Information / diagnostic data (channel specific)

Index 9010 STM Info data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

9010:0

STM Info data Ch.1

Maximum subindex

UINT8

RO

0x13 (19dec)

9010:01

Status word

Status word (see index 0xA010)

UINT16

RO

0x0000 (0dec)

9010:08

Motor velocity

Current motor velocity

INT16

RO

0x0000 (0dec)

9010:09

Internal position

Internal position (micro increments)

UINT32

RO

0x00000000 (0dec)

9010:0B

Motor load

Current motor load
Unit: 0.01°

INT16

RO

0x0000 (0dec)

9010:0D

Motor dc current

Current motor current (DC vector)
Unit: 1 mA

INT16

RO

0x0000 (0dec)

9010:0E

Tn (curr.)

Internally calculated time constant of the current controller
Unit: 0.01 ms

UINT16

RO

0x0000 (0dec)

9010:13

External position

External position (connected encoder)

UINT32

RO

0x00000000 (0dec)

Index 9020 POS Info data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

9020:0

POS Info data Ch.1

Maximum subindex

UINT8

RO

0x04 (4dec)

9020:01

Status word

Status word

UINT16

RO

0x0000 (0dec)

9020:03

State (drive controller)

permitted values:

UINT16

RO

0x0000 (0dec)

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 (0dec)

Index A010 STM Diag data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

A010:0

STM Diag data Ch.1

Maximum subindex

UINT8

RO

0x11 (17dec)

A010:01

Saturated

Driver stage operates with maximum duty cycle

BOOLEAN

RO

0x00 (0dec)

A010:02

Over temperature

Internal terminal temperature is greater than 80 °C

BOOLEAN

RO

0x00 (0dec)

A010:03

Torque overload

Duty cycle output at 100 %

BOOLEAN

RO

0x00 (0dec)

A010:04

Under voltage

Supply voltage less than 7 V

BOOLEAN

RO

0x00 (0dec)

A010:05

Over voltage

Supply voltage 10 % higher than the nominal voltage (see 0x8010:03)

BOOLEAN

RO

0x00 (0dec)

A010:06

Short circuit

Short circuit of motor coil

BOOLEAN

RO

0x00 (0dec)

A010:08

No control power

No power supply to driver stage

BOOLEAN

RO

0x00 (0dec)

A010:09

Misc error

  • Initialization failed or
  • Internal terminal temperature is higher than 100 °C (see 0xF80F:05)

BOOLEAN

RO

0x00 (0dec)

A010:0A

Configuration

CoE change has not yet been adopted into the current configuration

BOOLEAN

RO

0x00 (0dec)

A010:0B

Motor stall

A loss of step has occurred

BOOLEAN

RO

0x00 (0dec)

A010:11

Actual operation mode

permitted values:

BIT4

RO

0x00 (0dec)

0: Automatic

1: Velocity direct

2: Velocity controller

3: Position controller

4: Ext. Velocity mode

5: Ext. Position mode

6: Velocity sensorless

Index A020 POS Diag data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

A020:0

POS Diag data Ch.1

Maximum subindex

UINT8

RO

0x06 (6dec)

A020:01

Command rejected

Travel command was rejected

BOOLEAN

RO

0x00 (0dec)

A020:02

Command aborted

Travel command was aborted

BOOLEAN

RO

0x00 (0dec)

A020:03

Target overrun

Target position was overrun in the opposite direction

BOOLEAN

RO

0x00 (0dec)

A020:04

Target timeout

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

BOOLEAN

RO

0x00 (0dec)

A020:05

Position lag

The maximum following error was exceeded

BOOLEAN

RO

0x00 (0dec)

A020:06

Emergency Stop

An emergency stop was triggered (automatic or manual)

BOOLEAN

RO

0x00 (0dec)