Configuration objects

8000:0

ENC Settings Ch.1

USINT

RO

0xE (14_dec)

8000:0E

Reversion of rotation

Inverts the counting direction of the encoder.

BOOL

RW

00

8010:0

STM Motor Settings Ch.1

USINT

RO

0x11 (17_dec)

8010:01

Maximal current

The maximum current in [mA] that the current controller outputs per motor winding.

UINT

RW

0x1388 (5000_dec)

8010:02

Reduced current

Coil current at reduced torque in [mA].

The reduced torque is activated by the "STM Control > Control > Reduce torque" bit.

UINT

RW

0x9C4 (2500_dec)

8010:03

Nominal voltage

Rated value of the applied supply voltage U_P (8...48 V).

UINT

RW

0xC350 (50000_dec)

8010:06

Motor fullsteps

Number of full steps per motor revolution.

UINT

RW

0xC8 (200_dec)

8010:09

Start velocity

This value is a threshold value. The box keeps the motor at standstill, as long as the speed setting is smaller than this value.

It is specified in 0.01 % of the parameter 8012:05 "Speed Range".

UINT

RW

0x0 (0_dec)

8010:10

Drive on delay time

The delay in [ms] between enabling the output stage (bit "Enable") and setting the bit "Ready".

(deactivation of the brake if necessary)

UINT

RW

0x64 (100_dec)

8010:11

Drive off delay time

The delay in [ms] between setting the "Ready" bit to 0 and deactivating the output stage.

(activation of the brake if necessary)

UINT

RW

0x96 (150_dec)

8012:0

STM Features Ch.1

USINT

RO

0x45 (69_dec)

8012:01

Operation mode

Controller operation mode

Possible values:

• 0_dec: Automatic
• 1_dec: Velocity direct
• 2_dec: Velocity controller
• 3_dec: Position controller

If the value 0 "Automatic" is set, the controller operation mode is set automatically based on the activated process data objects.

You can find the automatically set operation mode in parameter A010:11 "Actual operation mode".

USINT

RW

0x0 (0_dec)

8012:05

Speed range

Preselection of the speed range.

Possible values:

• 0_dec: 1000 Fullsteps/sec
• 1_dec: 2000 Fullsteps/sec
• 2_dec: 4000 Fullsteps/sec
• 3_dec: 8000 Fullsteps/sec
• 4_dec: 16000 Fullsteps/sec
• 5_dec: 32000 Fullsteps/sec

Important: If you are using TwinCAT NC, you must recalculate the "Reference Velocity" each time you change the "Speed range", see chapter Axis.

USINT

RW

0x1 (1_dec)

8012:09

Invert motor polarity

Reverses the direction of rotation of the motor.

BOOL

RW

00

8012:11

Select info data 1

Choice of operating data to be transmitted in the process value "STM Synchron info data > Info data 1".

Possible values:

• 0_dec: Status word
• 7_dec: Motor velocity
• 9_dec: Status word 2
• 10_dec: Motor load
• 11_dec: Motor smart current
• 101_dec: Internal temperature
• 103_dec: Control voltage
• 104_dec: Motor supply voltage
• 106_dec: Motor supply current
• 150_dec: Drive - Status word
• 151_dec: Drive - State
• 152_dec: Drive - Position lag (low word)
• 153_dec: Drive - Position lag (high word)

USINT

RW

0x0 (0_dec)

8012:19

Select info data 2

Choice of operating data to be transmitted in the process value "STM Synchron info data > Info data 2".

Possible values:

• 0_dec: Status word
• 7_dec: Motor velocity
• 9_dec: Status word 2
• 10_dec: Motor load
• 11_dec: Motor smart current
• 101_dec: Internal temperature
• 103_dec: Control voltage
• 104_dec: Motor supply voltage
• 106_dec: Motor supply current
• 150_dec: Drive - Status word
• 151_dec: Drive - State
• 152_dec: Drive - Position lag (low word)
• 153_dec: Drive - Position lag (high word)

USINT

RW

0x9 (9_dec)

8012:30

Invert digital input 1

Inverts the input level of input DI1 (X01, pin 4).

BOOL

RW

00

8012:31

Invert digital input 2

Inverts the input level of input DI2 (X02, pin 4).

BOOL

RW

00

8012:32

Function for input 1

Function of input DI1 (X01, pin 4)

Possible values:

• 0_dec: Normal input
• 1_dec: Hardware enable
  A logical 1 is also required at DI1 for axis enable.
• 2_dec: Plc cam
• 3_dec: Auto start

USINT

RW

0x0 (0_dec)

8012:36

Function for input 2

Function of input DI2 (X02, pin 4)

Possible values:

• 0_dec: Normal input
• 1_dec: Hardware enable
  A logical 1 is also required at DI2 for axis enable.
• 2_dec: Plc cam
• 3_dec: Auto start

USINT

RW

0x0 (0_dec)

8012:3A

Function for output 1

Function of the brake output on X03

Possible values:

• 0_dec: Normal output
• 1_dec: Break (linked with driver enable)
  Links the brake output with the axis enable: The brake output is switched on when the axis is enabled.

USINT

RW

0x0 (0_dec)

8012:45

Microstepping

Microstep resolution

Possible values:

• 0_dec: Fullstep
• 1_dec: Halfstep
• 2_dec: 1/4 Microstepping
• 3_dec: 1/8 Microstepping
• 4_dec: 1/16 Microstepping
• 5_dec: 1/32 Microstepping
• 6_dec: 1/64 Microstepping
• 7_dec: 1/128 Microstepping
• 8_dec: 1/256 Microstepping

USINT

RW

0x8 (8_dec)

8013:0

STM Controller Settings 2 Ch.1

USINT

RO

0x8 (8_dec)

8013:01

Kp factor (velo./pos.)

Proportional component of the controller

UINT

RW

0x3E8 (1000_dec)

8013:02

Ki factor (velo./pos.)

Integral component of the controller

UINT

RW

0x0 (0_dec)

8013:03

Inner window (velo./pos.)

Inner window of the integral component in [%]

USINT

RW

0x0 (0_dec)

8013:05

Outer window (velo./pos.)

Outer window of the integral component in [%]

USINT

RW

0x0 (0_dec)

8013:06

Filter cut off frequency (velo./pos.)

Low-pass filter cut-off frequency

Unit: Hz

UINT

RW

0x0 (0_dec)

8013:07

Ka factor (velo./pos.)

Factor for adjusting the output current in acceleration phases

UINT

RW

0x0 (0_dec)

8013:08

Kd factor (velo./pos.)

Factor for adjusting the output current in braking phases

UINT

RW

0x0 (0_dec)

8014:0

STM Motor Features Ch.1

USINT

RO

0x31 (49_dec)

8014:01

Chopper: Mode

Possible values:

• 0_dec: Intelligent off time
• 1_dec: Constant off time
• 2_dec: Random off time

USINT

RW

0x0 (0_dec)

8014:03

Chopper: Off time

Possible values:

• 2_dec: 4 µs
• 3_dec: 6 µs
• 4_dec: 8 µs
• 5_dec: 10 µs
• 6_dec: 12 µs
• 7_dec: 14 µs
• 8_dec: 16 µs
• 9_dec: 18 µs
• 10_dec: 20 µs
• 11_dec: 22 µs
• 12_dec: 24 µs
• 13_dec: 26 µs
• 14_dec: 28 µs
• 15_dec: 30 µs

USINT

RW

0x5 (5_dec)

8014:07

Chopper: Comparator disabled

BOOL

RW

00

8014:08

Chopper: Fast decay time

Possible values:

• 0_dec: Slow decay only
• 1_dec: 2 µs
• 2_dec: 4 µs
• 3_dec: 6 µs
• 4_dec: 8 µs
• 5_dec: 10 µs
• 6_dec: 12 µs
• 7_dec: 14 µs
• 8_dec: 16 µs
• 9_dec: 18 µs
• 10_dec: 20 µs
• 11_dec: 22 µs
• 12_dec: 24 µs
• 13_dec: 26 µs
• 14_dec: 28 µs
• 15_dec: 30 µs

USINT

RW

0x3 (3_dec)

8014:0C

Chopper: Sine wave offset

Possible values:

• 0_dec: -3
• 1_dec: -2
• 2_dec: -1
• 3_dec: 0
• 4_dec: 1
• 5_dec: 2
• 6_dec: 3
• 7_dec: 4
• 8_dec: 5
• 9_dec: 6
• 10_dec: 7
• 11_dec: 8
• 12_dec: 9
• 13_dec: 10
• 14_dec: 11
• 15_dec: 12

USINT

RW

0x3 (3_dec)

8014:11

Chopper: Hysteresis start value

Possible values:

• 0_dec: 1
• 1_dec: 2
• 2_dec: 3
• 3_dec: 4
• 4_dec: 5
• 5_dec: 6
• 6_dec: 7
• 7_dec: 8

USINT

RW

0x2 (2_dec)

8014:14

Chopper: Hysteresis end value

Possible values:

• 0_dec: -3
• 1_dec: -2
• 2_dec: -1
• 3_dec: 0
• 4_dec: 1
• 5_dec: 2
• 6_dec: 3
• 7_dec: 4
• 8_dec: 5
• 9_dec: 6
• 10_dec: 7
• 11_dec: 8
• 12_dec: 9
• 13_dec: 10
• 14_dec: 11
• 15_dec: 12

USINT

RW

0x6 (6_dec)

8014:18

Chopper: Hysteresis decrement time

Possible values:

• 0_dec: 1 µs
• 1_dec: 2 µs
• 2_dec: 3 µs
• 3_dec: 4 µs

USINT

RW

0x0 (0_dec)

8014:1A

Stall guard: Filter enable

BOOL

RW

01

8014:1B

Stall guard: Current up step width

Possible values:

• 0_dec: 1
• 1_dec: 2
• 2_dec: 4
• 3_dec: 8

USINT

RW

0x0 (0_dec)

8014:1D

Stall guard: Current down step speed

Possible values:

• 0_dec: 1/32
• 1_dec: 1/8
• 2_dec: 1/2
• 3_dec: 1

USINT

RW

0x0 (0_dec)

8014:1F

Stall guard: Minimum current

Possible values:

• 0_dec: 1/2 max. current
• 1_dec: 1/4 max. current

BOOL

RW

00

8014:21

Stall guard: Minimum value

Possible values:

• 0_dec: Stall guard off
• 1_dec: 1
• 2_dec: 2
• 3_dec: 3
• 4_dec: 4
• 5_dec: 5
• 6_dec: 6
• 7_dec: 7
• 8_dec: 8
• 9_dec: 9
• 10_dec: 10
• 11_dec: 11
• 12_dec: 12
• 13_dec: 13
• 14_dec: 14
• 15_dec: 15

USINT

RW

0x0 (0_dec)

8014:25

Stall guard: Hysteresis value

Possible values:

• 0_dec: 0
• 1_dec: 1
• 2_dec: 2
• 3_dec: 3
• 4_dec: 4
• 5_dec: 5
• 6_dec: 6
• 7_dec: 7
• 8_dec: 8
• 9_dec: 9
• 10_dec: 10
• 11_dec: 11
• 12_dec: 12
• 13_dec: 13
• 14_dec: 14
• 15_dec: 15

USINT

RW

0x0 (0_dec)

8014:31

Stall guard: Threshold value

SINT

RW

0x1 (1_dec)

8020:0

POS Settings Ch.1

USINT

RO

0x11 (17_dec)

8020:01

Velocity min.

Settings for the Positioning Interface; see chapter Parameter set

INT

RW

0x64 (100_dec)

8020:02

Velocity max.

INT

RW

0x2710 (10000_dec)

8020:03

Acceleration pos.

UINT

RW

0x3E8 (1000_dec)

8020:04

Acceleration neg.

UINT

RW

0x3E8 (1000_dec)

8020:05

Deceleration pos.

UINT

RW

0x3E8 (1000_dec)

8020:06

Deceleration neg.

UINT

RW

0x3E8 (1000_dec)

8020:07

Emergency deceleration

UINT

RW

0x64 (100_dec)

8020:08

Calibration position

UDINT

RW

0x0 (0_dec)

8020:09

Calibration velocity (towards plc cam)

INT

RW

0x64 (100_dec)

8020:0A

Calibration Velocity (off plc cam)

INT

RW

0xA (10_dec)

8020:0B

Target window

UINT

RW

0xA (10_dec)

8020:0C

In-Target timeout

UINT

RW

0x3E8 (1000_dec)

8020:0D

Dead time compensation

INT

RW

0x32 (50_dec)

8020:0E

Modulo factor

UDINT

RW

0x0 (0_dec)

8020:0F

Modulo tolerance window

UDINT

RW

0x0 (0_dec)

8020:10

Position lag max.

UINT

RW

0x0 (0_dec)

8020:11

Calibration acceleration (around plc cam)

UINT

RW

0x0 (0_dec)

8021:0

POS Features Ch.1

USINT

RO

0x16 (22_dec)

8021:01

Start type

Settings for the Positioning Interface; see chapter Parameter set

UINT

RW

0x1 (1_dec)

8021:11

Time information

USINT

RW

0x0 (0_dec)

8021:13

Invert calibration cam search direction

BOOL

RW

01

8021:14

Invert sync impulse search direction

BOOL

RW

00

8021:15

Emergency stop on position lag error

BOOL

RW

00

8021:16

Enhanced diag history

BOOL

RW

00

F80F:0

STM Vendor data

USINT

RO

0x9 (9_dec)

F80F:04

Warning temperature

Temperature threshold value in [°C] for reporting an overtemperature warning.

SINT

RW

0x50 (80_dec)

F80F:05

Switch off temperature

Temperature threshold value in [°C] for shutdown of the output stage.

SINT

RW

0x64 (100_dec)

F80F:09

Maximum current

UINT

RW

0x1DC9 (7625_dec)

F81F:0

STM Vendor data 2

USINT

RO

0x8 (8_dec)

F81F:01

Slope control low side

Possible values:

• 0_dec: min.
• 2_dec: med.
• 3_dec: max.

USINT

RW

0x3 (3_dec)

F81F:03

Slope control high side

Possible values:

• 0_dec: min.
• 1_dec: min. + tc
• 2_dec: med. + tc
• 3_dec: max.

USINT

RW

0x3 (3_dec)

F81F:05

Sense voltage

Possible values:

• 0_dec: 305 mV
• 1_dec: 165 mV

BOOL

RW

00

F81F:08

Blank time

Possible values:

• 0_dec: 1,0 µs
• 1_dec: 1,5 µs
• 2_dec: 2,3 µs
• 3_dec: 3,4 µs

USINT

RW

0x2 (2_dec)