Information objects

9010:0

STM Info data Ch.1

USINT

RO

0x13 (19_dec)

9010:01

Status word

UINT

RO

-

9010:08

Motor velocity

Present motor velocity

INT

RO

-

9010:09

Internal position

Internal position (microincrements)

UDINT

RO

-

9010:0A

Status word 2

UINT

RO

-

9010:0B

Motor load

Current motor load

Unit: 0.01°

UINT

RO

-

9010:0C

Motor smart current

USINT

RO

-

9010:13

External position

Position value of the connected encoder

UDINT

RO

-

9020:0

POS Info data Ch.1

USINT

RO

0x4 (4_dec)

9020:01

Status word

-

UINT

RO

-

9020:03

State (drive controller)

-

UINT

RO

-

9020:04

Actual position lag

-

DINT

RO

-

A010:0

STM Diag data Ch.1

USINT

RO

0x11 (17_dec)

A010:01

Saturated

The output stage operates at maximum duty cycle

BOOL

RO

-

A010:02

Over temperature

The internal temperature of the box is higher than F80F:04 = 80 °C.

BOOL

RO

-

A010:03

Torque overload

The current motor current is higher than the rated current

BOOL

RO

-

A010:04

Under voltage

The supply voltage of the motor (U_P) is at least 20 % lower than the configured rated voltage 8010:03 "Nomimal voltage".

BOOL

RO

-

A010:05

Over voltage

The supply voltage of the motor (U_P) is at least 10 % higher than the configured rated voltage 8010:03 "Nomimal voltage".

BOOL

RO

-

A010:06

Short circuit

Short circuit

BOOL

RO

-

A010:08

No control power

The supply voltage U_S is too low.

BOOL

RO

-

A010:09

Misc error

Initialization has failed or the internal temperature of the box is higher than 0xF80F:05 = 100 °C

BOOL

RO

-

A010:0A

Configuration

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

BOOL

RO

-

A010:0B

Motor stall

A loss of step has occurred

BOOL

RO

-

A010:11

Actual operation mode

Shows the currently set controller operation mode.

The controller operation mode is set automatically if the value 0 "Automatic" is selected in parameter 8012:01 (default).

USINT

RO

-

A020:0

POS Diag data Ch.1

USINT

RO

0x6 (6_dec)

A020:01

Command rejected

-

BOOL

RO

-

A020:02

Command aborted

-

BOOL

RO

-

A020:03

Target overrun

-

BOOL

RO

-

A020:04

Target timeout

-

BOOL

RO

-

A020:05

Position lag

-

BOOL

RO

-

A020:06

Emergency stop

-

BOOL

RO

-

F900:0

STM Info data

USINT

RO

0x7 (7_dec)

F900:01

Software version (driver)

STRING(2)

RO

-

F900:02

Internal temperature

SINT

RO

-

F900:04

Control voltage

UINT

RO

-

F900:05

Motor supply voltage

Measured value of the supply voltage U_P in [mV].

UINT

RO

-

F900:06

Cycle time

UINT

RO

-

F900:07

Motor supply current

UINT

RO

-