Configuration objects

8020:0

8030:0

STM Motor Settings Ch.n

USINT

RO

0x19 (25_dec)

8020:01

8030:01

Peak current

If the motor current exceeds this value, the output stage of the affected channel is disabled and the diagnostic bit "Channel n short circuit" is set

Unit: [mA].

UINT

RW

0x3e (62_dec)

8020:02

8030:02

Rated current

The nominal current of the motor. See motor data sheet. This parameter is used for the I²T calculation of the motor. (Thermal overload protection)

Unit: [mA].

UINT

RW

0x3e (62_dec)

8020:03

8030:03

Rated voltage

The nominal voltage of the motor. See motor data sheet.

Unit: [0.01 V].

UINT

RW

0x960 (2400_dec)

8020:04

8030:04

Phase to phase resistance

The ohmic resistance between two motor phases.

Unit: [0.01 ohm].

UINT

RW

0x64 (100_dec)

8020:09

8030:09

Start velocity

Threshold value: the motor remains in the alignment phase as long as the output variable "Velocity" is smaller than this parameter.

If the value of this parameter is too low, commutation errors may occur.

Unit: [°/s].

UINT

RW

0xbb8 (3000_dec)

8020:13

8030:13

Mechanical to electrical ratio

You can experimentally determine or calculate the value for this parameter.

UINT

RW

0x1 (1_dec)

8020:14

8030:14

Rated velocity

Unit: [°/s].

UINT

RW

0x1388 (5000_dec)

8020:16

8030:16

I2T warn level

Warning threshold value of the I²T overload protection for the motor.

If the I²T value exceeds this threshold, the diagnostic bit "Channel n overload I2T warning" is set.

Unit: [%].

USINT

RW

0x50 (80_dec)

8020:18

8030:18

I2T error level

Fault threshold value of the I²T overload protection for the motor.

If the I²T value exceeds this threshold, the diagnostic bit "Channel n overload I2T error" is set. The motor is switched torque-free.

Unit: [%].

USINT

RW

0x6e (110_dec)

8020:19

8030:19

Motor thermal time constant

Thermal time constant of the I²T overload protection for the motor.

You can find the thermal time constant in the motor data sheet.

Unit: [0.1 s].

UINT

RW

0xf (15_dec)

8022:0

8032:0

STM Features Ch.n

USINT

RO

0x51 (81_dec)

8022:11

8032:11

Select info data 1

Possible values:

• 7_dec: Motor velocity
• 8_dec: Motor velocity filtered
• 11_dec: Motor I2T load
• 12_dec: Amplifier I2T load
• 13_dec: Motor dc current
• 14_dec: Motor dc current filtered
• 17_dec: Motor back emf
• 18_dec: Motor restart counter
• 101_dec: Internal temperature
• 104_dec: Motor supply voltage

USINT

RW

0x7 (7_dec)

8022:19

8032:19

Select info data 2

Possible values:

• 7_dec: Motor velocity
• 8_dec: Motor velocity filtered
• 11_dec: Motor I2T load
• 12_dec: Amplifier I2T load
• 13_dec: Motor dc current
• 14_dec: Motor dc current filtered
• 17_dec: Motor back emf
• 18_dec: Motor restart counter
• 101_dec: Internal temperature
• 104_dec: Motor supply voltage

USINT

RW

0xb (11_dec)

8022:51

8032:51

Select info data 3

Possible values:

• 7_dec: Motor velocity
• 8_dec: Motor velocity filtered
• 11_dec: Motor I2T load
• 12_dec: Amplifier I2T load
• 13_dec: Motor dc current
• 14_dec: Motor dc current filtered
• 17_dec: Motor back emf
• 18_dec: Motor restart counter
• 101_dec: Internal temperature
• 104_dec: Motor supply voltage

USINT

RW

0xd (13_dec)

8023:0

8033:0

STM Controller Settings 4 Ch.n

USINT

RO

0x26 (38_dec)

8023:03

8033:03

Disable motor diagnosis

Deactivates the motor protection functions for the duration of the alignment phase.

BOOL

RW

00

8023:04

8033:04

Disable I2T current limitting

Disables the current limitation that is triggered if the I²T value of the motor becomes too high.

• FALSE: The output current is limited if the I²T value of the motor exceeds 97 %.
• TRUE: no current limitation.

BOOL

RW

00

8023:11

8033:11

Velocity loop integral time

Integral component T_i of the speed controller.

Unit: [0.1 ms].

UDINT

RW

0x1f4 (500_dec)

8023:12

8033:12

Velocity loop proportional gain

Proportional component K_P of the speed controller.

Unit: [µV (°/s)].

UDINT

RW

0x0 (0_dec)

8023:13

8033:13

Velocity feed forward gain

Speed controller pre-control: This parameter determines the proportion of the speed setpoint that is bypassed by the speed controller.

USINT

RW

0x64 (100_dec)

8023:14

8033:14

Sensorless offset scaling

Output current during the alignment phase and the start-up phase, specified in % of the nominal current (parameter 80n0:02 "Rated current").

SINT

RW

0x32 (50_dec)

8023:15

8033:15

Align duration

Duration of the alignment phase.

Unit: [ms].

UINT

RW

0x3e8 (1000_dec)

8023:18

8033:18

Rampup duration

Duration of the start-up phase.

Unit: [ms].

UINT

RW

0xc8 (200_dec)

8023:19

8033:19

Rampup velocity

Target speed that the conveyor roller should have at the end of the start-up phase.

Unit: [°/s].

UINT

RW

0x341 (833_dec)

8023:21

8033:21

Rampup needed switchover events

Number of successful commutations required within the start-up phase for the start-up phase to be considered "successful". If the start-up phase is not successful, the output stage is shutdown and a commutation error is output.

UINT

RW

0x1 (1_dec)

8023:22

8033:22

Commutation threshold

This parameter is used to adapt the commutation for different motors.

UINT

RW

0x32 (50_dec)

8023:23

8033:23

Current loop proportional gain

Proportional component of the current controller.

Unit: [0.1 V/A].

UINT

RW

0x2 (2_dec)

8023:24

8033:24

Current loop integral time

Integral action time (Tn) of the current controller.

Unit: [0.1 ms].

UINT

RW

0x14 (20_dec)

8023:25

8033:25

Restart after error number of repetition

After a commutation error has occurred, the motor can be restarted automatically. See chapter Autoacknowledge: acknowledge errors automatically.

This parameter defines how many commutation errors with subsequent restart may occur before the motor is finally switched off. If this parameter is zero, the motor is switched off immediately after a commutation error in nominal operation.

UINT

RW

0x0 (0_dec)

8023:26

8033:26

Restart after error delay

This parameter fixes how long to wait after a commutation error in nominal operation before restarting the motor. See also 80n3:25.

Unit: [ms].

UINT

RW

0x3e (62_dec)

8040:0

ZNCTRL Settings Ch.1

USINT

RO

0x24 (36_dec)

8040:01

Disable zone

Disable ZPA mode for this zone.

BOOL

RW

00

8040:03

Invert motor direction

Reversal of the direction of rotation of the motor.

If the motor phases have been connected the wrong way round, the motor will rotate in the wrong direction.
With this parameter you can correct this without having to rewire the motor.

BOOL

RW

00

8040:04

Disable motor in stop

Switches the motor torque-free at standstill.

BOOL

RW

00

8040:12

External reset input hardware selection

Selection of the digital input for an external reset signal.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Input 1
• 2_dec: Input 2
• 3_dec: Input 3
• 4_dec: Input 4
• 65_dec: Control input 1
• 66_dec: Control input 2
• 67_dec: Control input 3
• 68_dec: Control input 4
• 4097_dec: Input 1 low active
• 4098_dec: Input 2 low active
• 4099_dec: Input 3 low active
• 4100_dec: Input 4 low active
• 4161_dec: Control input 1 low active
• 4162_dec: Control input 2 low active
• 4163_dec: Control input 3 low active
• 4164_dec: Control input 4 low active

UINT

RW

0x0 (0_dec)

8040:13

Zone sensor input hardware selection

Selection of the digital input for the zone sensor.

Recommendation: change this parameter only if you need to invert the sensor signal. See chapter "Cabling", section Sensor signals.

Possible values:

• 0_dec: None
• 1_dec: Input 1
• 2_dec: Input 2
• 3_dec: Input 3
• 4_dec: Input 4
• 65_dec: Control input 1
• 66_dec: Control input 2
• 67_dec: Control input 3
• 68_dec: Control input 4
• 4097_dec: Input 1 low active
• 4098_dec: Input 2 low active
• 4099_dec: Input 3 low active
• 4100_dec: Input 4 low active
• 4161_dec: Control input 1 low active
• 4162_dec: Control input 2 low active
• 4163_dec: Control input 3 low active
• 4164_dec: Control input 4 low active

UINT

RW

0x1 (1_dec)

8040:14

Upstream control input hardware selection

Configuration of digital inputs for ZPA communication.

Change these parameters only if you know exactly what you are doing.
These parameters must be in the factory setting for the ZPA communication via M8 cables to work.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Input 1
• 2_dec: Input 2
• 3_dec: Input 3
• 4_dec: Input 4
• 65_dec: Control input 1
• 66_dec: Control input 2
• 67_dec: Control input 3
• 68_dec: Control input 4
• 129_dec: Internal variable 1
• 130_dec: Internal variable 2
• 144_dec: PDO value
• 4097_dec: Input 1 [low active]
• 4098_dec: Input 2 [low active]
• 4099_dec: Input 3 [low active]
• 4100_dec: Input 4 [low active]
• 4161_dec: Control input 1 [low active]
• 4162_dec: Control input 2 [low active]
• 4163_dec: Control input 3 [low active]
• 4164_dec: Control input 4 [low active]

UINT

RW

0x41 (65_dec)

8040:15

Upstream control output hardware selection

Configuration of digital outputs for ZPA communication.

Change these parameters only if you know exactly what you are doing.
These parameters must be in the factory setting for the ZPA communication via M8 cables to work.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Output 1
• 2_dec: Output 2
• 3_dec: Output 3
• 4_dec: Output 4
• 65_dec: Control output 1
• 66_dec: Control output 2
• 67_dec: Control output 3
• 68_dec: Control output 4
• 129_dec: Internal variable 1
• 130_dec: Internal variable 2

UINT

RW

0x42 (66_dec)

8040:16

Downstream control input hardware selection

Configuration digital inputs for ZPA communication.

Change these parameters only if you know exactly what you are doing.
These parameters must be in the factory setting for the ZPA communication via M8 cables to work.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Input 1
• 2_dec: Input 2
• 3_dec: Input 3
• 4_dec: Input 4
• 65_dec: Control input 1
• 66_dec: Control input 2
• 67_dec: Control input 3
• 68_dec: Control input 4
• 129_dec: Internal variable 1
• 130_dec: Internal variable 2
• 144_dec: PDO value
• 4097_dec: Input 1 [low active]
• 4098_dec: Input 2 [low active]
• 4099_dec: Input 3 [low active]
• 4100_dec: Input 4 [low active]
• 4161_dec: Control input 1 [low active]
• 4162_dec: Control input 2 [low active]
• 4163_dec: Control input 3 [low active]
• 4164_dec: Control input 4 [low active]

UINT

RW

0x82 (130_dec)

8040:17

Downstream control output hardware selection

Configuration of digital outputs for ZPA communication.

Change these parameters only if you know exactly what you are doing.
These parameters must be in the factory setting for the ZPA communication via M8 cables to work.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Output 1
• 2_dec: Output 2
• 3_dec: Output 3
• 4_dec: Output 4
• 65_dec: Control output 1
• 66_dec: Control output 2
• 67_dec: Control output 3
• 68_dec: Control output 4
• 129_dec: Internal variable 1
• 130_dec: Internal variable 2

UINT

RW

0x81 (129_dec)

8040:1B

Initialisation run max duration

The maximum duration of the initialization run.

Unit: [ms].

UINT

RW

0x2710 (10000_dec)

8040:1C

Loading timeout

The maximum duration for accepting a package from the previous zone.
If the time is exceeded, the zone is assumed to be empty.

Unit: [ms].

UINT

RW

0x2710 (10000_dec)

8040:1D

Manual removing timeout

If a package leaves the detection zone of the sensor even though it was not conveyed further by the motor, it is assumed that the package was removed manually.
The controller then waits a period of time before assuming that the zone is actually empty.

The timespan is set by this parameter.

Unit: [ms].

UINT

RW

0x3e8 (1000_dec)

8040:1E

Loading follow-up time

When the zone accepts a package, the motor runs until the sensor detects the package.
The motor then continues to run for a short period of time to ensure that the package is safely within the sensor's detection range.

The timespan is set by this parameter.

Unit: [ms].

UINT

RW

0xc8 (200_dec)

8040:1F

Unloading follow-up time

If the zone continues to convey a package, the motor runs until the package leaves the detection range of the sensor.
The motor then continues to run for a short period of time to ensure that the package has been detected by the rollers of the subsequent zone.

The timespan is set by this parameter.

The closer the sensor is to the end of the zone, the shorter this timespan must be.

Unit: [ms].

UINT

RW

0x3e8 (1000_dec)

8040:20

Motor velocity

Presetting of the motor speed.

Unit: [°/s].

INT

RW

0x168 (360_dec)

8040:21

Motor acceleration

Preset of the acceleration ramp when starting the motor.

Unit: [°/s²].

UINT

RW

0x2710 (10000_dec)

8040:22

Motor decceleration

Presetting of the braking ramp when stopping the motor.

Unit: [°/s²].

UINT

RW

0x2710 (10000_dec)

8040:23

Train Release Delay

Delay time for the release type "Train Release".

This delay time prevents current peaks that would result from starting multiple motors at the same time.

Unit: [ms].

UINT

RW

0x64 (100_dec)

8040:24

Unloading timeout

The maximum duration for conveying a package out of the zone.
If the time is exceeded, the zone is still assumed to be full.

Unit: [ms].

UINT

RW

0x2710 (10000_dec)

8050:0

ZNCTRL Settings Ch.2

USINT

RO

0x24 (36_dec)

8050:01

Disable zone

Disable ZPA mode for this zone.

BOOL

RW

00

8050:03

Invert motor direction

Reversal of the direction of rotation of the motor.

If the motor phases have been connected the wrong way round, the motor will rotate in the wrong direction.
With this parameter you can correct this without having to rewire the motor.

BOOL

RW

00

8050:04

Disable motor in stop

Switches the motor torque-free at standstill.

BOOL

RW

00

8050:12

External reset input hardware selection

Selection of the digital input for an external reset signal.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Input 1
• 2_dec: Input 2
• 3_dec: Input 3
• 4_dec: Input 4
• 65_dec: Control input 1
• 66_dec: Control input 2
• 67_dec: Control input 3
• 68_dec: Control input 4
• 4097_dec: Input 1 low active
• 4098_dec: Input 2 low active
• 4099_dec: Input 3 low active
• 4100_dec: Input 4 low active
• 4161_dec: Control input 1 low active
• 4162_dec: Control input 2 low active
• 4163_dec: Control input 3 low active
• 4164_dec: Control input 4 low active

UINT

RW

0x0 (0_dec)

8050:13

Zone sensor input hardware selection

Selection of the digital input for the zone sensor.

Recommendation: change this parameter only if you need to invert the sensor signal. See chapter "Cabling", section Sensor signals.

Possible values:

• 0_dec: None
• 1_dec: Input 1
• 2_dec: Input 2
• 3_dec: Input 3
• 4_dec: Input 4
• 65_dec: Control input 1
• 66_dec: Control input 2
• 67_dec: Control input 3
• 68_dec: Control input 4
• 4097_dec: Input 1 low active
• 4098_dec: Input 2 low active
• 4099_dec: Input 3 low active
• 4100_dec: Input 4 low active
• 4161_dec: Control input 1 low active
• 4162_dec: Control input 2 low active
• 4163_dec: Control input 3 low active
• 4164_dec: Control input 4 low active

UINT

RW

0x3 (3_dec)

8050:14

Upstream control input hardware selection

Configuration of digital inputs for ZPA communication.

Change these parameters only if you know exactly what you are doing.
These parameters must be in the factory setting for the ZPA communication via M8 cables to work.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Input 1
• 2_dec: Input 2
• 3_dec: Input 3
• 4_dec: Input 4
• 65_dec: Control input 1
• 66_dec: Control input 2
• 67_dec: Control input 3
• 68_dec: Control input 4
• 129_dec: Internal variable 1
• 130_dec: Internal variable 2
• 144_dec: PDO value
• 4097_dec: Input 1 [low active]
• 4098_dec: Input 2 [low active]
• 4099_dec: Input 3 [low active]
• 4100_dec: Input 4 [low active]
• 4161_dec: Control input 1 [low active]
• 4162_dec: Control input 2 [low active]
• 4163_dec: Control input 3 [low active]
• 4164_dec: Control input 4 [low active]

UINT

RW

0x81 (129_dec)

8050:15

Upstream control output hardware selection

Configuration of digital outputs for ZPA communication.

Change these parameters only if you know exactly what you are doing.
These parameters must be in the factory setting for the ZPA communication via M8 cables to work.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Output 1
• 2_dec: Output 2
• 3_dec: Output 3
• 4_dec: Output 4
• 65_dec: Control output 1
• 66_dec: Control output 2
• 67_dec: Control output 3
• 68_dec: Control output 4
• 129_dec: Internal variable 1
• 130_dec: Internal variable 2

UINT

RW

0x82 (130_dec)

8050:16

Downstream control input hardware selection

Configuration digital inputs for ZPA communication.

Change these parameters only if you know exactly what you are doing.
These parameters must be in the factory setting for the ZPA communication via M8 cables to work.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Input 1
• 2_dec: Input 2
• 3_dec: Input 3
• 4_dec: Input 4
• 65_dec: Control input 1
• 66_dec: Control input 2
• 67_dec: Control input 3
• 68_dec: Control input 4
• 129_dec: Internal variable 1
• 130_dec: Internal variable 2
• 144_dec: PDO value
• 4097_dec: Input 1 [low active]
• 4098_dec: Input 2 [low active]
• 4099_dec: Input 3 [low active]
• 4100_dec: Input 4 [low active]
• 4161_dec: Control input 1 [low active]
• 4162_dec: Control input 2 [low active]
• 4163_dec: Control input 3 [low active]
• 4164_dec: Control input 4 [low active]

UINT

RW

0x44 (68_dec)

8050:17

Downstream control output hardware selection

Configuration of digital outputs for ZPA communication.

Change these parameters only if you know exactly what you are doing.
These parameters must be in the factory setting for the ZPA communication via M8 cables to work.

The assignment of the connection designations can be found in the chapter Digital inputs / outputs.

Possible values:

• 0_dec: None
• 1_dec: Output 1
• 2_dec: Output 2
• 3_dec: Output 3
• 4_dec: Output 4
• 65_dec: Control output 1
• 66_dec: Control output 2
• 67_dec: Control output 3
• 68_dec: Control output 4
• 129_dec: Internal variable 1
• 130_dec: Internal variable 2

UINT

RW

0x43 (67_dec)

8050:1B

Initialisation run max duration

The maximum duration of the initialization run.

Unit: [ms].

UINT

RW

0x2710 (10000_dec)

8050:1C

Loading timeout

The maximum duration for accepting a package from the previous zone.
If the time is exceeded, the zone is assumed to be empty.

Unit: [ms].

UINT

RW

0x2710 (10000_dec)

8050:1D

Manual removing timeout

If a package leaves the detection zone of the sensor even though it was not conveyed further by the motor, it is assumed that the package was removed manually.
The controller then waits a period of time before assuming that the zone is actually empty.

The timespan is set by this parameter.

Unit: [ms].

UINT

RW

0x3e8 (1000_dec)

8050:1E

Loading follow-up time

When the zone accepts a package, the motor runs until the sensor detects the package.
The motor then continues to run for a short period of time to ensure that the package is safely within the sensor's detection range.

The timespan is set by this parameter.

Unit: [ms].

UINT

RW

0xc8 (200_dec)

8050:1F

Unloading follow-up time

If the zone continues to convey a package, the motor runs until the package leaves the detection range of the sensor.
The motor then continues to run for a short period of time to ensure that the package has been detected by the rollers of the subsequent zone.

The timespan is set by this parameter.

The closer the sensor is to the end of the zone, the shorter this timespan must be.

Unit: [ms].

UINT

RW

0x3e8 (1000_dec)

8050:20

Motor velocity

Presetting of the motor speed.

Unit: [°/s].

INT

RW

0x168 (360_dec)

8050:21

Motor acceleration

Preset of the acceleration ramp when starting the motor.

Unit: [°/s²].

UINT

RW

0x2710 (10000_dec)

8050:22

Motor decceleration

Presetting of the braking ramp when stopping the motor.

Unit: [°/s²].

UINT

RW

0x2710 (10000_dec)

8050:23

Train Release Delay

Delay time for the release type "Train Release".

This delay time prevents current peaks that would result from starting multiple motors at the same time.

Unit: [ms].

UINT

RW

0x64 (100_dec)

8050:24

Unloading timeout

The maximum duration for conveying a package out of the zone.
If the time is exceeded, the zone is still assumed to be full.

Unit: [ms].

UINT

RW

0x2710 (10000_dec)

F80F:0

STM Vendor data

USINT

RO

0xf (15_dec)

F80F:04

Warning temperature

Unit: [°C].

SINT

RW

0x50 (80_dec)

F80F:05

Switch off temperature

Unit: [°C].

SINT

RW

0x64 (100_dec)

F80F:09

Amplifier switchoff current

Unit: [mA].

UINT

RW

0x4650 (18000_dec)

F80F:0A

Amplifier peak current

Unit: [mA].

UINT

RW

0x2ee0 (12000_dec)

F80F:0B

Amplifier rated current

Unit: [mA].

UINT

RW

0xdac (3500_dec)

F80F:0C

Amplifier minimal voltage

Unit: [0.01 V].

UINT

RW

0x708 (1800_dec)

F80F:0D

Amplifier maximal voltage

Unit: [0.01 V].

UINT

RW

EP7402-0057: 0xbb8 (3000_dec)

EP7402-0067: 0x1770 (6000_dec)

EP7402-0167: 0x1770 (6000_dec)

F80F:0E

Amplifier thermal time constant

Unit: [0.1 s].

UINT

RW

0x23 (35_dec)

F80F:0F

Maximum rotary field frequency

Unit: [Hz].

UINT

RW

0x257 (599_dec)

F810:0

ZNCTRL Device Settings

USINT

RO

0x15 (21_dec)

F810:11

Operation mode

Selection of the operation mode.

Possible values:

• 0: PLC mode
• 16: Local control

UINT

RW

0x0 (0_dec)

F810:13

Local control mode

Selection of ZPA release type.

Possible values:

• 0: ZPA singulated release
• 1: ZPA train release

UINT

RW

0x0 (0_dec)

F810:14

Autoacknowledge number of attempts

See chapter Autoacknowledge: acknowledge errors automatically.

UINT

RW

0x0 (0_dec)

F810:15

Autoacknowledge delay

See chapter Autoacknowledge: acknowledge errors automatically.

Unit: [ms].

UINT

RW

0x3e (62_dec)