Configuration data

8000:0

FB Settings Ch.1

UINT8

RO

0x17 (23_dec)

8000:02

Referenced

Can be set to TRUE by the user.

Is automatically set to FALSE as soon as a motor with a deviating serial number is recognized or if the feedback is single-turn.

Must be set to TRUE if a gear ratio or modulo factor is configured.

BOOLEAN

RW

0x00 (0_dec)

8000:0D

Offset position actual value source

permitted values:

• 0: Offset disabled
• 1: Encoder memory
• 2: Drive memory

BIT4

RW

0x00 (0_dec)

8000:11

Device type

UINT32

RW

0x00000605 (1541_dec)

8000:12

Singleturn bits ¹⁾

Number of single-turn bits.

The sum of the single-turn bits and multi-turn bits must be 32.

UINT8

RW

0x14 (20_dec)

8000:13

Multiturn bits ¹⁾

Number of multi-turn bits.

The sum of the single-turn bits and multi-turn bits must be 32.

UINT8

RW

0x0C (12_dec)

8000:14

Observer bandwidth

Bandwidth of the speed observer [Hz]

UINT16

RW

0x01F4 (500_dec)

8000:15

Observer feed-forward

Load ratio [%] between internal rotor inertia of the motor and the total inertia of the driven system.

Load ratio = internal moment of inertia / (internal moment of inertia + mass moment of inertia of the load).

Examples:

100 % = load-free

50 % = mass moments of inertia of input and output are equal

UINT8

RW

0x64 (100_dec)

8000:17

Position offset

The position offset is subtracted from the raw position of the encoder.

It can only be written with the axis stopped.

This object maps the value of the 'Drive Memory' (see 8000:0D); the 'Encoder Memory' cannot be influenced/read via this object.

UINT32

RW

0x00000000 (0_dec)

8001:0

FB Touch probe Settings Ch.1

UINT8

RO

0x12 (18_dec)

8001:11

Touch probe 1 source

Permitted values:

1: Touch probe input 1

INT16

RW

0x0001 (1_dec)

8001:12

Touch probe 2 source

Permitted values:

2: Touch probe input 2

INT16

RW

0x0002 (2_dec)

8008:0

FB OCT Settings Ch.1

UINT8

RO

0x03 (3_dec)

8008:01

Enable auto config

Configuration takes place automatically after the reading of the electronic identification plate.

BOOLEAN

RW

0x00 (0_dec)

8008:02

Reconfig identical motor

When replacing identical motors ¹⁾, reconfiguration takes place automatically after reading the electronic identification plate.

8008:01 "Enable auto config" must be TRUE.

BOOLEAN

RW

0x00 (0_dec)

8008:03

Reconfig non-identical motor

When replacing non-identical motors ¹⁾, reconfiguration takes place automatically after reading the electronic identification plate.

8008:01 "Enable auto config" must be TRUE.

BOOLEAN

RW

0x00 (0_dec)

8010:0

DRV Amplifier Settings Ch.1

UINT8

RO

0x70 (112_dec)

8010:01

Enable TxPDOToggle

Show TxPDO Toggle in the status word (bit 10).

BOOLEAN

RW

0x00 (0_dec)

8010:02

Enable input cycle counter

1: enabled

The Input cycle counter is a two-bit counter that is incremented with each process data cycle up to a maximum value of 3, after which it starts again at 0.

The low bit is represented in bit 10 and the high bit in bit 14 of the status word.

BOOLEAN

RW

0x00 (0_dec)

8010:12*

Current loop integral time

Integral component of current controller.

Unit: 0.1 ms

This value is affected by automatic scanning.

UINT16

RW

0x000A (10_dec)

8010:13*

Current loop proportional gain

Proportional component of current controller.

Unit: 0.1 V/A

This value is affected by automatic scanning.

UINT16

RW

0x000A (10_dec)

8010:14

Velocity loop integral time

Integral component of velocity controller.

Unit: 0.1 ms

UINT32

RW

0x00000032 (50_dec)

8010:15

Velocity loop proportional gain

Proportional component of velocity controller.

Unit: mA / (rad/s)

UINT32

RW

0x00000096 (150_dec)

8010:17

Position loop proportional gain

Proportional component position controller.

Unit: (rad/s) / rad

UINT32

RW

0x0000000A (10_dec)

8010:29

Amplifier I2T warn level

I²T model warning threshold.

Unit: %

UINT8

RW

0x50 (80_dec)

8010:2A

Amplifier I2T error level

I²T model error threshold.

Unit: %

UINT8

RW

0x69 (105_dec)

8010:31

Velocity limitation

Velocity limitation.

Unit: 1/min

UINT32

RW

0x000186A0 (100000_dec)

8010:33

Stand still window

Standstill window

Unit: 1/min

UINT16

RW

0x0000 (0_dec)

8010:39

Select info data 1

Permitted values:

• 2: DC link voltage (mV)
• 4: PCB temperature (0.1 °C)
• 7: I2T Motor
• 8: I2T Amplifier
• 10: Digital inputs
• 15: Motor temperature (0,1°C)
• 16: I2T Brake Chopper

UINT8

RW

0x02 (2_dec)

8011:0

DRV Motor Settings Ch.1

UINT8

RO

0x2D (45_dec)

8011:11*

Max current

Peak current.

Unit: mA

UINT32

RW

0x00001770 (6000_dec)

8011:12*

Rated current

Nominal current.

Unit: mA

UINT32

RW

0x000003E8 (1000_dec)

8011:13*

Motor pole pairs

Number of pole pairs.

UINT8

RW

0x01 (1_dec)

8011:15*

Commutation offset

Commutation offset between the electrical zero position and the mechanical single-turn zero position.

Unit: °

INT16

RW

0xFFA6 (65446_dec)

8011:16*

Torque constant

Torque constant.

Unit: mNm / A

UINT32

RW

0x00000001 (1_dec)

8011:18*

Rotor moment of inertia

Mass moment of inertia of the motor.

Unit: g cm²

UINT32

RW

0x000001F4 (500_dec)

8011:19*

Winding inductance

Winding inductance.

Unit: 0.1 mH

UINT16

RW

0x0064 (100_dec)

8011:1B*

Motor speed limitation

Velocity limitation.

Unit: 1/min

UINT32

RW

0x000186A0 (100000_dec)

8011:29

I2T warn level

I2T model warning threshold.

Unit: %

UINT8

RW

0x50 (80_dec)

8011:2A

I2T error level

I2T model error threshold.

Unit: %

UINT8

RW

0x69 (105_dec)

8011:2B*

Motor Temperature warn level

Overtemperature warning threshold.

Unit: 0.1 °C

UINT16

RW

0x03E8 (1000_dec)

8011:2C

Motor Temperature error level

Overtemperature error threshold.

Unit: 0.1 °C

UINT16

RW

0x05DC (1500_dec)

8011:2D*

Motor thermal time constant

Thermal time constant.

Unit: 0.1 s

UINT16

RW

0x0028 (40_dec)

8012:0

DRV Brake Settings Ch.1

UINT8

RO

0x14 (20_dec)

8012:01

Enable manual override

Enable for manual control of the holding brake.

BOOLEAN

RW

0x00 (0_dec)

8012:02

Manual brake state

Permitted values:

• 0: Release = release brake
• 1: Apply = apply brake

BIT1

RW

0x00 (0_dec)

8012:11*

Release delay

Time the holding brake requires for opening (releasing) after the current was applied.

UINT16

RW

0x0000 (0_dec)

8012:12*

Application delay

Time the holding brake requires for closing (holding) after the current was switched off.

UINT16

RW

0x0000 (0_dec)

8012:13

Emergency application timeout

Time that the amplifier waits for the velocity to reach the standstill limit after a stop request.
If the waiting time is exceeded, the holding brake is triggered; regardless of the velocity.

Note: This parameter must be set at least to the longest time the axis needs to come to a standstill after it has been switched torque-free.

For vertical axes, this parameter should be set to a low value to prevent the axis or load from falling very far.

Unit: ms

UINT16

RW

0x0000 (0_dec)

8012:14*

Brake moment of inertia

Mass moment of inertia of the brake.

Unit: g cm²

UINT16

RW

0x0000 (0_dec)

8013:0

DRV Filter Settings Ch.1

UINT8

RO

0x19 (25_dec)

8013:10

Low pass frequency 1

REAL32

RW

0x00000000 (0_dec)

8013:11

Low pass damping 1

REAL32

RW

0x00000000 (0_dec)

8013:12

High pass frequency 1

REAL32

RW

0x00000000 (0_dec)

8013:13

High pass damping 1

REAL32

RW

0x00000000 (0_dec)

8013:14

Filter type 1

Permitted values:

• 0: No_Filter
• 1: Low_pass_filter_1_order
• 2: Phase_correction_filter_1_order
• 3: Low_pass_filter_2_order
• 4: Phase_correction_filter_2_order
• 5: Notch_filter

INT16

RW

0x0000 (0_dec)

8013:15

Low pass frequency 2

REAL32

RW

0x00000000 (0_dec)

8013:16

Low pass damping 2

REAL32

RW

0x00000000 (0_dec)

8013:17

High pass frequency 2

REAL32

RW

0x00000000 (0_dec)

8013:18

High pass damping 2

REAL32

RW

0x00000000 (0_dec)

8013:19

Filter type 2

Permitted values:

• 0: No_Filter
• 1: Low_pass_filter_1_order
• 2: Phase_correction_filter_1_order
• 3: Low_pass_filter_2_order
• 4: Phase_correction_filter_2_order
• 5: Notch_filter

INT16

RW

0x0000 (0_dec)

8020:0

DMC Settings Ch.1

UINT8

RO

0x17 (23_dec)

8020:07

Emergency deceleration

Deceleration for the emergency stop ramp. (In ms from motor nominal speed to standstill)

Unit: 1 ms

UINT16

RW

0x0064 (100_dec)

8020:08

Calibration position

If homing is successful, the "Actual position" is set to this value.

INT64

RW

0

8020:09

Calibration velocity (towards plc cam)

Velocity when hitting the cam in 10000ths of the motor nominal speed.

INT16

RW

0x0064 (100_dec)

8020:0A

Calibration Velocity (off plc cam)

Velocity when driving off the cam in 10000ths of the motor nominal speed.

INT16

RW

0x000A (10_dec)

8020:0E

Modulo factor

Feedback increments for one mechanical revolution.

INT64

RW

0x100000000

(4294967296_dec)

8020:12

Block calibration torque limit

Torque limitation for approaching the end stop. In parts per thousand of the nominal motor current.

UINT16

RW

0x0064 (100_dec)

8020:13

Block calibration stop distance

After reaching the calibration position, the axis moves out of the end position by this distance.

INT64

RW

0x100000000

(4294967296_dec)

8020:14

Block calibration lag threshold

When this following error is exceeded, the axis is in the end position.

INT64

RW

0x100000000

(4294967296_dec)

8020:15

Target position window

Target position window:

The In-Target bit is set when the axis is within this window for at least the time set under 0x8020:16.

INT64

RW

0x16C16C1

(23860929_dec)

8020:16

Target position monitor time

see 0x8020:15

Unit: ms

UINT16

RW

0x0014 (20_dec)

8020:17

Target position timeout

When the setpoint generator has reached its end position and the axis is not in the target window after this time has elapsed, the task is terminated and the in-target bit is not set.

Unit: ms

UINT16

RW

0x1770 (6000_dec)

8021:0

DMC Features Ch.1

UINT8

RO

0x1B (27_dec)

8021:13

Invert calibration cam search direction

Invert the direction of movement to search for the limit switch.

Default: FALSE = search with positive direction of rotation.

BOOLEAN

RW

0x00 (0_dec)

8021:14

Invert sync impulse search direction

Invert the direction of rotation to exit the limit switch.

Default: TRUE = exit in negative direction of rotation.

BOOLEAN

RW

0x01 (1_dec)

8021:19

Calibration cam source

Source for the reference switch.

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

8021:1A

Calibration cam active level

State of the reference switch in the actuated state.

• 0: Hi
• 1: Low

UINT8

RW

0x00 (0_dec)

8021:1B*

Latch source

Source for the latch unit.

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

8100:0

FB Settings Ch.2

UINT8

RO

0x17 (23_dec)

8100:02

Referenced

Can be set to TRUE by the user.

Is automatically set to FALSE as soon as a motor with a deviating serial number is recognized or if the feedback is single-turn.

Must be set to TRUE if a gear ratio or modulo factor is configured.

BOOLEAN

RW

0x00 (0_dec)

8100:0D

Offset position actual value source

permitted values:

• 0: Offset disabled
• 1: Encoder memory
• 2: Drive memory

BIT4

RW

0x00 (0_dec)

8100:11

Device type

UINT32

RW

0x00000605 (1541_dec)

8100:12

Singleturn bits ¹⁾

Number of single-turn bits.

The sum of the single-turn bits and multi-turn bits must be 32.

UINT8

RW

0x14 (20_dec)

8100:13

Multiturn bits ¹⁾

Number of multi-turn bits.

The sum of the single-turn bits and multi-turn bits must be 32.

UINT8

RW

0x0C (12_dec)

8100:14

Observer bandwidth

Bandwidth of the speed observer [Hz]

UINT16

RW

0x01F4 (500_dec)

8100:15

Observer feed-forward

Load ratio [%] between internal rotor inertia of the motor and the total inertia of the driven system.

Load ratio = internal moment of inertia / (internal moment of inertia + mass moment of inertia of the load).

Examples:

100 % = load-free

50 % = mass moments of inertia of input and output are equal

UINT8

RW

0x64 (100_dec)

8100:17

Position offset

The position offset is subtracted from the raw position of the encoder.

It can only be written with the axis stopped.

This object maps the value of the 'Drive Memory' (see 8100:0D); the 'Encoder Memory' cannot be influenced/read via this object.

UINT32

RW

0x00000000 (0_dec)

8101:0

FB Touch probe Settings Ch.2

UINT8

RO

0x12 (18_dec)

8101:11

Touch probe 1 source

Permitted values:

1: Touch probe input 1

INT16

RW

0x0001 (1_dec)

8101:12

Touch probe 2 source

Permitted values:

2: Touch probe input 2

INT16

RW

0x0002 (2_dec)

8108:0

FB OCT Settings Ch.2

UINT8

RO

0x03 (3_dec)

8108:01

Enable auto config

Configuration takes place automatically after the reading of the electronic identification plate.

BOOLEAN

RW

0x00 (0_dec)

8108:02

Reconfig identical motor

When replacing identical motors ¹⁾, reconfiguration takes place automatically after reading the electronic identification plate.

8108:01 "Enable auto config" must be TRUE.

BOOLEAN

RW

0x00 (0_dec)

8108:03

Reconfig non-identical motor

When replacing non-identical motors ¹⁾, reconfiguration takes place automatically after reading the electronic identification plate.

8108:01 "Enable auto config" must be TRUE.

BOOLEAN

RW

0x00 (0_dec)

8110:0

DRV Amplifier Settings Ch.2

UINT8

RO

0x70 (112_dec)

8110:01

Enable TxPDOToggle

Show TxPDO Toggle in the status word (bit 10).

BOOLEAN

RW

0x00 (0_dec)

8110:02

Enable input cycle counter

1: enabled

The Input cycle counter is a two-bit counter that is incremented with each process data cycle up to a maximum value of 3, after which it starts again at 0.

The low bit is represented in bit 10 and the high bit in bit 14 of the status word.

BOOLEAN

RW

0x00 (0_dec)

8110:12*

Current loop integral time

Integral component of current controller.

Unit: 0.1 ms

This value is affected by automatic scanning.

UINT16

RW

0x000A (10_dec)

8110:13*

Current loop proportional gain

Proportional component of current controller.

Unit: 0.1 V/A

This value is affected by automatic scanning.

UINT16

RW

0x000A (10_dec)

8110:14

Velocity loop integral time

Integral component of velocity controller.

Unit: 0.1 ms

UINT32

RW

0x00000032 (50_dec)

8110:15

Velocity loop proportional gain

Proportional component of velocity controller.

Unit: mA / (rad/s)

UINT32

RW

0x00000096 (150_dec)

8110:17

Position loop proportional gain

Proportional component position controller.

Unit: (rad/s) / rad

UINT32

RW

0x0000000A (10_dec)

8110:29

Amplifier I2T warn level

I²T model warning threshold.

Unit: %

UINT8

RW

0x50 (80_dec)

8110:2A

Amplifier I2T error level

I²T model error threshold.

Unit: %

UINT8

RW

0x69 (105_dec)

8110:31

Velocity limitation

Velocity limitation.

Unit: 1/min

UINT32

RW

0x000186A0 (100000_dec)

8110:33

Stand still window

Standstill window

Unit: 1/min

UINT16

RW

0x0000 (0_dec)

8110:39

Select info data 1

Permitted values:

• 2: DC link voltage (mV)
• 4: PCB temperature (0.1 °C)
• 7: I2T Motor
• 8: I2T Amplifier
• 10: Digital inputs
• 15: Motor temperature (0,1°C)
• 16: I2T Brake Chopper

UINT8

RW

0x02 (2_dec)

8111:0

DRV Motor Settings Ch.2

UINT8

RO

0x2D (45_dec)

8111:11*

Max current

Peak current.

Unit: mA

UINT32

RW

0x00001770 (6000_dec)

8111:12*

Rated current

Nominal current.

Unit: mA

UINT32

RW

0x000003E8 (1000_dec)

8111:13*

Motor pole pairs

Number of pole pairs.

UINT8

RW

0x01 (1_dec)

8111:15*

Commutation offset

Commutation offset between the electrical zero position and the mechanical single-turn zero position.

Unit: °

INT16

RW

0xFFA6 (65446_dec)

8111:16*

Torque constant

Torque constant.

Unit: mNm / A

UINT32

RW

0x00000001 (1_dec)

8111:18*

Rotor moment of inertia

Mass moment of inertia of the motor.

Unit: g cm²

UINT32

RW

0x000001F4 (500_dec)

8111:19*

Winding inductance

Winding inductance.

Unit: 0.1 mH

UINT16

RW

0x0064 (100_dec)

8111:1B*

Motor speed limitation

Velocity limitation.

Unit: 1/min

UINT32

RW

0x000186A0 (100000_dec)

8111:29

I2T warn level

I2T model warning threshold.

Unit: %

UINT8

RW

0x50 (80_dec)

8111:2A

I2T error level

I2T model error threshold.

Unit: %

UINT8

RW

0x69 (105_dec)

8111:2B*

Motor Temperature warn level

Overtemperature warning threshold.

Unit: 0.1 °C

UINT16

RW

0x03E8 (1000_dec)

8111:2C*

Motor Temperature error level

Overtemperature error threshold.

Unit: 0.1 °C

UINT16

RW

0x05DC (1500_dec)

8111:2D*

Motor thermal time constant

Thermal time constant.

Unit: 0.1 s

UINT16

RW

0x0028 (40_dec)

8112:0

DRV Brake Settings Ch.2

UINT8

RO

0x14 (20_dec)

8112:01

Enable manual override

Enable for manual control of the holding brake.

BOOLEAN

RW

0x00 (0_dec)

8112:02

Manual brake state

Permitted values:

• 0: Release = release brake
• 1: Apply = apply brake

BIT1

RW

0x00 (0_dec)

8112:11*

Release delay

Time the holding brake requires for opening (releasing) after the current was applied.

UINT16

RW

0x0000 (0_dec)

8112:12*

Application delay

Time the holding brake requires for closing (holding) after the current was switched off.

UINT16

RW

0x0000 (0_dec)

8112:13

Emergency application timeout

Time that the amplifier waits for the velocity to reach the standstill limit after a stop request.
If the waiting time is exceeded, the holding brake is triggered; regardless of the velocity.

Note: This parameter must be set at least to the longest time the axis needs to come to a standstill after it has been switched torque-free.

For vertical axes, this parameter should be set to a low value to prevent the axis or load from falling very far.

Unit: ms

UINT16

RW

0x0000 (0_dec)

8112:14*

Brake moment of inertia

Mass moment of inertia of the brake.

Unit: g cm²

UINT16

RW

0x0000 (0_dec)

8113:0

DRV Filter Settings Ch.2

UINT8

RO

0x19 (25_dec)

8113:10

Low pass frequency 1

REAL32

RW

0x00000000 (0_dec)

8113:11

Low pass damping 1

REAL32

RW

0x00000000 (0_dec)

8113:12

High pass frequency 1

REAL32

RW

0x00000000 (0_dec)

8113:13

High pass damping 1

REAL32

RW

0x00000000 (0_dec)

8113:14

Filter type 1

Permitted values:

• 0: No_Filter
• 1: Low_pass_filter_1_order
• 2: Phase_correction_filter_1_order
• 3: Low_pass_filter_2_order
• 4: Phase_correction_filter_2_order
• 5: Notch_filter

INT16

RW

0x0000 (0_dec)

8113:15

Low pass frequency 2

REAL32

RW

0x00000000 (0_dec)

8113:16

Low pass damping 2

REAL32

RW

0x00000000 (0_dec)

8113:17

High pass frequency 2

REAL32

RW

0x00000000 (0_dec)

8113:18

High pass damping 2

REAL32

RW

0x00000000 (0_dec)

8113:19

Filter type 2

Permitted values:

• 0: No_Filter
• 1: Low_pass_filter_1_order
• 2: Phase_correction_filter_1_order
• 3: Low_pass_filter_2_order
• 4: Phase_correction_filter_2_order
• 5: Notch_filter

INT16

RW

0x0000 (0_dec)

8120:0

DMC Settings Ch.2

UINT8

RO

0x17 (23_dec)

8120:07

Emergency deceleration

Deceleration for the emergency stop ramp. (In ms from motor nominal speed to standstill)

Unit: 1 ms

UINT16

RW

0x0064 (100_dec)

8120:08

Calibration position

If homing is successful, the "Actual position" is set to this value.

INT64

RW

0

8120:09

Calibration velocity (towards plc cam)

Velocity when hitting the cam in 10000ths of the motor nominal speed.

INT16

RW

0x0064 (100_dec)

8120:0A

Calibration Velocity (off plc cam)

Velocity when driving off the cam in 10000ths of the motor nominal speed.

INT16

RW

0x000A (10_dec)

8120:0E

Modulo factor

Feedback increments for one mechanical revolution.

INT64

RW

0x100000000

(4294967296_dec)

8120:12

Block calibration torque limit

Torque limitation for approaching the end stop. In parts per thousand of the nominal motor current.

UINT16

RW

0x0064 (100_dec)

8120:13

Block calibration stop distance

After reaching the calibration position, the axis moves out of the end position by this distance.

INT64

RW

0x100000000

(4294967296_dec)

8120:14

Block calibration lag threshold

When this following error is exceeded, the axis is in the end position.

INT64

RW

0x100000000

(4294967296_dec)

8120:15

Target position window

Target position window:

The In-Target bit is set when the axis is within this window for at least the time set under 0x8120:16.

INT64

RW

0x16C16C1

(23860929_dec)

8120:16

Target position monitor time

see 0x8120:15

Unit: ms

UINT16

RW

0x0014 (20_dec)

8120:17

Target position timeout

When the setpoint generator has reached its end position and the axis is not in the target window after this time has elapsed, the task is terminated and the in-target bit is not set.

Unit: ms

UINT16

RW

0x1770 (6000_dec)

8121:0

DMC Features Ch.2

UINT8

RO

0x1B (27_dec)

8121:13

Invert calibration cam search direction

Invert the direction of movement to search for the limit switch.

Default: FALSE = search with positive direction of rotation.

BOOLEAN

RW

0x00 (0_dec)

8121:14

Invert sync impulse search direction

Invert the direction of rotation to exit the limit switch.

Default: TRUE = exit in negative direction of rotation.

BOOLEAN

RW

0x01 (1_dec)

8121:19

Calibration cam source

Source for the reference switch.

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)

8121:1A

Calibration cam active level

State of the reference switch in the actuated state.

• 0: Hi
• 1: Low

UINT8

RW

0x00 (0_dec)

8121:1B*

Latch source

Source for the latch unit.

• 0: Input 1
• 1: Input 2

UINT8

RW

0x00 (0_dec)