Information / diagnostic data (channel specific)

80nE:0

AI Internal data

Maximum subindex

UINT8

RO

0x01 (1_dec)

80nE:01

ADC raw value

ADC raw value

UINT32

RO

0x00000000 (0_dec)

9010:0

STM Info data Ch.1

Maximum subindex

UINT8

RO

0x08 (8_dec)

9010:01

Status word

Status word (see index 0xA010)

UINT16

RO

0x0000 (0_dec)

9010:02

Motor coil voltage A

Motor voltage coil A (unit 1 mV)

UINT16

RO

0x0000 (0_dec)

9010:03

Motor coil voltage B

Motor voltage coil B (unit 1 mV)

UINT16

RO

0x0000 (0_dec)

9010:04

Motor coil current A

Motor current coil A (unit 1 mA)

INT16

RO

0x0000 (0_dec)

9010:05

Motor coil current B

Motor current coil B (unit 1 mA)

INT16

RO

0x0000 (0_dec)

9010:06

Duty cycle A

Duty cycle coil A (unit 1%)

INT8

RO

0x00 (0_dec)

9010:07

Duty cycle B

Duty cycle coil B (unit 1%)

INT8

RO

0x00 (0_dec)

9010:08

Motor velocity

Current velocity (value range +/- 10000)

INT16

RO

0x0000 (0_dec)

9010:09

Internal position

internal position

UINT32

RO

0x00000000 (0_dec)

9010:13

External position

External position (connected encoder)

UINT32

RO

0x00000000 (0_dec)

9020:0

POS Info data Ch.1

Maximum subindex

UINT8

RO

0x04 (4_dec)

9020:03

State (drive controller)

permitted values:

UINT16

RO

0x0000 (0_dec)

0: Init

1: Idle

272: Go cam

273: On cam

16: Start

17: Acceleration

18: Constant

19: Deceleration

288: Go sync impulse

289: Leave cam

4096: Pre target

4097: In target

32: Emergency Stop

33: Normal stop

304: Calibration stop

8192: Drive end

8193: Wait for init

320: Is calibrated

321: Not calibrated

16384: Drive warning

32768: Error

65535: Undefined

256: Calibration start

9020:04

Actual position lag

Current step error

INT32

RO

0x00000000 (0_dec)

A010:0

STM Diag data Ch.1

Maximum subindex

UINT8

RO

0x11 (17_dec)

A010:01

Saturated

Driver stage operates with maximum duty cycle

BOOLEAN

RO

0x00 (0_dec)

A010:02

Over temperature

Internal terminal temperature is higher than 80°C (see subindex 0xF80F:04)

BOOLEAN

RO

0x00 (0_dec)

A010:03

Torque overload

Motor current is higher than the rated current

BOOLEAN

RO

0x00 (0_dec)

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 (0_dec)

A010:05

Over voltage

Motor supply voltage is 10 % higher than the configured nominal voltage

BOOLEAN

RO

0x00 (0_dec)

A010:06

Short circuit A

Short circuit in motor coil A

BOOLEAN

RO

0x00 (0_dec)

A010:07

Short circuit B

Short circuit in motor coil B

BOOLEAN

RO

0x00 (0_dec)

A010:08

No control power

Control voltage at the power contacts is less than 12 V

BOOLEAN

RO

0x00 (0_dec)

A010:09

Misc error

Terminal initialization failed, or supply voltage is less than 8 V, or
internal terminal temperature is higher than 100°C (see subindex 0xF80F:05)

BOOLEAN

RO

0x00 (0_dec)

A010:0A

Configuration

CoE change has not yet been adopted into the current configuration

BOOLEAN

RO

0x00 (0_dec)

A010:11

Actual operation mode

Current operating mode (relevant for activated automatic mode, see 0x8012:01)

BIT4

RO

0x00 (0_dec)

A020:0

POS Diag data Ch.1

Maximum subindex

UINT8

RO

0x06 (6_dec)

A020:01

Command rejected

Travel command was rejected

BOOLEAN

RO

0x00 (0_dec)

A020:02

Command aborted

Travel command was aborted

BOOLEAN

RO

0x00 (0_dec)

A020:03

Target overrun

Target position was overrun in the opposite direction

BOOLEAN

RO

0x00 (0_dec)

A020:04

Target timeout

The target window was not reached within the in-target timeout

BOOLEAN

RO

0x00 (0_dec)

A020:05

Position lag

The maximum following error was exceeded

BOOLEAN

RO

0x00 (0_dec)

A020:06

Emergency Stop

An emergency stop was triggered (automatic or manual)

BOOLEAN

RO

0x00 (0_dec)