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)

8010:03

Nominal voltage

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

UINT16

RW

0xC350 (50000_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 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)

8012:0

STM Features Ch.1

Maximum subindex

UINT8

RO

0x45 (69_dec)

8012:01

Operation mode

Operating mode (currently only direct velocity is supported)

0

Automatic

BIT4

RW

0x01 (1_dec)

1

Direct velocity

2

Speed controller

3

Position controller

8012:08

Feedback type

Selection of the feedback system

0

External encoder

BIT1

RW

0x01 (1_dec)

1

Internal counter

8012:09

Invert motor polarity

Activates reversal of the motor rotation direction.

BOOLEAN

RW

0x00 (0_dec)

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

0

Normal input

BIT4

RW

0x00 (0_dec)

1

Hardware Enable

8012:36

Function for input 2

Selection of the function for input 2

0

Normal input

BIT4

RW

0x00 (0_dec)

1

Hardware Enable

8012:45

MIcrostepping

Setting of the number of steps of the output rotary field

0

Fullstep

BIT4

RW

0x06 (6_dec)

1

Halfstep

2

1/4 Microstepping

3

1/8 Microstepping

4

1/16 Microstepping

5

1/32 Microstepping

6

1/64 Microstepping

8014:0

STM Motor Settings 2 Ch.1

Maximum subindex

UINT8

RO

0x06 (6_dec)

8014:01

Acceleration (maximum)

This index defines the maximum acceleration (maximum: 2047).

UINT16

RW

0x07FF (2047_dec)

8014:02

Acceleration threshold (a,th)

This index defines the maximum acceleration threshold (maximum: 1023).

UINT16

RW

0x03FF (1023_dec)

8014:03

Coil current (a > a,th)

This index defines the coil current in 0 to 100% of the preset coil current of the terminal in case the present acceleration a > a_th.

UINT8

RW

0x64 (100_dec)

8014:04

Coil current (a < a,th)

This index defines the coil current in 0 to 100% of the preset coil current of the terminal in case the present acceleration a < a_th.

UINT8

RW

0x64 (100_dec)

8014:05

Coil current (v = 0, auto)

This index defines the automatic holding current.
When the motor is at standstill, the coil currents are automatically reduced to this value, in order to prevent unnecessary heating of the motor. This value is always referenced to the max. current of the terminal (5 A). The value is specified in 0 to 100%.

UINT8

RW

0x64 (100_dec)

8014:06

Coil current (v = 0, manual)

This index defines the manual holding current.

If the "Reduce torque" control bit (0x7010:03) is set, the coil currents can be manually reduced to this value when the motor is at a standstill and when it is running in order to avoid unnecessary heating of the motor. This value is always referenced to the max. current of the terminal (5 A). The value is specified in 0 to 100%. The automatically and manually reduced coil current values are not added!
The manual value has a higher priority than the automatic value!

UINT8

RW

0x64 (100_dec)