller
(unit: 0.001)

UINT16

RW

0x0190 (400_dec)

8011:02

Ki factor (curr.)

Ki control factor (integral component) for the current controller
(unit: 0.001)

UINT16

RW

0x0004 (4_dec)

8011:03

Inner window (curr.)

Inner window for the I component of the current controller
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8011:05

Outer window (curr.)

Outer window for the I component of the current controller
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8011:06

Filter cut off frequency (curr.)

Filter limit frequency of the current controller
(low-pass, unit: 1 Hz)

UINT16

RW

0x0000 (0_dec)

8011:07

Ka factor (curr.)

Ka control factor (acceleration component) for the current controller
(unit: 0.001)

UINT16

RW

0x0064 (100_dec)

8011:08

Kd factor (curr.)

Kd control factor (deceleration component) for the current controller
(unit: 0.001)

UINT16

RW

0x0064 (100_dec)

8012:0

STM Features Ch.1

Maximum subindex

UINT8

RO

0x49 (73_dec)

8012:01

Operation mode

Operating mode (currently only direct velocity is supported)

BIT4

RW

0x00 (0_dec)

0

Automatic

1

Direct velocity

2

Velocity controller

3

Position controller

8012:05

Speed range

Preselection of the speed range

BIT3

RW

0x01 (1_dec)

0

1000 full steps/second

1

2000 full steps/second

2

4000 full steps/second

3

8000 full steps/second

4

16000 full steps/second

5

32000 full steps/second

8012:09

Invert motor polarity

Activates reversal of the motor rotation direction.

BOOLEAN

RW

0x00 (0_dec)

8012:11

Select info data 1

Select "Info data 1" (see 0x6010:11)

UINT8

RW

0x03 (3_dec)

0

Status word

1

Motor voltage coil A
(unit 1 mV)

2

Motor voltage coil B
(unit 1 mV)

3

Motor current coil A
(unit 1 mA)

4

Motor current coil B
(unit 1 mA)

5

Duty-Cycle coil A
(unit 1 %)

6

Duty-Cycle coil B
(unit 1%)

7

Current velocity
(value range +/- 10000)

...

reserved

101

Internal temperature of the driver card

...

reserved

103

Control voltage

104

Motor supply voltage

...

reserved

150

Drive - Status word

151

Drive - State

152

Drive - Position lag (low word)

153

Drive - Position lag (high word)

...

reserved

255

reserved

8012:19

Select info data 2

Selection "Info data 2"

UINT8

RW

0x04 (4_dec)

0

Status word

1

Motor voltage coil A
(unit 1 mV)

2

Motor voltage coil B
(unit 1 mV)

3

Motor current coil A
(unit 1 mA)

4

Motor current coil B
(unit 1 mA)

5

Duty-Cycle coil A
(unit 1 %)

6

Duty-Cycle coil B
(unit 1 %)

7

Current velocity
(value range +/- 10000)

...

reserved

101

Internal temperature of the driver card

...

reserved

103

Control voltage

104

Motor supply voltage

...

reserved

150

Drive - Status word

151

Drive - State

152

Drive - Position lag (low word)

153

Drive - Position lag (high word)

...

reserved

255

reserved

8012:30

Invert digital input 1

Inversion of digital input 1

BOOLEAN

RW

0x00 (0_dec)

8012:31

Invert digital input 2

Inversion of digital input 2

BOOLEAN

RW

0x00 (0_dec)

8012:32

Function for input 1

Selection of the function for input 1

BIT4

RW

0x02 (0_dec)

0

Normal input

1

Hardware Enable

2

Plc cam

3

Auto start

8012:36

Function for input 2

Selection of the function for input 2

BIT4

RW

0x02 (0_dec)

0

Normal input

1

Hardware Enable

2

Plc cam

3

Auto start

8012:45

Digital input emulation 1

Digital input emulation 1

BIT4

RW

0x00 (0_dec)

0

Off

1

Uin > Limit 1 (threshold)

2

Uin > Limit 2 (threshold)

3

Limit 1 < Uin < Limit 2 (band)

4

Limit 2 < Uin < Limit 1 (band)

5

Uin > Limit 1 = 1;
Uin < Limit 2 = 0
(hysteresis)

6

Uin > Limit 2 = 1;
Uin < Limit 1 = 0
(hysteresis)

8012:49

Digital input emulation 2

Digital input emulation 2

BIT4

RW

0x00 (0_dec)

0

Off

1

Uin > Limit 1 (threshold)

2

Uin > Limit 2 (threshold)

3

Limit 1 < Uin < Limit 2 (band)

4

Limit 2 < Uin < Limit 1 (band)

5

Uin > Limit 1 = 1;
Uin < Limit 2 = 0
(hysteresis)

6

Uin > Limit 2 = 1;
Uin < Limit 1 = 0
(hysteresis)

8013:0

STM Controller Settings 2 Ch.1

Maximum subindex

UINT8

RO

0x08 (8_dec)

8013:01

Kp factor (velo./pos.)

Kp control factor (proportional component) for the velocity controller
(unit: 0.001)

UINT16

RW

0x03E8 (1000_dec)

8013:02

Ki factor (velo./pos.)

Ki control factor (integral component) for the velocity controller
(unit: 0.001)

UINT16

RW

0x0000 (0_dec)

8013:03

Inner window (velo./pos.)

Inner window for the I component of the velocity controller
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8013:05

Outer window (velo./pos.)

Outer window for the I component of the velocity controller
(unit: 1 %)

UINT8

RW

0x00 (0_dec)

8013:06

Filter cut off frequency (velo./pos.)

Filter limit frequency of the velocity controller (low-pass,
unit: 1 Hz)

UINT16

RW

0x0000 (0_dec)

8013:07

Ka factor (velo./pos.)

Ka control factor (acceleration component) for the velocity controller
(unit: 0.001)

UINT16

RW

0x0000 (0_dec)

8013:08

Kd factor (velo./pos.)

Kd control factor (deceleration component) for the current controller
(unit: 0.001)

UINT16

RW

0x0000 (0_dec)

8020:0

POS Settings Ch.1

Maximum subindex

UINT8

RO

0x10(16_dec)

8020:01

Velocity min.

Minimum set velocity
(range: 0-10000)

INT16

RW

0x0064 (100_dec)

8020:02

Velocity max.

Maximum set velocity
(range: 0-10000)

INT16

RW

0x2710 (10000_dec)

8020:03

Acceleration pos.

Acceleration in positive direction of rotation
(unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:04

Acceleration neg.

Acceleration in negative direction of rotation
(unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:05

Deceleration pos.

Deceleration in positive direction of rotation
(unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:06

Deceleration neg.

Deceleration in negative direction of rotation
(unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:07

Emergency deceleration

Emergency deceleration (both directions of rotation,
unit: 1 ms)

UINT16

RW

0x0064 (100_dec)

8020:08

Calibration position

Calibration position

UINT32

RW

0x00000000 (0_dec)

8020:09

Calibration velocity (towards plc cam)

Calibration velocity towards the cam
(range: 0-10000)

INT16

RW

0x0064 (100_dec)

8020:0A

Calibration Velocity (off plc cam)

Calibration velocity away from the cam
(range: 0-10000)

INT16

RW

0x000A (10_dec)

8020:0B

Target window

Target window

UINT16

RW

0x000A (10_dec)

8020:0C

In-Target timeout

Timeout at target position (unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:0D

Dead time compensation

Dead time compensation (unit: 1 µs)

INT16

RW

0x0032 (50_dec)

8020:0E

Modulo factor

Modulo factor/position

UINT32

RW

0x00000000 (0_dec)

8020:0F

Modulo tolerance window

Tolerance window for modulo positioning

UINT32

RW

0x00000000 (0_dec)

8020:10

Position lag max.

max. position lag

UINT16

RW

0x0000 (0_dez)

8021:0

POS Features Ch.1

Maximum subindex

UINT8

RO

0x16 (22_dec)

8021:01

Start type

permitted values:

UINT16

RW

0x0001 (1_dec)

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

8021:11

Time information

permitted values:

BIT2

RW

0x00 (0_dec)

0: Elapsed time

current drive time since start of the travel command

8021:13

Invert calibration cam search direction

Inversion of the direction of rotation towards the cam

BOOLEAN

RW

0x01 (1_dec)

8021:14

Invert sync impulse search direction

Inversion of the direction of rotation away from the cam

BOOLEAN

RW

0x00 (0_dec)

8021:15

Emergency stop on position lag error

Triggers an emergency stop if the maximum following error is exceeded

BOOLEAN

RW

0x00 (0_dec)

8021:16

Enhanced diag history

Provides detailed messages about the status of the positioning interface in the diag history

BOOLEAN

RW

0x00 (0_dec)

80n0:0

AI Settings

Maximum subindex

UINT8

RO

0x15 (21_dec)

80n0:01

Enable user scale

User scale is active.

BOOLEAN

RW

0x00 (0_dec)

80n0:06

Enable filter

Enable filter, which makes PLC-cycle-synchronous data exchange unnecessary

BOOLEAN

RW

0x01 (1_dec)

80n0:07

Enable limit 1

Limit 1 enabled

BOOLEAN

RW

0x00 (0_dec)

80n0:08

Enable limit 2

Limit 2 enabled

BOOLEAN

RW

0x00 (0_dec)

80n0:11

User scale offset

User scaling offset

INT16

RW

0x0000 (0_dec)

80n0:12

User scale gain

User scaling gain.
The gain is represented in fixed-point format, with the factor 2^-16.
The value 1 corresponds to 65535_dec (0x00010000_hex) and is limited to +/- 0x7FFFF.

INT32

RW

0x00010000 (65536_dec)

80n0:13

Limit 1

First limit value for setting the status bits

INT16

RW

0x0000 (0_dec)

80n0:14

Limit 2

Second limit value for setting the status bits

INT16

RW

0x0000 (0_dec)

80n0:15

Filter settings

This object determines the digital filter settings, if it is active via Enable filter (index 0x80n0:06).
The possible settings are sequentially numbered.

2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics

UINT16

RW

0x00002 (2_dec)