Information and diagnosis data (channel specific)

9020:0

DCM Info data Ch.1

Max. Subindex

UINT8

RO

0x09 (9_dec)

9020:01

Status word

Status word (see Index 0xApp0)

UINT16

RO

0x0000 (0_dec)

9020:02

Motor coil voltage

Present coil voltage

UINT16

RO

0x0000 (0_dec)

9020:03

Motor coil current

Present coil current

INT16

RO

0x0000 (0_dec)

9020:04

Current limit

Present current limit

UINT16

RO

0x0000 (0_dec)

9020:05

Control error

Present control error

INT16

RO

0x0000 (0_dec)

9020:06

Duty cycle

Present Duty-Cycle

INT8

RO

0x00 (0_dec)

9020:08

Motor velocity

Present motor velocity

INT16

RO

0x0000 (0_dec)

9020:09

Overload time

Time since overload

UINT16

RO

0x0000 (0_dec)

9030:0

DCM Info data Ch.2

Max. Subindex

UINT8

RO

0x09 (9_dec)

9030:01

Status word

Status word (see Index 0xApp0)

UINT16

RO

0x0000 (0_dec)

9030:02

Motor coil voltage

Present coil voltage

UINT16

RO

0x0000 (0_dec)

9030:03

Motor coil current

Present coil current

INT16

RO

0x0000 (0_dec)

9030:04

Current limit

Present current limit

UINT16

RO

0x0000 (0_dec)

9030:05

Control error

Present control error

INT16

RO

0x0000 (0_dec)

9030:06

Duty cycle

Present Duty-Cycle

INT8

RO

0x00 (0_dec)

9030:08

Motor velocity

Present motor velocity

INT16

RO

0x0000 (0_dec)

9030:09

Overload time

Time since overload

UINT16

RO

0x0000 (0_dec)

9040:0

POS Info data Ch.1

Max. Subindex

UINT8

RO

0x04 (4_dec)

9040:01

Status word

Status word

UINT16

0x0000 (0_dec)

9040:03

State (drive controller)

Current step of the internal state machine

UINT16

RO

0xFFFF (65535_dec)

9040:04

Actual position lag

Current position lag

UINT16

0x0000 (0_dec)

9050:0

POS Info data Ch.2

Max. Subindex

UINT8

RO

0x04 (4_dec)

9050:01

Status word

Status word

UINT16

RO

0x0000 (0_dec)

9050:03

State (drive controller)

Current step of the internal state machine

UINT16

RO

0xFFFF (65535_dec)

9050:04

Actual position lag

Current position lag

UINT16

RO

0x0000 (0_dec)

A020:0

DCM Diag data Ch.1

Max. Subindex

UINT8

RO

0x11 (17_dec)

A020:01

Saturated

Driver stage operates with maximum duty cycle

Warning

BOOLEAN

RO

0x00 (0_dec)

A020:02

Over temperature

Internal terminal temperature is greater than 80 °C

Warning

BOOLEAN

RO

0x00 (0_dec)

A020:03

Torque overload

Present motor current exceeds the nominal current (see 0x8020:02)

Warning (0x8022:0A = 0) / Error (0x8022:0A = 1)

BOOLEAN

RO

0x00 (0_dec)

A020:04

Under voltage

Supply voltage less than 7 V

Error

BOOLEAN

RO

0x00 (0_dec)

A020:05

Over voltage

Supply voltage 10 % higher than the nominal voltage (see 0x8020:03)

Error

BOOLEAN

RO

0x00 (0_dec)

A020:06

Short circuit

Short circuit in the driver stage

Error

BOOLEAN

RO

0x00 (0_dec)

A020:08

No control power

No power supply to driver stage

Error

BOOLEAN

RO

0x00 (0_dec)

A020:09

Misc error

• initialization failed or
• internal temperature of the terminal exceeds 100 °C (see 0xF80F:05) or
• motor current exceeds the nominal current (see 0x8022:0A)

Error

BOOLEAN

RO

0x00 (0_dec)

A020:0A

Configuration

CoE change has not yet been adopted into the current configuration.

Warning

BOOLEAN

RO

0x00 (0_dec)

A020:11

Actual operation mode

Present operating mode (in the case of automatic detection of operating mode, see 0x8022:01)

BIT4

RO

0x00 (0_dec)

A030:0

DCM Diag data Ch.1

Max. Subindex

UINT8

RO

0x11 (17_dec)

A030:01

Saturated

Driver stage operates with maximum duty cycle

Warning

BOOLEAN

RO

0x00 (0_dec)

A030:02

Over temperature

Internal terminal temperature is greater than 80 °C

Warning

BOOLEAN

RO

0x00 (0_dec)

A030:03

Torque overload

Present motor current exceeds the nominal current (see 0x8030:02)

Warning (0x8032:0A = 0) / Error (0x8032:0A = 1)

BOOLEAN

RO

0x00 (0_dec)

A030:04

Under voltage

Supply voltage less than 7 V

Error

BOOLEAN

RO

0x00 (0_dec)

A030:05

Over voltage

Supply voltage 10 % higher than the nominal voltage (see 0x8030:03)

Error

BOOLEAN

RO

0x00 (0_dec)

A030:06

Short circuit

Short circuit in the driver stage

Error

BOOLEAN

RO

0x00 (0_dec)

A030:08

No control power

No power supply to driver stage

Error

BOOLEAN

RO

0x00 (0_dec)

A030:09

Misc error

• initialization failed or
• internal temperature of the terminal exceeds 100 °C (see 0xF80F:05) or
• motor current exceeds the nominal current (see 0x8032:0A)

Error

BOOLEAN

RO

0x00 (0_dec)

A030:0A

Configuration

CoE change has not yet been adopted into the current configuration.

Warning

BOOLEAN

RO

0x00 (0_dec)

A030:11

Actual operation mode

Present operating mode (in the case of automatic detection of operating mode, see 0x8032:01)

BIT4

RO

0x00 (0_dec)

A040:0

POS Diag data Ch.1

Max. Subindex

UINT8

RO

0x6 (6_dec)

A040:01

Command rejected

Travel command was rejected

BOOLEAN

RO

0x00 (0_dec)

A040:02

Command aborted

Travel command was aborted

BOOLEAN

RO

0x00 (0_dec)

A040:03

Target overrun

Target position was overrun in the opposite direction

BOOLEAN

RO

0x00 (0_dec)

A040:04

Target timeout

The motor did not reach the target window (0x8040:0B) within the configured time (0x8040:0C) after the end of the travel command.

BOOLEAN

RO

0x00 (0_dec)

A040:05

Position lag

Position lag exceeded

• The position lag monitoring is deactivated if "Position lag max." = 0.
• If a value is entered in "Position lag max.", then this value is compared with "Actual position lag".
  As soon as "Actual position lag" exceeds "Position lag max.", "Position lag" = 1 is set and a PDO warning is output.

BOOLEAN

RO

0x00 (0_dec)

A040:06

Emergency stop

An emergency stop was triggered (automatic or manual).

BOOLEAN

RO

0x00 (0_dec)

A050:0

POS Diag data Ch.2

Max. Subindex

UINT8

RO

0x6 (6_dec)

A050:01

Command rejected

Travel command was rejected

BOOLEAN

RO

0x00 (0_dec)

A050:02

Command aborted

Travel command was aborted

BOOLEAN

RO

0x00 (0_dec)

A050:03

Target overrun

Target position was overrun in the opposite direction

BOOLEAN

RO

0x00 (0_dec)

A050:04

Target timeout

The motor did not reach the target window (0x8050:0B) within the configured time (0x8050:0C) after the end of the travel command.

BOOLEAN

RO

0x00 (0_dec)

A050:05

Position lag

Position lag exceeded

• The position lag monitoring is deactivated if "Position lag max." = 0.
• If a value is entered in "Position lag max.", then this value is compared with "Actual position lag".
  As soon as "Actual position lag" exceeds "Position lag max.", "Position lag" = 1 is set and a PDO warning is output.

BOOLEAN

RO

0x00 (0_dec)

A050:06

Emergency stop

An emergency stop was triggered (automatic or manual).

BOOLEAN

RO

0x00 (0_dec)