Objects for parameterization

8000:0

FB Settings Ch.1

UINT8

RO

0x1C (28_dec)

8000:11

Device type

UINT32

RW

0x00000005 (5_dec)

8000:12

Singleturn bits

Number of single-turn bits in the position display (process data, CoE). The sum of the single-turn bits and multi-turn bits must be 32.

Note: This parameter only influences the display and is independent of the physical resolution of the position sensor.

UINT8

RW

0x14 (20_dec)

8000:13

Multiturn bits

Number of multi-turn bits in the position display (process data, CoE). The sum of the single-turn bits and multi-turn bits must be 32.

Note: This parameter only influences the display and is independent of the physical resolution of the position sensor.

UINT8

RW

0x0C (12_dec)

8000:14

Observer bandwidth

Bandwidth of the speed observer [Hz]

UINT16

RW

0x00C8 (200_dec)

8000:15

Observer feed-forward

Load ratio [%] between internal rotor inertia of the motor and the total inertia of the driven system.

Load ratio = internal moment of inertia / (internal moment of inertia + mass moment of inertia of the load).

Examples:

• 100% = load-free
• 50 % = moments of inertia of input and output are equal

UINT8

RW

0x64 (100_dec)

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 (0_dec)

8000:18

Secondary position offset

The Secondary Position Offset is subtracted from the "Secondary Position".

It can only be written with the axis stopped.

UINT32

RW

0x00000000 (0_dec)

8000:19

Gear ratio motor shaft revolutions

These parameters are used to scale all positions and speeds from the motor side to the load side of a gear unit.

"Gear ratio motor shaft revolutions" describes the number of motor revolutions required to achieve the number of load revolutions configured in "Gear ratio driving shaft revolutions".

Example: For a reduction gear in which 5 motor revolutions result in 2 load revolutions, set the parameters as follows:

• Motor shaft revolutions = 5
• Driving shaft revolutions = 2

UINT32

RW

0x00000001 (1_dec)

8000:1A

Gear ratio driving shaft revolutions

UINT32

RW

0x00000001 (1_dec)

8000:1B

Min position range limit

Lowest value for the position display of setpoints and actual values. If the value falls below this, an underflow to the value "Max position range limit" occurs.

"Min position range limit" must always be lower than "Max position range limit".

UINT32

RW

0x00000000 (0_dec)

8000:1C

Max position range limit

Highest value for the position display of setpoints and actual values. If this is exceeded, an overflow to the value "Min position range limit" occurs.

"Max position range limit" must always be higher than "Min position range limit".

UINT32

RW

0xFFFFFFFF (4294967295_dec)

8001:0

FB Touch probe Settings Ch.1

UINT8

RO

0x16 (22_dec)

8001:11

Touch probe 1 source

Selection of the input signal for Touch probe 1. Permitted values:

• 1: Touch probe input 1
• 5: Hardware zero impulse

INT16

RW

0x0001 (1_dec)

8001:12

Touch probe 2 source

Selection of the input signal for Touch probe 2. Permitted values:

• 2: Touch probe input 2
• 5: Hardware zero impulse

INT16

RW

0x0002 (2_dec)

8001:15

Touch probe 1 position source

Selection of the position held by Touch probe 1. Permitted values:

• 0: FB Position
• 1: FB Secondary Position

INT16

RW

0x0000 (0_dec)

8001:16

Touch probe 2 position source

Selection of the position held by Touch probe 2. Permitted values:

• 0: FB Position
• 1: FB Secondary Position

INT16

RW

0x0000 (0_dec)

8008:0

FB Settings ENC Ch.1

UINT8

RO

0x13 (19_dec)

8008:01

Invert feedback direction

Changes the counting direction of the encoder.

This parameter can be used to adapt the encoder direction of rotation to the motor direction of rotation.

BOOLEAN

RW

0x00 (0_dec)

8008:12

Encoder type

permitted values:

• 0: disabled
• 1: RS422 differential
• 2: TTL single ended
• 6: TTL single ended - input filters disabled
• 7: open collector

UINT16

RW

0x0000 (0_dec)

8008:13

Encoder Increments per Revolution

Resolution of the encoder after 4-fold evaluation.

UINT32

RW

0x00001000 (4096_dec)

8010:0

DRV Amplifier Settings Ch.1

UINT8

RO

0x73 (115_dec))

8010:01

Enable TxPDOToggle

Show TxPDO Toggle in the status word (bit 10).

BOOLEAN

RW

0x00 (0_dec)

8010:02

Enable input cycle counter

1: enabled

The Input cycle counter is a 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)

8010:12

Current loop integral time

Integral component current controller [0.1 ms].

UINT16

RW

0x0032 (50_dec)

8010:13

Current loop proportional gain

Proportional component current controller [0.1 V/A]

UINT16

RW

0x0032 (50_dec)

8010:14

Velocity loop integral time

Integral component velocity controller [0.1 ms].

UINT32

RW

0x0000001E (30_dec)

8010:15

Velocity loop proportional gain

Proportional component velocity controller [mA/(rad/s)].

UINT32

RW

0x00000096 (150_dec)

8010:17

Position loop proportional gain

Proportional component position controller [1/s]

UINT32

RW

0x0000000A (10_dec)

8010:31

Velocity limitation

Limitation of the drive speed set value [1/min].

(Only effective in the CSV and CSP controller operation modes)

When using a gear ratio, this parameter refers to the load side.

UINT32

RW

0x000186A0 (100000_dec)

8010:32

Short-Circuit Brake duration max

Max. duration of armature short circuit brake. [ms]

UINT16

RW

0x0000 (0_dec)

8010:33

Stand still window

Tolerance window for standstill monitoring [1/min]

UINT16

RW

0x0001 (1_dec)

8010:39

Select info data 1

permitted values:

• 2: DC link voltage (mV)
• 4: PCB temperature (0.1 °C)
• 10: Digital inputs

UINT8

RW

0x02 (2_dec)

8010:3A

Select info data 2

permitted values:

• 2: DC link voltage (mV)
• 4: PCB temperature (0.1 °C)
• 10: Digital inputs

UINT8

RW

0x04 (4_dec)

8010:49

Halt ramp deceleration

Halt ramp deceleration [0.1 rad / s²]

UINT32

RW

0x0000F570 (62832_dec)

8010:50

Following error window

Following error monitoring: following error window.

The value 0xFFFFFFFFFF (_{4294967295dec}) disables the following error monitoring.

UINT32

RW

0xFFFFFFFF (4294967295_dec)

8010:51

Following error time out

Following error monitoring: timeout [ms].

UINT16

RW

0x0000 (0_dec)

8010:52

Fault reaction option code

permitted values:

• 0: Disable drive function, motor is free to rotate
• 1: Slow down on slow down ramp
• 65534_dec: Short circuit brake

UINT16

RW

0x0001 (1_dec)

8010:54

Feature bits

--

UINT32

RW

0x00000000 (0_dec)

8010:57

Position loop velocity feed forward gain

Scaling factor for velocity pre-control from the position interpolator.

UINT8

RW

0x64 (100_dec)

8010:58

Select info data 3

permitted values:

• 2: DC link voltage (mV)
• 4: PCB temperature (0.1 °C)
• 10: Digital inputs

UINT8

RW

0x0A (10_dec)

8010:59

Error suppression mask

UINT32

RW

0x00000000 (0_dec)

8010:62

Position loop deadband window

Deadband window of the position controller.

Unit: corresponds to the process data scaling of the set position and actual positions.

UINT32

RW

0x00000000 (0_dec)

8010:63

Find commutation time

For field-oriented control (FOC) with an incremental encoder, commutation determination is required, during which nominal current is applied to the motor. The "Find commutation time" describes the time used for this.

UINT16

RW

0x000A (10_dec)

8010:64

Commutation type

permitted values:

• 16: Stepper with internal counter
• 17: Stepper with encoder
• 18: Stepper FOC with encoder

UINT8

RW

0x10 (16_dec)

8010:65

Invert direction of rotation

Inverting the direction of rotation.

This parameter inverts all setpoints and actual values and is used to ensure that the motor rotates in the correct direction for the application.

Note: This parameter is not suitable for adapting the directions of rotation of the encoder and motor to each other. Use 8008:01 "Invert feedback direction" for this purpose.

BOOLEAN

RW

0x00 (0_dec)

8010:6D

Torque feed forward gain

Internal torque pre-control: scaling factor

UINT32

RW

0x00000064 (100_dec)

8010:6E

Torque feed forward filter time

Internal torque pre-control: filter time. [0.1 ms]

UINT32

RW

0x0000000A (10_dec)

8010:6F

Torque offset

Torque offset.

The value is given in thousandths of the nominal current.

INT16

RW

0x0000 (0_dec)

8010:70

Torque limitation option code

Selection of the behavior in the CST controller operation mode (“Cyclic Synchronous Torque”). Permitted values:

• 0: VeloLimitHasNoEffect
• 1: TorqueMightBeReducedToZero
• 2: TorqueMightBeReducedToRampPosNeg
• 3: TorqueMightBeReducedToRampPosMaxTorqueNeg
• 4: TorqueMightBeReducedToMaxTorquePosNeg

INT8

RW

0x00 (0_dec)

8010:72

Stand still torque limitation

Only valid for commutation types "Stepper with internal counter" and "Stepper with encoder" (can be set via parameter 8010:64).

Configures a current reduction at standstill, i.e. when the target velocity is within the "Stand still window" (parameter 8010:33).

The value is given in thousandths of the nominal current.

UINT16

RW

0x7FFF (32767_dec)

8010:73

Acceleration limitation

Limits the maximum acceleration or deceleration. [0.1 rad/s²]

UINT32

RW

0x0000F570 (62832_dec)

8011:0

DRV Motor Settings Ch.1

UINT8

RO

0x34 (52_dec)

8011:12

Rated current

The nominal current of the motor (data sheet value).

Used for scaling "Torque actual value" and "Target torque".

UINT32

RW

0x00000BB8 (3000_dec)

8011:16

Torque constant

Force constant of the motor.

UINT32

RW

0x0000012C (300_dec)

8011:18

Rotor moment of inertia

Moment of inertia of the motor.

UINT32

RW

0x000001EF (495_dec)

8011:19

Winding inductance

Winding inductance.

UINT16

RW

0x0186 (390_dec)

8011:1B

Motor speed limitation

Speed limit of the motor.

When using a gear ratio, this limit still refers to the motor side.

UINT32

RW

0x000186A0 (100000_dec)

8011:2E

Rated speed

Nominal speed of the motor.

UINT32

RW

0x000003E8 (1000_dec)

8011:30

Winding resistance

Winding resistance of the motor.

UINT32

RW

0x00000578 (1400_dec)

8011:31

Voltage constant

Voltage constant of the motor.

UINT32

RW

0x00004E20 (20000_dec)

8011:33

Motor fullsteps per revolution

Number of full motor steps per revolution.

UINT32

RW

0x000000C8 (200_dec)

8011:34

Configured motor current

Configured motor current. If this is smaller than the "Rated current", the motor current is limited to the smaller of the two values.

This value is used to distribute the load between the two channels of the terminal.

UINT32

RW

0x00000BB8 (3000_dec)

8012:0

DRV Brake Settings Ch.1

UINT8

RO

0x14 (20_dec)

8012:01

Enable manual override

• True: The brake state is forced manually via the CoE.
• False: The brake is automatically controlled by the drive controller.

BOOLEAN

RW

0x00 (0_dec)

8012:02

Manual brake state

Permitted values:

• 0: Release
• 1: Apply

BIT1

RW

0x00 (0_dec)

8012:05

Brake option

Permitted values:

• 0: Enable output to release brake
  (for brakes that are released in the energized state)
• 1: Disable output to release brake
  (for brakes that are released in a de-energized state)

BIT4

RW

0x00 (0_dec)

8012:09

External override

Enables the brake to be released via an external hardware signal.

The brake can only be released via the external signal, not applied.

You can select which hardware input (Touch probe 1 / Touch probe 2) is used for this. It is also possible to restrict whether this configuration is always active or only in the EtherCAT states INIT/PREOP/SAFEOP, i.e. when the drive is not fully operational (e.g. during maintenance work)

Permitted values:

• 0: Disabled
• 2: Digital Input 1
• 3: Digital Input 1 (only INIT/PREOP/SAFEOP)
• 4: Digital Input 2
• 5: Digital Input 2 (only INIT/PREOP/SAFEOP)

UINT8

RW

0x00 (0_dec)

8012:11

Release delay

Time required for the holding brake to release after the current has been applied.

UINT16

RW

0x0000 (0_dec)

8012:12

Application delay

Time required for the holding brake to apply after the current was switched off.

UINT16

RW

0x0000 (0_dec)

8012:13

Emergency application timeout

Time that the amplifier waits for the speed to reach the standstill limit after a stop request.

If the waiting time is exceeded, the holding brake is triggered, regardless of the speed.

Note: This parameter must be set at least to the longest time the axis needs to come to a standstill after it has been switched torque-free.

For vertical axes, this parameter should be set to a low value to prevent the axis or load from falling very far.

Unit: ms

UINT16

RW

0x0000 (0_dec)

8012:14

Brake moment of inertia

Moment of inertia of the brake.

Unit: g cm²

UINT16

RW

0x0000 (0_dec)

8013:0

DRV Filter Settings Ch.1

UINT8

RO

0x19 (25_dec)

8013:10

Low pass frequency 1

REAL32

RW

0x00000000 (0_dec)

8013:11

Low pass damping 1

REAL32

RW

0x00000000 (0_dec)

8013:12

High pass frequency 1

REAL32

RW

0x00000000 (0_dec)

8013:13

High pass damping 1

REAL32

RW

0x00000000 (0_dec)

8013:14

Filter type 1

permitted values:

• 0: No_Filter
• 1: Low_pass_filter_1_order
• 2: Phase_correction_filter_1_order
• 3: Low_pass_filter_2_order
• 4: Phase_correction_filter_2_order
• 5: Notch_filter

INT16

RW

0x0000 (0_dec)

8013:15

Low pass frequency 2

REAL32

RW

0x00000000 (0_dec)

8013:16

Low pass damping 2

REAL32

RW

0x00000000 (0_dec)

8013:17

High pass frequency 2

REAL32

RW

0x00000000 (0_dec)

8013:18

High pass damping 2

REAL32

RW

0x00000000 (0_dec)

8013:19

Filter type 2

permitted values:

• 0: No_Filter
• 1: Low_pass_filter_1_order
• 2: Phase_correction_filter_1_order
• 3: Low_pass_filter_2_order
• 4: Phase_correction_filter_2_order
• 5: Notch_filter

INT16

RW

0x0000 (0_dec)

801F:0

DRV Vendor data Ch.1

UINT8

RO

0x1C (28_dec)

801F:12

Amplifier rated current

Maximum current per channel (without fan).

UINT32

RW

0x00001388 (5000_dec)

801F:14

Amplifier overcurrent threshold

Switching threshold for the overcurrent switch-off.

UINT32

RW

0x00002710 (10000_dec)

801F:15

Max rotary field frequency

UINT16

RW

0x0257 (599_dec)

801F:17

Amplifier rated current with fan

Maximum current per channel (with fan)

UINT32

RW

0x00001770 (6000_dec)

801F:18

Vendor feature bits

UINT32

RW

0x00000000 (0_dec)

801F:1A

Amplifier Rated Sum Current

Maximum sum current for all channels (without fan)

UINT32

RW

0x00001770 (6000_dec)

801F:1C

Amplifier Rated Sum Current with Fan

Maximum sum current for all channels (with fan)

UINT32

RW

0x00002710 (10000_dec)

8060:0

DMC Settings Ch.1

UINT8

RO

0x17 (23_dec)

8060:07

Emergency deceleration

Deceleration for the emergency stop ramp. (In ms from motor nominal speed to standstill)

Unit: 1 ms

UINT16

RW

0x0064 (100_dec)

8060:08

Calibration position

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

INT64

RW

8060:09

Calibration velocity (towards plc cam)

Velocity when hitting the cam in 10000ths of the motor nominal speed.

INT16

RW

0x0064 (100_dec)

8060:0A

Calibration Velocity (off plc cam)

Velocity when driving off the cam in 10000ths of the motor nominal speed.

INT16

RW

0x000A (10_dec)

8060:0E

Modulo factor

Feedback increments for one mechanical revolution.

INT64

RW

8060:12

Block calibration torque limit

Torque limitation for approaching the end stop. In parts per thousand of the nominal motor current.

UINT16

RW

0x0064 (100_dec)

8060:13

Block calibration stop distance

After reaching the calibration position, the axis moves out of the end position by this distance.

INT64

RW

8060:14

Block calibration lag threshold

When this following error is exceeded, the axis is in the end position.

INT64

RW

8060:15

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 in 8060:16.

INT64

RW

8060:16

Target position monitor time

see 8060:15

Unit: ms

UINT16

RW

0x0014 (20_dec)

8060:17

Target position timeout

When the setpoint generator has reached its end position and the axis is not in the target window after this time has elapsed, the task is terminated and the in-target bit is not set.

Unit: ms

UINT16

RW

0x1770 (6000_dec)

8061:0

DMC Features Ch.1

UINT8

RO

0x1B (27_dec)

8061:13

Invert calibration cam search direction

Invert the direction of movement to search for the limit switch.

Default: FALSE = search with positive direction of rotation.

BOOLEAN

RW

0x00 (0_dec)

8061:14

Invert sync impulse search direction

Invert the direction of rotation to exit the limit switch.

Default: TRUE = exit in negative direction of rotation.

BOOLEAN

RW

0x01 (1_dec)

8061:19

Calibration cam source

Source for the reference switch.

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

8061:1A

Calibration cam active level

State of the reference switch in the actuated state.

• 0: Hi
• 1: Low

UINT8

RW

0x00 (0_dec)

8061:1B

Latch source

Source for the latch unit.

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

8100:0

FB Settings Ch.2

UINT8

RO

0x1C (28_dec)

8100:11

Device type

UINT32

RW

0x00000005 (5_dec)

8100:12

Singleturn bits

Number of single-turn bits in the position display (process data, CoE). The sum of the single-turn bits and multi-turn bits must be 32.

Note: This parameter only influences the display and is independent of the physical resolution of the position sensor.

UINT8

RW

0x14 (20_dec)

8100:13

Multiturn bits

Number of multi-turn bits in the position display (process data, CoE). The sum of the single-turn bits and multi-turn bits must be 32.

Note: This parameter only influences the display and is independent of the physical resolution of the position sensor.

UINT8

RW

0x0C (12_dec)

8100:14

Observer bandwidth

Bandwidth of the speed observer [Hz]

UINT16

RW

0x00C8 (200_dec)

8100:15

Observer feed-forward

Load ratio [%] between internal rotor inertia of the motor and the total inertia of the driven system.

Load ratio = internal moment of inertia / (internal moment of inertia + mass moment of inertia of the load).

Examples:

• 100% = load-free
• 50 % = moments of inertia of input and output are equal

UINT8

RW

0x64 (100_dec)

8100:17

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 (0_dec)

8100:18

Secondary position offset

The Secondary Position Offset is subtracted from the "Secondary Position".

It can only be written with the axis stopped.

UINT32

RW

0x00000000 (0_dec)

8100:19

Gear ratio motor shaft revolutions

These parameters are used to scale all positions and speeds from the motor side to the load side of a gear unit.

"Gear ratio motor shaft revolutions" describes the number of motor revolutions required to achieve the number of load revolutions configured in "Gear ratio driving shaft revolutions".

Example: For a reduction gear in which 5 motor revolutions result in 2 load revolutions, set the parameters as follows:

• Motor shaft revolutions = 5
• Driving shaft revolutions = 2

UINT32

RW

0x00000001 (1_dec)

8100:1A

Gear ratio driving shaft revolutions

UINT32

RW

0x00000001 (1_dec)

8100:1B

Min position range limit

Lowest value for the position display of setpoints and actual values. If the value falls below this, an underflow to the value "Max position range limit" occurs.

"Min position range limit" must always be lower than "Max position range limit".

UINT32

RW

0x00000000 (0_dec)

8100:1C

Max position range limit

Highest value for the position display of setpoints and actual values. If this is exceeded, an overflow to the value "Min position range limit" occurs.

"Max position range limit" must always be higher than "Min position range limit".

UINT32

RW

0xFFFFFFFF (4294967295_dec)

8101:0

FB Touch probe Settings Ch.2

UINT8

RO

0x16 (22_dec)

8101:11

Touch probe 1 source

Selection of the input signal for Touch probe 1. Permitted values:

• 1: Touch probe input 1
• 5: Hardware zero impulse

INT16

RW

0x0001 (1_dec)

8101:12

Touch probe 2 source

Selection of the input signal for Touch probe 2. Permitted values:

• 2: Touch probe input 2
• 5: Hardware zero impulse

INT16

RW

0x0002 (2_dec)

8101:15

Touch probe 1 position source

Selection of the position held by Touch probe 1. Permitted values:

• 0: FB Position
• 1: FB Secondary Position

INT16

RW

0x0000 (0_dec)

8101:16

Touch probe 2 position source

Selection of the position held by Touch probe 2. Permitted values:

• 0: FB Position
• 1: FB Secondary Position

INT16

RW

0x0000 (0_dec)

8108:0

FB Settings ENC Ch.2

UINT8

RO

0x13 (19_dec)

8108:01

Invert feedback direction

Changes the counting direction of the encoder.

This parameter can be used to adapt the encoder direction of rotation to the motor direction of rotation.

BOOLEAN

RW

0x00 (0_dec)

8108:12

Encoder type

permitted values:

• 0: disabled
• 1: RS422 differential
• 2: TTL single ended
• 6: TTL single ended - input filters disabled
• 7: open collector

UINT16

RW

0x0000 (0_dec)

8108:13

Encoder Increments per Revolution

Resolution of the encoder after 4-fold evaluation.

UINT32

RW

0x00001000 (4096_dec)

8110:0

DRV Amplifier Settings Ch.2

UINT8

RO

0x73 (115_dec))

8110:01

Enable TxPDOToggle

Show TxPDO Toggle in the status word (bit 10).

BOOLEAN

RW

0x00 (0_dec)

8110:02

Enable input cycle counter

1: enabled

The Input cycle counter is a 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)

8110:04

Repeat find commutation

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

BOOLEAN

RW

0x01 (1_dec)

8110:12

Current loop integral time

Integral component current controller [0.1 ms].

UINT16

RW

0x0032 (50_dec)

8110:13

Current loop proportional gain

Proportional component current controller [0.1 V/A]

UINT16

RW

0x0032 (50_dec)

8110:14

Velocity loop integral time

Integral component velocity controller [0.1 ms].

UINT32

RW

0x0000001E (30_dec)

8110:15

Velocity loop proportional gain

Proportional component velocity controller [mA/(rad/s)].

UINT32

RW

0x00000096 (150_dec)

8110:17

Position loop proportional gain

Proportional component position controller [1/s]

UINT32

RW

0x0000000A (10_dec)

8110:31

Velocity limitation

Limitation of the drive speed set value [1/min].

(Only effective in the CSV and CSP controller operation modes)

When using a gear ratio, this parameter refers to the load side.

UINT32

RW

0x000186A0 (100000_dec)

8110:32

Short-Circuit Brake duration max

Max. duration of armature short circuit brake. [ms]

UINT16

RW

0x0000 (0_dec)

8110:33

Stand still window

Tolerance window for standstill monitoring [1/min]

UINT16

RW

0x0001 (1_dec)

8110:39

Select info data 1

permitted values:

• 2: DC link voltage (mV)
• 4: PCB temperature (0.1 °C)
• 10: Digital inputs

UINT8

RW

0x02 (2_dec)

8110:3A

Select info data 2

permitted values:

• 2: DC link voltage (mV)
• 4: PCB temperature (0.1 °C)
• 10: Digital inputs

UINT8

RW

0x04 (4_dec)

8110:49

Halt ramp deceleration

Halt ramp deceleration [0.1 rad / s²]

UINT32

RW

0x0000F570 (62832_dec)

8110:50

Following error window

Following error monitoring: following error window.

The value 0xFFFFFFFFFF (_{4294967295dec}) disables the following error monitoring.

UINT32

RW

0xFFFFFFFF (4294967295_dec)

8110:51

Following error time out

Following error monitoring: timeout [ms].

UINT16

RW

0x0000 (0_dec)

8110:52

Fault reaction option code

permitted values:

• 0: Disable drive function, motor is free to rotate
• 1: Slow down on slow down ramp
• 65534_dec: Short circuit brake

UINT16

RW

0x0001 (1_dec)

8110:54

Feature bits

--

UINT32

RW

0x00000000 (0_dec)

8110:57

Position loop velocity feed forward gain

Scaling factor for velocity pre-control from the position interpolator.

UINT8

RW

0x64 (100_dec)

8110:58

Select info data 3

permitted values:

• 2: DC link voltage (mV)
• 4: PCB temperature (0.1 °C)
• 10: Digital inputs

UINT8

RW

0x0A (10_dec)

8110:59

Error suppression mask

UINT32

RW

0x00000000 (0_dec)

8110:62

Position loop deadband window

Deadband window of the position controller.

Unit: corresponds to the process data scaling of the set position and actual positions.

UINT32

RW

0x00000000 (0_dec)

8110:63

Find commutation time

For field-oriented control (FOC) with an incremental encoder, commutation determination is required, during which nominal current is applied to the motor. The "Find commutation time" describes the time used for this.

UINT16

RW

0x000A (10_dec)

8110:64

Commutation type

permitted values:

• 16: Stepper with internal counter
• 17: Stepper with encoder
• 18: Stepper FOC with encoder

UINT8

RW

0x10 (16_dec)

8110:65

Invert direction of rotation

Inverting the direction of rotation.

This parameter inverts all setpoints and actual values and is used to ensure that the motor rotates in the correct direction for the application.

Note: This parameter is not suitable for adapting the directions of rotation of the encoder and motor to each other. Use 8008:01 "Invert feedback direction" for this purpose.

BOOLEAN

RW

0x00 (0_dec)

8110:6D

Torque feed forward gain

Internal torque pre-control: scaling factor

UINT32

RW

0x00000064 (100_dec)

8110:6E

Torque feed forward filter time

Internal torque pre-control: filter time. [0.1 ms]

UINT32

RW

0x0000000A (10_dec)

8110:6F

Torque offset

Torque offset.

The value is given in thousandths of the nominal current.

INT16

RW

0x0000 (0_dec)

8110:70

Torque limitation option code

Selection of the behavior in the CST controller operation mode (“Cyclic Synchronous Torque”). Permitted values:

• 0: VeloLimitHasNoEffect
• 1: TorqueMightBeReducedToZero
• 2: TorqueMightBeReducedToRampPosNeg
• 3: TorqueMightBeReducedToRampPosMaxTorqueNeg
• 4: TorqueMightBeReducedToMaxTorquePosNeg

INT8

RW

0x00 (0_dec)

8110:72

Stand still torque limitation

Only valid for commutation types "Stepper with internal counter" and "Stepper with encoder" (can be set via parameter 8110:64).

Configures a current reduction at standstill, i.e. when the target velocity is within the "Stand still window" (parameter 8110:33).

The value is given in thousandths of the nominal current.

UINT16

RW

0x7FFF (32767_dec)

8110:73

Acceleration limitation

Limits the maximum acceleration or deceleration. [0.1 rad/s²]

UINT32

RW

0x0000F570 (62832_dec)

8111:0

DRV Motor Settings Ch.2

UINT8

RO

0x34 (52_dec)

8111:12

Rated current

The nominal current of the motor (data sheet value).

Used for scaling "Torque actual value" and "Target torque".

UINT32

RW

0x00000BB8 (3000_dec)

8111:16

Torque constant

Force constant of the motor.

UINT32

RW

0x0000012C (300_dec)

8111:18

Rotor moment of inertia

Moment of inertia of the motor.

UINT32

RW

0x000001EF (495_dec)

8111:19

Winding inductance

Winding inductance.

UINT16

RW

0x0186 (390_dec)

8111:1B

Motor speed limitation

Speed limit of the motor.

When using a gear ratio, this limit still refers to the motor side.

UINT32

RW

0x000186A0 (100000_dec)

8111:2E

Rated speed

Nominal speed of the motor.

UINT32

RW

0x000003E8 (1000_dec)

8111:30

Winding resistance

Winding resistance of the motor.

UINT32

RW

0x00000578 (1400_dec)

8111:31

Voltage constant

Voltage constant of the motor.

UINT32

RW

0x00004E20 (20000_dec)

8111:33

Motor fullsteps per revolution

Number of full motor steps per revolution.

UINT32

RW

0x000000C8 (200_dec)

8111:34

Configured motor current

Configured motor current. If this is smaller than the "Rated current", the motor current is limited to the smaller of the two values.

This value is used to distribute the load between the two channels of the terminal.

UINT32

RW

0x00000BB8 (3000_dec)

8112:0

DRV Brake Settings Ch.2

UINT8

RO

0x14 (20_dec)

8112:01

Enable manual override

• True: The brake state is forced manually via the CoE.
• False: The brake is automatically controlled by the drive controller.

BOOLEAN

RW

0x00 (0_dec)

8112:02

Manual brake state

Permitted values:

• 0: Release
• 1: Apply

BIT1

RW

0x00 (0_dec)

8112:05

Brake option

Permitted values:

• 0: Enable output to release brake
  (for brakes that are released in the energized state)
• 1: Disable output to release brake
  (for brakes that are released in a de-energized state)

BIT4

RW

0x00 (0_dec)

8112:09

External override

Enables the brake to be released via an external hardware signal.

The brake can only be released via the external signal, not applied.

You can select which hardware input (Touch probe 1 / Touch probe 2) is used for this. It is also possible to restrict whether this configuration is always active or only in the EtherCAT states INIT/PREOP/SAFEOP, i.e. when the drive is not fully operational (e.g. during maintenance work)

Permitted values:

• 0: Disabled
• 2: Digital Input 1
• 3: Digital Input 1 (only INIT/PREOP/SAFEOP)
• 4: Digital Input 2
• 5: Digital Input 2 (only INIT/PREOP/SAFEOP)

UINT8

RW

0x00 (0_dec)

8112:11

Release delay

Time required for the holding brake to release after the current has been applied.

UINT16

RW

0x0000 (0_dec)

8112:12

Application delay

Time required for the holding brake to apply after the current was switched off.

UINT16

RW

0x0000 (0_dec)

8112:13

Emergency application timeout

Time that the amplifier waits for the speed to reach the standstill limit after a stop request.

If the waiting time is exceeded, the holding brake is triggered, regardless of the speed.

Note: This parameter must be set at least to the longest time the axis needs to come to a standstill after it has been switched torque-free.

For vertical axes, this parameter should be set to a low value to prevent the axis or load from falling very far.

Unit: ms

UINT16

RW

0x0000 (0_dec)

8112:14

Brake moment of inertia

Moment of inertia of the brake.

Unit: g cm²

UINT16

RW

0x0000 (0_dec)

8113:0

DRV Filter Settings Ch.2

UINT8

RO

0x19 (25_dec)

8113:10

Low pass frequency 1

REAL32

RW

0x00000000 (0_dec)

8113:11

Low pass damping 1

REAL32

RW

0x00000000 (0_dec)

8113:12

High pass frequency 1

REAL32

RW

0x00000000 (0_dec)

8113:13

High pass damping 1

REAL32

RW

0x00000000 (0_dec)

8113:14

Filter type 1

permitted values:

• 0: No_Filter
• 1: Low_pass_filter_1_order
• 2: Phase_correction_filter_1_order
• 3: Low_pass_filter_2_order
• 4: Phase_correction_filter_2_order
• 5: Notch_filter

INT16

RW

0x0000 (0_dec)

8113:15

Low pass frequency 2

REAL32

RW

0x00000000 (0_dec)

8113:16

Low pass damping 2

REAL32

RW

0x00000000 (0_dec)

8113:17

High pass frequency 2

REAL32

RW

0x00000000 (0_dec)

8113:18

High pass damping 2

REAL32

RW

0x00000000 (0_dec)

8113:19

Filter type 2

permitted values:

• 0: No_Filter
• 1: Low_pass_filter_1_order
• 2: Phase_correction_filter_1_order
• 3: Low_pass_filter_2_order
• 4: Phase_correction_filter_2_order
• 5: Notch_filter

INT16

RW

0x0000 (0_dec)

811F:0

DRV Vendor data Ch.2

UINT8

RO

0x1C (28_dec)

811F:12

Amplifier rated current

Maximum current per channel (without fan).

UINT32

RW

0x00001388 (5000_dec)

811F:14

Amplifier overcurrent threshold

Switching threshold for the overcurrent switch-off.

UINT32

RW

0x00002710 (10000_dec)

811F:15

Max rotary field frequency

UINT16

RW

0x0257 (599_dec)

811F:17

Amplifier rated current with fan

Maximum current per channel (with fan)

UINT32

RW

0x00001770 (6000_dec)

811F:18

Vendor feature bits

UINT32

RW

0x00000000 (0_dec)

811F:1A

Amplifier Rated Sum Current

Maximum sum current for all channels (without fan)

UINT32

RW

0x00001770 (6000_dec)

811F:1C

Amplifier Rated Sum Current with Fan

Maximum sum current for all channels (with fan)

UINT32

RW

0x00002710 (10000_dec)

8160:0

DMC Settings Ch.2

UINT8

RO

0x17 (23_dec)

8160:07

Emergency deceleration

Deceleration for the emergency stop ramp. (In ms from motor nominal speed to standstill)

Unit: 1 ms

UINT16

RW

0x0064 (100_dec)

8160:08

Calibration position

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

INT64

RW

8160:09

Calibration velocity (towards plc cam)

Velocity when hitting the cam in 10000ths of the motor nominal speed.

INT16

RW

0x0064 (100_dec)

8160:0A

Calibration Velocity (off plc cam)

Velocity when driving off the cam in 10000ths of the motor nominal speed.

INT16

RW

0x000A (10_dec)

8160:0E

Modulo factor

Feedback increments for one mechanical revolution.

INT64

RW

8160:12

Block calibration torque limit

Torque limitation for approaching the end stop. In parts per thousand of the nominal motor current.

UINT16

RW

0x0064 (100_dec)

8160:13

Block calibration stop distance

After reaching the calibration position, the axis moves out of the end position by this distance.

INT64

RW

8160:14

Block calibration lag threshold

When this following error is exceeded, the axis is in the end position.

INT64

RW

8160:15

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 in 8160:16.

INT64

RW

8160:16

Target position monitor time

see 8160:15

Unit: ms

UINT16

RW

0x0014 (20_dec)

8160:17

Target position timeout

When the setpoint generator has reached its end position and the axis is not in the target window after this time has elapsed, the task is terminated and the in-target bit is not set.

Unit: ms

UINT16

RW

0x1770 (6000_dec)

8161:0

DMC Features Ch.2

UINT8

RO

0x1B (27_dec)

8161:13

Invert calibration cam search direction

Invert the direction of movement to search for the limit switch.

Default: FALSE = search with positive direction of rotation.

BOOLEAN

RW

0x00 (0_dec)

8161:14

Invert sync impulse search direction

Invert the direction of rotation to exit the limit switch.

Default: TRUE = exit in negative direction of rotation.

BOOLEAN

RW

0x01 (1_dec)

8161:19

Calibration cam source

Source for the reference switch.

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

8161:1A

Calibration cam active level

State of the reference switch in the actuated state.

• 0: Hi
• 1: Low

UINT8

RW

0x00 (0_dec)

8161:1B

Latch source

Source for the latch unit.

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)