Configuration data

8000:0

ENC Settings Ch.1

Maximum subindex

UINT8

RO

0x0E (14_dec)

8000:08

Disable filter

Deactivates the input filters.

BOOLEAN

RW

0x00 (0_dec)

8000:0A

Enable micro increments

The lower 8 bits of the counter value are extrapolated.

BOOLEAN

RW

0x00 (0_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

0x1388 (5000_dec)

8010:02

Reduced current

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

UINT16

RW

0x09C4 (2500_dec)

8010:03

Nominal voltage

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

UINT16

RW

0xC350 (50000_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)

8010:07

Encoder increments (4-fold)

Encoder increments per revolution (quadruple evaluation)

UINT16

RW

0x0000 (0_dec)

8010:09

Start frequency

Maximum possible start velocity of the motor

UINT16

RW

0x0064 (100_dec)

8010:10

Drive on delay time

Switch-on delay of the driver stage (unit: ms)

UINT16

RW

0x0064 (100_dec)

8010:11

Drive off delay time

Switch-off delay of the driver stage (unit: ms)

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

0x36 (54_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

8012:08

Feedback type

Selection of the feedback system

BIT1

RW

0x01 (1_dec)

0

External encoder

1

Internal counter

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)

8012:31¹

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

0

Normal input

BIT4

RW

0x00 (0_dec)

1

Hardware Enable

2

Plc cam

3

Auto start

8012:36¹

Function for input 2

Selection of the function for input 2

BIT4

RW

0x00 (0_dec)

0

Normal input

1

Hardware Enable

2

Plc cam

3

Auto start

8012:3A²

Function for output 1

Selection of the function for output 1

BIT4

RW

0x00 (0_dec)

0

Normal output

1

Brake

If the bit in 0x7010:01 is set, the output is switched with the delay time set in 0x8010:10 and 0x8010:11 of the driver stage.

8013:0

STM Controller Settings 2 Ch.1

Maximum subindex

UINT8

RO

0x08 (8_dec)

8013:01

Kp factor (velo.)

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

UINT16

RW

0x03E8 (1000_dec)

8013:02

Ki factor (velo.)

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

UINT16

RW

0x0000 (0_dec)

8013:03

Inner window (velo.)

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

UINT8

RW

0x00 (0_dec)

8013:05

Outer window (velo.)

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

UINT8

RW

0x00 (0_dec)

8013:06

Filter cut off frequency (velo.)

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)