Configuration data
Index 8000 ENC Settings Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8000:0 | ENC Settings Ch.1 | Maximum subindex | UINT8 | RO | 0x0E (14dec) |
8000:08 | Disable filter | Deactivates the input filters. | BOOLEAN | RW | 0x00 (0dec) |
8000:0A | Enable micro increments | The lower 8 bits of the counter value are extrapolated. | BOOLEAN | RW | 0x00 (0dec) |
8000:0E | Reversion of rotation | Activates reversion of rotation of the encoder. | BOOLEAN | RW | 0x00 (0dec) |
Index 8010 STM Motor Settings Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8010:0 | STM Motor Settings Ch.1 | Maximum subindex | UINT8 | RO | 0x11 (17dec) |
8010:01 | Maximal current | Maximum permanent motor coil current | UINT16 | RW | 0x1388 (5000dec) |
8010:02 | Reduced current | Reduced coil current | UINT16 | RW | 0x09C4 (2500dec) |
8010:03 | Nominal voltage | Nominal voltage (supply voltage) of the motor | UINT16 | RW | 0x1388 (5000dec) |
8010:04 | Motor coil resistance | Internal resistance of the motor | UINT16 | RW | 0x0064 (100dec) |
8010:05 | Motor EMF | Countervoltage of the motor | UINT16 | RW | 0x0000 (0dec) |
8010:06 | Motor fullsteps | Number of full motor steps | UINT16 | RW | 0x00C8 (200dec) |
8010:07 | Encoder increments (4-fold) | Number of encoder increments per revolution with quadruple evaluation | UINT16 | RW | 0x1000 (4096dec) |
8010:09 | Start velocity | Minimum starting velocity of the motor | UINT16 | RW | 0x0000 (0dec) |
8010:0A | Motor coil inductance | Inductance of the motor | UINT16 | RW | 0x0000 (0dec) |
8010:10 | Drive on delay time | Delay between activation of driver stage and | UINT16 | RW | 0x0064 (100dec) |
8010:11 | Drive off delay time | Delay between deactivation of driver stage and | UINT16 | RW | 0x0096 (150dec) |
Index 8011 STM Controller Settings Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8011:0 | STM Controller Settings Ch.1 | Maximum subindex | UINT8 | RO | 0x02 (2dec) |
8011:01 | Kp factor (curr.) | Kp control factor of the current controller | UINT16 | RW | 0x0096 (150dec) |
8011:02 | Ki factor (curr.) | Ki control factor of the current controller | UINT16 | RW | 0x000A (10dec) |
Index 8012 STM Features Ch.1 (part 1)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8012:0 | STM Features Ch.1 | Maximum subindex | UINT8 | RO | 0x3A (58dec) |
8012:01 | Operation mode | permitted values: | BIT4 | RW | 0x00 (0dec) |
0: Automatic | |||||
1: Velocity direct | |||||
3: Position controller | |||||
4: Ext. Velocity mode | |||||
5: Ext. Position mode | |||||
6: Velocity sensorless | |||||
8012:05 | Speed range | permitted values: | BIT3 | RW | 0x01 (1dec) |
0: 1000 Fullsteps/sec | |||||
1: 2000 Fullsteps/sec | |||||
2: 4000 Fullsteps/sec | |||||
3: 8000 Fullsteps/sec | |||||
4: 16000 Fullsteps/sec | |||||
5: 32000 Fullsteps/sec | |||||
8012:08 | Feedback type | permitted values: | BIT1 | RW | 0x01 (1dec) |
0: Encoder | |||||
1: Internal counter | |||||
8012:09 | Invert motor polarity | Invert the direction of rotation of the motor | BOOLEAN | RW | 0x00 (0dec) |
8012:0A | Error on step lost | Error on loss of step | BOOLEAN | RW | 0x00 (0dec) |
8012:0B | Fan cartridge present | Fan cartridge present | BOOLEAN | RW | 0x00 (0dec) |
8012:11 | Select info data 1 | permitted values: | UINT8 | RW | 0x0B (11dec) |
0: Status word | |||||
7: Motor velocity | |||||
11: Motor load | |||||
13: Motor dc current | |||||
101: Internal temperature | |||||
103: Control voltage | |||||
104: Motor supply voltage | |||||
150: Drive - Status word | |||||
151: Drive – State | |||||
152: Drive - Position lag (low word) | |||||
153: Drive - Position lag (high word) |
Index 8012 STM Features Ch.1 (part 2)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8012:19 | Select info data 2 | permitted values: | UINT8 | RW | 0x0D (13dec) |
0: Status word | |||||
7: Motor velocity | |||||
11: Motor load | |||||
13: Motor dc current | |||||
101: Internal temperature | |||||
103: Control voltage | |||||
104: Motor supply voltage | |||||
150: Drive - Status word | |||||
151: Drive - State | |||||
152: Drive - Position lag (low word) | |||||
153: Drive - Position lag (high word) | |||||
8012:30 | Invert digital input 1 | Invert digital input | BOOLEAN | RW | 0x00 (0dec) |
8012:31 | Invert digital input 2 | Invert digital input | BOOLEAN | RW | 0x00 (0dec) |
8012:32 | Function for input 1 | permitted values: | BIT4 | RW | 0x00 (0dec) |
0: Normal input | |||||
1: Hardware enable | |||||
2: PLC cam | |||||
8012:36 | Function for input 2 | permitted values: | BIT4 | RW | 0x00 (0dec) |
0: Normal input | |||||
1: Hardware enable | |||||
2: PLC cam | |||||
8012:3A | Function for output 1 | permitted values: | BIT4 | RW | 0x0F (15dec) |
0: Normal output | |||||
1: Break (linked with driver enable) | |||||
15: Disabled |
Index 8014 STM Controller Settings 3 Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8014:0 | STM Controller Settings 3 Ch.1 | Maximum subindex | UINT8 | RO | 0x09 (9dec) |
8014:01 | Feed forward (pos.) | Pilot control of the position controller | UINT32 | RW | 0x000186A0 (100000dec) |
8014:02 | Kp factor (pos.) | Kp control factor of the position controller | UINT16 | RW | 0x01F4 (500dec) |
8014:03 | Kp factor (velo.) | Kp control factor of the velocity controller | UINT32 | RW | 0x00000032 (50dec) |
8014:04 | Tn (velo.) | Time constant Tn of the velocity controller | UINT16 | RW | 0xC350 (50000dec) |
8014:05 | Sensorless param 1 | First parameter (sensorless control) | UINT16 | RW | 0x0000 (0dec) |
8014:06 | Sensorless param 2 | Second parameter (sensorless control) | UINT16 | RW | 0x0000 (0dec) |
8014:07 | Cross over velocity 1 | First velocity transition (sensorless control) | UINT16 | RW | 0x0000 (0dec) |
8014:08 | Cross over velocity 2 | Second velocity transition (sensorless control) | UINT16 | RW | 0x0000 (0dec) |
8014:09 | Cross over velocity 3 | Third velocity transition (sensorless control) | UINT16 | RW | 0x0000 (0dec) |
Index 8020 POS Settings Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8020:0 | POS Settings Ch.1 | Maximum subindex | UINT8 | RO | 0x11 (17dec) |
8020:01 | Velocity min. | Minimum set velocity | INT16 | RW | 0x0064 (100dec) |
8020:02 | Velocity max. | Maximum set velocity | INT16 | RW | 0x2710 (10000dec) |
8020:03 | Acceleration pos. | Acceleration in positive direction of rotation | UINT16 | RW | 0x03E8 (1000dec) |
8020:04 | Acceleration neg. | Acceleration in negative direction of rotation | UINT16 | RW | 0x03E8 (1000dec) |
8020:05 | Deceleration pos. | Deceleration in positive direction of rotation | UINT16 | RW | 0x03E8 (1000dec) |
8020:06 | Deceleration neg. | Deceleration in negative direction of rotation | UINT16 | RW | 0x03E8 (1000dec) |
8020:07 | Emergency deceleration | Emergency deceleration (both directions of rotation) | UINT16 | RW | 0x0064 (100dec) |
8020:08 | Calibration position | Calibration position | UINT32 | RW | 0x00000000 (0dec) |
8020:09 | Calibration velocity (towards plc cam) | Calibration velocity towards the cam | INT16 | RW | 0x0064 (100dec) |
8020:0A | Calibration Velocity (off plc cam) | Calibration velocity away from the cam | INT16 | RW | 0x000A (10dec) |
8020:0B | Target window | Target window | UINT16 | RW | 0x000A (10dec) |
8020:0C | In-Target timeout | Target position timeout | UINT16 | RW | 0x03E8 (1000dec) |
8020:0D | Dead time compensation | Dead time compensation | INT16 | RW | 0x0032 (50dec) |
8020:0E | Modulo factor | Modulo factor/position | UINT32 | RW | 0x00000000 (0dec) |
8020:0F | Modulo tolerance window | Tolerance window for modulo positioning | UINT32 | RW | 0x00000000 (0dec) |
8020:10 | Position lag max. | Maximum allowable step error | UINT16 | RW | 0x0000 (0dec) |
8020:11 | Calibration acceleration (around plc cam) | Acceleration and braking ramps for homing runs | UINT16 | RW | 0x0000 (0dec) |
Index 8021 POS Features Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
8021:0 | POS Features Ch.1 | Maximum subindex | UINT8 | RO | 0x16 (22dec) |
8021:01 | Start type | permitted values: | UINT16 | RW | 0x0001 (1dec) |
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 (0dec) |
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 (1dec) |
8021:14 | Invert sync impulse search direction | Inversion of the direction of rotation away from the cam | BOOLEAN | RW | 0x00 (0dec) |
8021:15 | Emergency stop on position lag error | Triggers an emergency stop if the maximum following error is exceeded. | BOOLEAN | RW | 0x00 (0dec) |
8021:16 | Enhanced diag history | Provides detailed messages about the status of the positioning interface in the diag history. | BOOLEAN | RW | 0x00 (0dec) |