Objects for commissioning

8010:0

STM Motor Settings Ch.1

Maximum subindex

UINT8

RO

0x11 (17_dec)

8010:01

Maximal current

Maximum permanent motor coil current (unit: 1 mA)

UINT16

RW

0x1388 (5000_dec)

8010:02

Reduced current

Reduced coil current (reduced torque, unit: 1 mA)

UINT16

RW

0x09C4 (2500_dec)

8010:03

Nominal voltage

Nominal voltage (supply voltage) of the motor (unit: 1 mV)

UINT16

RW

0xC350 (50000_dec)

8010:06

Motor fullsteps

Motor full steps per revolution

UINT16

RW

0x00C8 (200_dec)

8010:07

Encoder increments (4-fold)

Encoder increments per revolution (quadruple evaluation)

UINT16

RW

0x0000 (0_dec)

8010:09

Start velocity

Maximum possible start velocity of the motor

UINT16

RW

0x0000 (0_dec)

8010:10

Drive on delay time

Switch-on delay of the driver stage (unit: ms)

UINT16

RW

0x0064 (100_dec)

8010:11

Drive off delay time

Switch-off delay of the driver stage (unit: ms)

UINT16

RW

0x0096 (150_dec)

8012:0

STM Features Ch.1

Maximum subindex

UINT8

RO

0x45 (69_dec)

8012:01

Operation mode

Operation mode

BIT4

RW

0x00 (0_dec)

0

Automatic

1

Direct velocity

2

Velocity controller

3

Position controller

8012:05

Speed range

Preselection of the speed range

BIT3

RW

0x01 (1_dec)

0

1000 full steps/second

1

2000 full steps/second

2

4000 full steps/second

3

8000 full steps/second

4

16000 full steps/second

5

32000 full steps/second

8012:08

Feedback type

Selection of the feedback system

BIT1

RW

0x01 (1_dec)

0

External encoder

1

Internal counter

8012:09

Invert motor polarity

Activates reversal of the motor rotation direction.

BOOLEAN

RW

0x00 (0_dec)

8012:11

Select info data 1

Select "Info data 1" (see 0x6010:11)

UINT8

RW

0x00 (0_dec)

0

Status word

1

reserved

...

...

6

reserved

7

Current velocity (value range +/- 10000)

8

reserved

9

Status word 2

10

Motor: Load

11

Motor: "Smart Current"

12

reserved

...

...

100

reserved

101

Internal temperature of the driver card

...

reserved

103

Control voltage

104

Motor supply: Voltage

...

reserved

106

Motor supply: Current

107

reserved

...

...

149

reserved

150

Position interface - status word

151

Position interface - status of the internal state machine

152

Position interface – lag error (low word)

153

Position interface – lag error (high word)

154

reserved

...

...

255

reserved

8012:19

Select info data 2

Selection "Info data 2" (see 0x8012:11)

UINT8

RW

0x09 (9_dec)

8012:30

Invert digital input 1

Inversion of digital input 1

BOOLEAN

RW

0x00 (0_dec)

8012:31

Invert digital input 2

Inversion of digital input 2

BOOLEAN

RW

0x00 (0_dec)

8012:32

Function for input 1

Selection of the function for input 1

BIT4

RW

0x00 (0_dec)

0

Normal input

1

Hardware Enable

8012:36

Function for input 2

Selection of the function for input 2

BIT4

RW

0x00 (0_dec)

0

Normal input

1

Hardware Enable

8012:3A

Function for output 1

Selection of the function for output 1

BIT4

RW

0x00 (0_dec)

0

Normal output

1

Brake
If the bit in 0x7010:01 is set, the output is switched with the delay time set in 0x8010:10 and 0x8010:11 of the driver stage.

8012:45

Microstepping

0

Full step

BIT4

RW

0x08 (8_dec)

1

Half step

2

1/4 micro-step

3

1/8 micro-step

4

1/16 micro-step

5

1/32 micro-step

6

1/64 micro-step

7

1/128 micro-step

8

1/256 micro-step

8013:0

STM Controller Settings 2 Ch.1

Maximum subindex

UINT8

RO

0x07 (7_dec)

8013:01

Kp factor (velo./pos.)

Kp control factor (proportional component) for the velocity controller (unit: 0.001)

UINT16

RW

0x03E8 (1000_dec)

8013:02

Ki factor (velo./pos.)

Ki control factor (integral component) for the velocity controller (unit: 0.001)

UINT16

RW

0x0000 (0_dec)

8013:03

Inner window (velo./pos.)

Inner window for the I component of the velocity controller (unit: 1%)

UINT8

RW

0x00 (0_dec)

8013:05

Outer window (velo./pos.)

Outer window for the I component of the velocity controller (unit: 1%)

UINT8

RW

0x00 (0_dec)

8013:06

Filter cut off frequency (velo./pos.)

Filter limit frequency of the velocity controller (low-pass, unit: 1 Hz)

UINT16

RW

0x0000 (0_dec)

8013:07

Ka factor (velo./pos.)

Ka control factor of the velocity/position controller

UINT16

RW

0x0000 (0_dec)

8014:0

STM Motor Features Ch.1

Maximum subindex

UINT8

RO

0x31 (49_dec)

8014:01

Chopper: Mode

BIT2

RW

0x00 (0_dec)

8014:03

Chopper: Off time

BIT4

RW

0x05 (5_dec)

8014:07

Chopper: Comparator disabled

BOOLEAN

RW

0x00 (0_dec)

8014:08

Chopper: Fast decay time

BIT4

RW

0x03 (3_dec)

8014:0C

Chopper: Sine wave offset

BIT4

RW

0x03 (3_dec)

8014:11

Chopper: Hysteresis start value

BIT3

RW

0x02 (2_dec)

8014:14

Chopper: Hysteresis end value

BIT4

RW

0x06 (6_dec)

8014:18

Chopper: Hysteresis decrement time

BIT2

RW

0x00 (0_dec)

8014:1A

Stall guard: Filter enable

BOOLEAN

RW

0x01 (1_dec)

8014:1B

Stall guard: Current up step width

BIT2

RW

0x00 (0_dec)

8014:1D

Stall guard: Current down step speed

BIT2

RW

0x00 (0_dec)

8014:1F

Stall guard: Minimum current

BIT1

RW

0x00 (0_dec)

8014:21

Stall guard: Minimum value

BIT4

RW

0x00 (0_dec)

8014:25

Stall guard: Hysteresis value

BIT4

RW

0x00 (0_dec)

8014:31

Stall guard: Threshold value

INT8

RW

0x01 (1_dec)

8020:0

POS Settings Ch.1

Maximum subindex

UINT8

RO

0x0F (15_dec)

8020:01

Velocity min.

Minimum target velocity (range: 0 ... 10000)

INT16

RW

0x0064 (100_dec)

8020:02

Velocity max.

Maximum target velocity (range: 0 ... 10000)

INT16

RW

0x2710 (10000_dec)

8020:03

Acceleration pos.

Acceleration in positive direction of rotation (unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:04

Acceleration neg.

Acceleration in negative direction of rotation (unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:05

Deceleration pos.

Deceleration in positive direction of rotation (unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:06

Deceleration neg.

Deceleration in negative direction of rotation (unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:07

Emergency deceleration

Emergency deceleration (both directions of rotation, unit: 1 ms)

UINT16

RW

0x0064 (100_dec)

8020:08

Calibration position

Calibration position

UINT32

RW

0x00000000 (0_dec)

8020:09

Calibration velocity (towards plc cam)

Calibration velocity towards the cam (range: 0 ... 10000)

INT16

RW

0x0064 (100_dec)

8020:0A

Calibration Velocity (off plc cam)

Calibration velocity away from the cam (range: 0 ... 10000)

INT16

RW

0x000A (10_dec)

8020:0B

Target window

Target window

UINT16

RW

0x000A (10_dec)

8020:0C

In-Target timeout

Timeout at target position (unit: 1 ms)

UINT16

RW

0x03E8 (1000_dec)

8020:0D

Dead time compensation

Dead time compensation (unit: 1 µs)

INT16

RW

0x0032 (50_dec)

8020:0E

Modulo factor

Modulo factor/position

UINT32

RW

0x00000000 (0_dec)

8020:0F

Modulo tolerance window

Tolerance window for modulo positioning

UINT32

RW

0x00000000 (0_dec)

8021:0

POS Features Ch.1

Maximum subindex

UINT8

RO

0x14 (20_dec)

8021:01

Start type

Standard start type

UINT16

RW

0x0001 (1_dec)

8021:11

Time information

Time information in subindex 0x6pp0:22 ("Actual drive time")

BIT2

RW

0x00 (0_dec)

0

Elapsed time: current drive time since start of the travel command

...

reserved

8021:13

Invert calibration cam search direction

Inversion of the direction of rotation towards the cam

BOOLEAN

RW

0x01 (1_dec)

8021:14

Invert sync impulse search direction

Inversion of the direction of rotation away from the cam

BOOLEAN

RW

0x00 (0_dec)

FB00:0

STM Command

Maximum subindex

UINT8

RO

0x03 (3_dec)

FB00:01

Request

Requesting a command

OCTET-STRING[2]

RW

{0}

0x8000

Software reset

FB00:02

Status

Status of the command

UINT8

RO

0x00 (0_dec)

0

No error, without return value

1

No error, with return value

2

With error, without return value

3

With error, with return value

...

reserved

255

Command execution active

FB00:03

Response

Return value of the executed command (dependent on the command)

OCTET-STRING[4]

RO

{0}