Information data, diagnostic data

Index 10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

 

UINT8

RO

0x37 (55dec)

10F3:01

Maximum Messages

 

UINT8

RO

0x00 (0dec)

10F3:02

Newest Message

 

UINT8

RO

0x00 (0dec)

10F3:03

Newest Acknowledged Message

 

UINT8

RW

0x00 (0dec)

10F3:04

New Messages Available

 

BOOLEAN

RO

0x00 (0dec)

10F3:05

Flags

 

UINT16

RW

0x0000 (0dec)

10F3:06

Diagnosis Message 001

 

OCTET-STRING[64]

RO

{0}

10F3:07

Diagnosis Message 002

 

OCTET-STRING[64]

RO

{0}

10F3:08

Diagnosis Message 003

 

OCTET-STRING[64]

RO

{0}

…

…

…

…

…

…

10F3:35

Diagnosis Message 048

 

OCTET-STRING[64]

RO

{0}

10F3:36

Diagnosis Message 049

 

OCTET-STRING[64]

RO

{0}

10F3:37

Diagnosis Message 050

 

OCTET-STRING[64]

RO

{0}

Index 9008 FB OCT Info data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

9008:0

FB OCT Info data Ch.1

 

UINT8

RO

0x20 (32dec)

9008:11

Encoder Type

Feedback type

2: rotary encoder, unipolar counting

UINT16

RO

0x0000 (0dec)

9008:12

Resolution

Resolution of the feedback.

Unit: steps per revolution

UINT32

RO

0x00000000 (0dec)

9008:13

Range

Working area of the feedback. On leaving this range there is an overflow of the position.

Unit: revolutions

UINT32

RO

0x00000000 (0dec)

9008:14

Type Code Name

Name of the feedback.

STRING

RO

 

9008:15

Serial No

Serial number of the feedback

STRING

RO

 

9008:16

Firmware Revision No

Revision of the firmware.

STRING

RO

 

9008:17

Firmware Date

Date of the firmware.

STRING

RO

 

9008:18

EEPROM Size

EEPROM size.

UINT16

RO

0x0000 (0dec)

9008:19

Temperature

Temperature.

Unit: 0.1 °C

INT16

RO

0x0000 (0dec)

9008:1A

LED Current

Current of the feedback LED.

Unit: 0.1 mA

UINT16

RO

0x0000 (0dec)

9008:1B*

Supply voltage

Supply voltage of the feedback.

Unit: mV

UINT32

RO

0x00000000 (0dec)

9008:1C

Life- time

Operating hours counter.

Unit: minutes

UINT32

RO

0x00000000 (0dec)

9008:1D

Received Signal Strength Indicator

Received signal strength at the terminal.

Unit: %

UINT16

RO

0x0000 (0dec)

9008:1E

Slave Received Signal Strength Indicator

Received signal strength at the encoder.

Unit: %

UINT16

RO

0x0000 (0dec)

9008:1F

Line delay

Running time of the signal in the cable.

Unit: ns

UINT16

RO

0x0000 (0dec)

9008:20

Encoder position offset

Position offset stored in the motor feedback.

UINT32

RO

0x00000000 (0dec)

Index 9009 FB OCT Nameplate Ch.1

The parameters described in this index are always read from the electronic identification plate of the connected motor.

With these parameters some configuration parameters can be set automatically. See chapter Configuration data.

Index (hex)

Name

Meaning

Data type

Flags

Default

9009:0

FB OCT Nameplate Ch.1

 

UINT8

RO

0x24 (36dec)

9009:01

Motor vendor

Motor vendor

STRING

RO

 

9009:02

Electric motor type

Motor type

STRING

RO

 

9009:03

Serial No

Serial number

STRING

RO

 

9009:04

Order code

Order number

STRING

RO

 

9009:05

Motor construction

Type of motor

STRING

RO

 

9009:06

Pole pairs

Number of pole pairs

UINT32

RO

0x00000000 (0dec)

9009:07

Standstill current (rms)

Effective holding current

Unit: mA

UINT32

RO

0x00000000 (0dec)

9009:08

Rated current (rms)

Effective nominal current

Unit: mA

UINT32

RO

0x00000000 (0dec)

9009:09

Peak current (rms)

Effective peak current

Unit: mA

UINT32

RO

0x00000000 (0dec)

9009:0A

Nominal voltage (rms)

Effective nominal voltage

Unit: mV

UINT32

RO

0x00000000 (0dec)

9009:0B

Max voltage (rms)

Maximum voltage

Unit: mV

UINT32

RO

0x00000000 (0dec)

9009:0C

Max winding du/dt

Maximum permissible voltage rise on the winding

Unit: kV / s

UINT32

RO

0x00000000 (0dec)

9009:0D

Max torque

Maximum torque

Unit: mNm

UINT16

RO

0x0000 (0dec)

9009:0E

Torque constant

Torque constant

Unit: mNm / A

UINT16

RO

0x0000 (0dec)

9009:0F

EMF (rms)

Countervoltage

Unit: mV / (1/min)

UINT32

RO

0x00000000 (0dec)

9009:10

Winding resistance Ph-Ph 20°C

Coil resistance

Unit: mOhm

UINT16

RO

0x0000 (0dec)

9009:11

Ld Ph-Ph

Inductance in the direction of flow

Unit: 0.1 mH

UINT16

RO

0x0000 (0dec)

9009:12

Lq Ph-Ph

Inductance in torque forming direction

Unit: 0.1 mH

UINT16

RO

0x0000 (0dec)

9009:13

Max speed

Maximum velocity

Unit: 1/min

UINT32

RO

0x00000000 (0dec)

9009:14

Moment of inertia

Mass moment of inertia

Unit: g cm^2

UINT16

RO

0x0000 (0dec)

9009:15

T motor warn limit

Motor temperature warning threshold

Unit: 0.1 °C

UINT16

RO

0x0000 (0dec)

9009:16

T motor shut down

Motor temperature error threshold

Unit: 0.1 °C

UINT16

RO

0x0000 (0dec)

9009:17

Time constant i2t

Time constant I2T model

Unit: s

UINT16

RO

0x0000 (0dec)

9009:18

Motor thermal constant

Thermal time constant of the motor

Unit: s

UINT16

RO

0x0000 (0dec)

9009:1B*

Brake type

Brake type

  • no brake
  • holding brake

STRING

RO

 

9009:1C

Min brake voltage

Minimum brake voltage

Unit: mV

UINT32

RO

0x00000000 (0dec)

9009:1D

Max brake voltage

Maximum brake voltage

Unit: mV

UINT32

RO

0x00000000 (0dec)

9009:1E

Min brake monitor current

Minimum current for the monitoring of the brake

Unit: mA

UINT32

RO

0x00000000 (0dec)

9009:1F

Brake holding torque

Brake holding torque

Unit: mNm

UINT32

RO

0x00000000 (0dec)

9009:20

Brake T on

 

UINT16

RO

0x0000 (0dec)

9009:21

Brake T off

 

UINT16

RO

0x0000 (0dec)

9009:22

Brake reduced holding voltage

 

UINT32

RO

0x00000000 (0dec)

9009:23

Brake time to red. holding volt.

 

UINT16

RO

0x0000 (0dec)

9009:24

Motor temp sensor connection

 

STRING

RO

 

Index 9010 DRV Info data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

9010:0

DRV Info data Ch.1

 

UINT8

RO

0x17 (23dec)

9010:13

Supported drive modes

Information about supported drive modes.

Only modes CSV, CST, CSTCA and CSP are supported

Bit 0: PP

Bit 1: VL

Bit 2: PV

Bit 3: TQ

Bit 4: R

Bit 5: HM

Bit 6: IP

Bit 7: CSP

Bit 8: CSV

Bit 9: CST

Bit 10: CSTCA

Bit 11 - 15: reserved

Bit 16-31: Manufacturer-specific

UINT32

RO

0x00000000 (0dec)

9010:14

Velocity encoder resolution

Display of the configured encoder increments / s and motor revolutions / s. The "Velocity Encoder Resolution" is calculated according to the following formula:

Velocity Encoder Resolution = (encoder_increments / s ) / (motor_revolutions / s)

UINT32

RO

0x00000000 (0dec)

9010:15

Position encoder resolution increments

Feedback increments per motor revolution

UINT32

RO

0x00000000 (0dec)

9010:17

Cogging compensation supported

The cogging compensation data are available in the motor's electronic identification plate.

BOOLEAN

RO

0x00 (0dec)

Index 9108 FB OCT Info data Ch.2 (ELM72x2 only)

Index (hex)

Name

Meaning

Data type

Flags

Default

9108:0

FB OCT Info data Ch.2

 

UINT8

RO

0x20 (32dec)

9108:11

Encoder Type

Feedback type

2: rotary encoder, unipolar counting

UINT16

RO

0x0000 (0dec)

9108:12

Resolution

Resolution of the feedback.

Unit: steps per revolution

UINT32

RO

0x00000000 (0dec)

9108:13

Range

Working area of the feedback. On leaving this range there is an overflow of the position.

Unit: revolutions

UINT32

RO

0x00000000 (0dec)

9108:14

Type Code Name

Name of the feedback.

STRING

RO

 

9108:15

Serial No

Serial number of the feedback

STRING

RO

 

9108:16

Firmware Revision No

Revision of the firmware.

STRING

RO

 

9108:17

Firmware Date

Date of the firmware.

STRING

RO

 

9108:18

EEPROM Size

EEPROM size.

UINT16

RO

0x0000 (0dec)

9108:19

Temperature

Temperature.

Unit: 0.1 °C

INT16

RO

0x0000 (0dec)

9108:1A

LED Current

Current of the feedback LED.

Unit: 0.1 mA

UINT16

RO

0x0000 (0dec)

9108:1B*

Supply voltage

Supply voltage of the feedback.

Unit: mV

UINT32

RO

0x00000000 (0dec)

9108:1C

Life- time

Operating hours counter.

Unit: minutes

UINT32

RO

0x00000000 (0dec)

9108:1D

Received Signal Strength Indicator

Received signal strength at the terminal.

Unit: %

UINT16

RO

0x0000 (0dec)

9108:1E

Slave Received Signal Strength Indicator

Received signal strength at the encoder.

Unit: %

UINT16

RO

0x0000 (0dec)

9108:1F

Line delay

Running time of the signal in the cable.

Unit: ns

UINT16

RO

0x0000 (0dec)

9108:20

Encoder position offset

Position offset stored in the motor feedback.

UINT32

RO

0x00000000 (0dec)

Index 9109 FB OCT Nameplate Ch.2 (ELM72x2 only)

The parameters described in this index are always read from the electronic identification plate of the connected motor.

With these parameters some configuration parameters can be set automatically. See chapter Configuration data.

Index (hex)

Name

Meaning

Data type

Flags

Default

9109:0

FB OCT Nameplate Ch.2

 

UINT8

RO

0x24 (36dec)

9109:01

Motor vendor

Motor vendor

STRING

RO

 

9109:02

Electric motor type

Motor type

STRING

RO

 

9109:03

Serial No

Serial number

STRING

RO

 

9109:04

Order code

Order number

STRING

RO

 

9109:05

Motor construction

Type of motor

STRING

RO

 

9109:06

Pole pairs

Number of pole pairs

UINT32

RO

0x00000000 (0dec)

9109:07

Standstill current (rms)

Effective holding current

Unit: mA

UINT32

RO

0x00000000 (0dec)

9109:08

Rated current (rms)

Effective nominal current

Unit: mA

UINT32

RO

0x00000000 (0dec)

9109:09

Peak current (rms)

Effective peak current

Unit: mA

UINT32

RO

0x00000000 (0dec)

9109:0A

Nominal voltage (rms)

Effective nominal voltage

Unit: mV

UINT32

RO

0x00000000 (0dec)

9109:0B

Max voltage (rms)

Maximum voltage

Unit: mV

UINT32

RO

0x00000000 (0dec)

9109:0C

Max winding du/dt

Maximum permissible voltage rise on the winding

Unit: kV / s

UINT32

RO

0x00000000 (0dec)

9109:0D

Max torque

Maximum torque

Unit: mNm

UINT16

RO

0x0000 (0dec)

9109:0E

Torque constant

Torque constant

Unit: mNm / A

UINT16

RO

0x0000 (0dec)

9109:0F

EMF (rms)

Countervoltage

Unit: mV / (1/min)

UINT32

RO

0x00000000 (0dec)

9109:10

Winding resistance Ph-Ph 20°C

Coil resistance

Unit: mOhm

UINT16

RO

0x0000 (0dec)

9109:11

Ld Ph-Ph

Inductance in the direction of flow

Unit: 0.1 mH

UINT16

RO

0x0000 (0dec)

9109:12

Lq Ph-Ph

Inductance in torque forming direction

Unit: 0.1 mH

UINT16

RO

0x0000 (0dec)

9109:13

Max speed

Maximum velocity

Unit: 1/min

UINT32

RO

0x00000000 (0dec)

9109:14

Moment of inertia

Mass moment of inertia

Unit: g cm^2

UINT16

RO

0x0000 (0dec)

9109:15

T motor warn limit

Motor temperature warning threshold

Unit: 0.1 °C

UINT16

RO

0x0000 (0dec)

9109:16

T motor shut down

Motor temperature error threshold

Unit: 0.1 °C

UINT16

RO

0x0000 (0dec)

9109:17

Time constant i2t

Time constant I2T model

Unit: s

UINT16

RO

0x0000 (0dec)

9109:18

Motor thermal constant

Thermal time constant of the motor

Unit: s

UINT16

RO

0x0000 (0dec)

9109:1B*

Brake type

Brake type

  • no brake
  • holding brake

STRING

RO

 

9109:1C

Min brake voltage

Minimum brake voltage

Unit: mV

UINT32

RO

0x00000000 (0dec)

9109:1D

Max brake voltage

Maximum brake voltage

Unit: mV

UINT32

RO

0x00000000 (0dec)

9109:1E

Min brake monitor current

Minimum current for the monitoring of the brake

Unit: mA

UINT32

RO

0x00000000 (0dec)

9109:1F

Brake holding torque

Brake holding torque

Unit: mNm

UINT32

RO

0x00000000 (0dec)

9109:20

Brake T on

 

UINT16

RO

0x0000 (0dec)

9109:21

Brake T off

 

UINT16

RO

0x0000 (0dec)

9109:22

Brake reduced holding voltage

 

UINT32

RO

0x00000000 (0dec)

9109:23

Brake time to red. holding volt.

 

UINT16

RO

0x0000 (0dec)

9109:24

Motor temp sensor connection

 

STRING

RO

 

Index 9110 DRV Info data Ch.2 (ELM72x2 only)

Index (hex)

Name

Meaning

Data type

Flags

Default

9110:0

DRV Info data Ch.2

 

UINT8

RO

0x17 (23dec)

9110:13

Supported drive modes

Information about supported drive modes.

Only modes CSV, CST, CSTCA and CSP are supported

Bit 0: PP

Bit 1: VL

Bit 2: PV

Bit 3: TQ

Bit 4: R

Bit 5: HM

Bit 6: IP

Bit 7: CSP

Bit 8: CSV

Bit 9: CST

Bit 10: CSTCA

Bit 11 - 15: reserved

Bit 16-31: Manufacturer-specific

UINT32

RO

0x00000000 (0dec)

9110:14

Velocity encoder resolution

Display of the configured encoder increments / s and motor revolutions / s. The "Velocity Encoder Resolution" is calculated according to the following formula:

Velocity Encoder Resolution = (encoder_increments / s ) / (motor_revolutions / s)

UINT32

RO

0x00000000 (0dec)

9110:15

Position encoder resolution increments

Feedback increments per motor revolution

UINT32

RO

0x00000000 (0dec)

9110:17

Cogging compensation supported

The cogging compensation data are available in the motor's electronic identification plate.

BOOLEAN

RO

0x00 (0dec)

Index A010 DRV Amplifier Diag data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

010A:0

DRV Amplifier Diag data Ch.1

 

UINT8

RO

0x11 (17dec)

010A:11

Amplifier I2T temperature

I2T model load

Unit: %

UINT8

RO

0x00 (0dec)

Index A011 DRV Motor Diag data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

011A:0

DRV Motor Diag data Ch.1

 

UINT8

RO

0x13 (19dec)

011A:11

Motor I2T temperature

I2T model load

Unit: %

UINT8

RO

0x00 (0dec)

011A:13

Motor temperature

Temperature utilization ratio

Unit: °C

INT16

RO

0x0000 (0dec)

Index A110 DRV Amplifier Diag data Ch.2 (ELM72x2 only)

Index (hex)

Name

Meaning

Data type

Flags

Default

110A:0

DRV Amplifier Diag data Ch.2

 

UINT8

RO

0x11 (17dec)

110A:11

Amplifier I2T temperature

I2T model load

Unit: %

UINT8

RO

0x00 (0dec)

Index A111 DRV Motor Diag data Ch.2 (ELM72x2 only)

Index (hex)

Name

Meaning

Data type

Flags

Default

111A:0

DRV Motor Diag data Ch.2

 

UINT8

RO

0x13 (19dec)

111A:11

Motor I2T temperature

I2T model load

Unit: %

UINT8

RO

0x00 (0dec)

111A:13

Motor temperature

Temperature utilization ratio

Unit: °C

INT16

RO

0x0000 (0dec)

Index B001 FB OCT Memory interface Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

B001:0

FB OCT Memory interface Ch.1

 

UINT8

RO

0x06 (6dec)

B001:01

Cmd

Permitted values:

  • 3dec: Enc Write
  • 6dec: Enc Read Direct
  • 7dec: Enc Read Indirect
  • 9dec: Enc Reset
  • 10dec: IP Write
  • 15dec: IP Read
  • 16dec: Write encoder position offset

UINT16

RW

0x0007 (7dec)

B001:02

Len

 

UINT16

RW

0x0000 (0dec)

B001:03

Adr

 

UINT32

RW

0x00000000 (0dec)

B001:04

Offset

 

UINT32

RW

0x00000000 (0dec)

B001:05

Ctrl/Status

Permitted values:

  • 0dec: Init
  • 1dec: Execute
  • 2dec: Busy
  • 3dec: Done
  • 4dec: Error

UINT16

RW

0x0000 (0dec)

001B:06

Data

 

OCTET-STRING[32]

RW

{0}

Index B101 FB OCT Memory interface Ch.2 (ELM72x2 only)

Index (hex)

Name

Meaning

Data type

Flags

Default

B101:0

FB OCT Memory interface Ch.2

 

UINT8

RO

0x06 (6dec)

101B:01

Cmd

Permitted values:

  • 3dec: Enc Write
  • 6dec: Enc Read Direct
  • 7dec: Enc Read Indirect
  • 9dec: Enc Reset
  • 10dec: IP Write
  • 15dec: IP Read
  • 16dec: Write encoder position offset

UINT16

RW

0x0007 (7dec)

101B:02

Len

 

UINT16

RW

0x0000 (0dec)

101B:03

Adr

 

UINT32

RW

0x00000000 (0dec)

101B:04

Offset

 

UINT32

RW

0x00000000 (0dec)

101B:05

Ctrl/Status

Permitted values:

  • 0dec: Init
  • 1dec: Execute
  • 2dec: Busy
  • 3dec: Done
  • 4dec: Error

UINT16

RW

0x0000 (0dec)

101B:06

Data

 

OCTET-STRING[32]

RW

{0}

Index F900 DRV Info data

Index (hex)

Name

Meaning

Data type

Flags

Default

F900:0

DRV Info data

 

UINT8

RO

0x14 (20dec)

F900:11

Amplifier temperature

Internal temperature of the terminal.

Unit: 0.1 °C

INT16

RO

0x0000 (0dec)

F900:12

DC link voltage

Measured value of the DC link voltage.

Unit: mV

UINT32

RO

0x00000000 (0dec)

F900:13

Supply voltage Up

Measured value of the supply voltage UP

UINT32

RO

0x00000000 (0dec)

F900:14

Digital inputs

Bit vector of the digital inputs

[0] TP1, Ch1

[1] TP2, Ch1

[8] TP2, Ch2 (for ELM72x2)

[9] TP2, Ch2 (for ELM72x2

UINT16

RO

0x0000 (0dec)

Index F913 DRV Device Info data

Index (hex)

Name

Meaning

Data type

Flags

Default

F913:0

DRV Device Info data

 

UINT8

RO

0x04 (4dec)

F913:01

HW config

 

STRING

RO

 

F913:03

FW info

 

STRING

RO

 

F913:04

DMC version

 

STRING

RO