"Index offset" specification for axis parameter (Index group 0x4000 + ID)
Index offset (Hex) | Access | Axis type | Data type | Phys. unit | Definition range | Description | Note |
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0x00n00000 | Read | every | { |
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| General AXIS PARAMETER STRUCTURE (NC/CNC), Note: Size and alignment changed. | Modified from TC3 |
UINT32 | 1 |
| Axis ID | ||||
STRING[30+1] | 1 |
| Axis name | ||||
UINT32 | 1 | ENUM | |||||
. . . | . . . | . . . | . . . | ||||
} |
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| 1024 bytes (instead of 512 bytes) | ||||
0x00000001 | Read | every | UINT32 | 1 |
| Axis ID |
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0x00000002 | Read | every | STRING[30+1] | 1 |
| Axis name | Any number of characters from TC3.1 Build 4022.32 or 4024.6 |
0x00000003 | Read | every | UINT32 | 1 | ENUM |
| |
0x00000004 | Read | every | UINT32 | µs |
| Cycle time axis (SEC) |
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0x00000005 | Read | every | STRING[10+1] | 1 |
| Physical unit |
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0x00000006 | Read/Write | every | REAL64 | e.g. mm/s |
| Ref. velocity in cam direction |
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0x00000007 | Read/Write | every | REAL64 | e.g. mm/s |
| Ref. velocity in sync direction |
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0x00000008 | Read/Write | every | REAL64 | e.g. mm/s |
| Velocity hand slow |
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0x00000009 | Read/Write | every | REAL64 | e.g. mm/s |
| Velocity hand fast |
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0x0000000A | Read/Write | every | REAL64 | e.g. mm/s | [0.0...1.0E20] | Velocity rapid traverse |
|
0x0000000F | Read/Write | every | UINT16 | 1 | 0/1 | Position range monitoring? |
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0x00000010 | Read/Write | every | REAL64 | e.g. mm | [0.0...1.0E6] | Position range window |
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0x00000011 | Read/Write | every | UINT16 | 1 | 0/1 | Motion monitoring? |
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0x00000012 | Read/Write | every | REAL64 | s | [0.0...600] | Motion monitoring time |
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0x00000013 | Read/Write | every | UINT16 | 1 | 0/1 | Loop? |
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0x00000014 | Read/Write | every | REAL64 | e.g. mm |
| Looping distance (±) |
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0x00000015 | Read/Write | every | UINT16 | 1 | 0/1 | Target position monitoring? |
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0x00000016 | Read/Write | every | REAL64 | e.g. mm | [0.0...1.0E6] | Target position window |
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0x00000017 | Read/Write | every | REAL64 | s | [0.0...600] | Target position monitoring time |
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0x00000018 | Read/Write | every | REAL64 | e.g. mm |
| Pulse way in pos. direction |
|
0x00000019 | Read/Write | every | REAL64 | e.g. mm |
| Pulse way in neg. direction |
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0x0000001A | Read/Write | every | UINT32 | 1 | ENUM (≥0) | Error reaction mode: 0: instantaneous (default) 1: delayed (e.g. for Master/Slave-coupling) |
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0x0000001B | Read/Write | every | REAL64 | s | [0...1000] | Error delay time |
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0x0000001C | Read/Write | every | UINT16 | 1 | 0/1 | Couple slaves via actual values if not ready to operate? |
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0x0000001D | Read/Write | every | REAL64 | e.g. mm/s^2 | [0, 0.01...1.0E10] | Acceleration for fading profile when switching from set to actual values: Default: 0 (in this case the minimum from the axis acceleration is used, i.e. MIN(Acc, Dec)) |
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0x0000001E | Read/Write | every | UINT32 | 1 | ENUM (≥0) | Fast Axis Stop Signal Type: Selection of the signal type that triggers a fast axis stop (see bit 7 in Drive->nStatus4) "0 (SignalType_OFF)", "1 (SignalType_RisingEdge)","2 (SignalType_FallingEdge)","3 (SignalType_BothEdges)","4 (SignalType_HighActive)","5 (SignalType_LowActive)" |
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0x00000020 | Read/Write | every | UINT16 | 1 | 0/1 | Allow motion commands for slave axis? Default: FALSE |
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0x00000021 | Read/Write | every | UINT16 | 1 | 0/1 | Allow motion commands for axes with active external setpoint generator? Default: FALSE |
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0x00000026 | Read/Write | every | UINT32 | 1 |
| Interpretation of the units (position, velocity, time) Bit 0: Velocity in x/min instead of x/s Bit 1: Position in thousandths of the base unit Bit 2: Modulo position display | See encoder! Bit array |
0x00000027 | Read/Write | every | REAL64 | e.g. mm/s | [>0...1.0E20] | Max. allowed velocity |
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0x00000028 | Read/Write | every | REAL64 | e.g. mm | [0.0...1.0E6] | Motion monitoring window |
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0x00000029 | Read/Write | every | UINT16 | 1 | 0/1 | PEH time monitoring? | Position end and accurate stop |
0x0000002A | Read/Write | every | REAL64 | s | [0.0...600] | PEH monitoring time |
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0x0000002C | Read/Write | every | REAL64 | e.g. mm | [-1000.0 ...1000.0] | Backlash |
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0x00000030 | Read | every | UINT16 | 1 | [0,1] | Persistent data e.g. for actual position and reference state of the encoder? | Boot parameters, cannot be changed online. |
0x00000031 | Read | every | { |
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| Read the hardware AMS address |
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| UINT8[6] |
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| AmsNetId | |
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| UINT16 |
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| AmsPortNo | |
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| UINT16 |
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| ChannelNo | |
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| } 10 bytes |
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0x00000031 | Read | every | { |
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| Read the hardware AMS address Supplemented by additional NC information such as NC Drive ID, NC Drive type, etc..
NEW from TC3 Drive ObjectId and Encoder ObjectId from NC build 4437 |
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| UINT8[6] |
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| AmsNetId | |
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| UINT16 |
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| AmsPortNo | |
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| UINT16 |
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| ChannelNo | |
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| UINT16 |
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| reserved | |
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| UINT32 | 1 | [0, 1...255] | NC Drive ID | |
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| UINT32 | 1 |
| NC Drive index | |
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| UINT32 | 1 | Enum | ||
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| UINT32 | 1 | [0, 1...255] | NC Encoder ID | |
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| UINT32 | 1 |
| NC Encoder index | |
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| UINT32 | 1 | Enum | ||
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| UINT32 | 1 | [0, 1...255] | NC Axis ID | |
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| UINT32 | 1 | Enum | ||
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| UINT32 | 1 |
| TwinCAT Drive ObjectId | |
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| UINT32 | 1 |
| TwinCAT Encoder ObjectId | |
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| UINT32[3] |
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| reserved | |
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| } 64 bytes |
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| |
0x00000033 | Read | every | { |
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| General APPLICATION REQUEST STRUCTURE (NC/NCI), Changed in TC3 | |
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| UINT16 | 1 | 0/1 | ApplRequestBit | |
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| UINT16 | 1 | 0: NONE (IDLE) 1: HOMING | ApplRequestType | |
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| UINT32 |
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| ApplCmdNo | |
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| UINT32 | 1 | ≥0 | ApplCmdVersion | |
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| … |
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| } 1024 bytes |
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0x00000051 | Read | Channel: every | UINT32 |
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| Channel ID |
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0x00000052 | Read | Channel: every | STRING[30+1] |
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| Channel name |
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0x00000053 | Read | Channel: every | UINT32 | 1 | ENUM |
| |
0x00000054 | Read | Group: every | UINT32 |
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| Group ID |
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0x00000055 | Read | Group: every | STRING[30+1] |
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| Group name |
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0x00000056 | Read | Group: every | UINT32 | 1 | ENUM |
| |
0x00000057 | Read | every | UINT32 |
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| Number of encoders |
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0x00000058 | Read | every | UINT32 |
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| Number of controllers |
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0x00000059 | Read | every | UINT32 |
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| Number of drives |
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0x0000005A | Read | every | { |
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| Read all sub-elements of an axis: |
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UINT32[ 9 ] | 1 | [0, 1...255] | Axis encoder IDs | ||||
UINT32[ 9 ] | 1 | [0, 1...255] | Axis controller IDs | ||||
UINT32[ 9 ] | 1 | [0, 1...255] | Axis drive IDs | ||||
} 108 bytes |
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0x000000F1 | Read/Write | every | REAL64 | e.g. mm/s^2 | Default: 1.0E5 | Maximum permitted acceleration | NEW from TC 3.2 |
0x000000F2 | Read/Write | every | REAL64 | e.g. mm/s^2 | Default: 1.0E6 | Maximum permitted deceleration | NEW from TC 3.2 |
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0x00000101 | Read/Write | Servo | REAL64 | e.g. mm/s^2 | [0.01...1.0E20] | Acceleration (default data set) |
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0x00000102 | Read/Write | Servo | REAL64 | e.g. mm/s^2 | [0.01...1.0E20] | Deceleration (default data set) |
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0x00000103 | Read/Write | Servo | REAL64 | e.g. mm/s^3 | [0.1...1.0E30] | Jerk (default data set) |
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0x00000104 | Read/Write | Servo | REAL64 | s | [0.0 ... 1.0] | Deceleration time between velocity and position values of the setpoint generator in seconds |
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0x00000105 | Read/Write | Servo | UINT32 | 1 | ENUM Default: type 1 | Override type for velocity: 1: Related to internal reduced velocity (without iteration) 2: Related to original external start velocity (without iteration) 3: Related to internal reduced velocity (optimization by means of iteration) 4: Related to original external start velocity (optimization by means of iteration) |
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0x00000106 | Read/Write | Servo | REAL64 | 1 | [0.0 ... 1.0E6] | Maximum permitted step change in velocity for dynamic reduction DV = factor *min(A+, A-) * DT |
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0x00000107 | Read/Write | Servo | UINT16 | 1 | [0.1] | Activates acceleration and jerk limitation for the auxiliary axis (Q1 to Q5) |
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| Read/Write | Servo | REAL64 | e.g. mm | [0.0..1000.0] | Radius of the tolerance sphere for the auxiliary axes |
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| Read/Write | Servo | REAL64 | e.g. mm | [0.0..10000.0] | Maximum allowed position deviation if the tolerance sphere is reduced Only for auxiliary axes |
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0x0000010A | Read/Write | Servo | REAL64 | e.g. mm/s^2 | [0.01 ... 1.0E20] | Fast Axis Stop: Acceleration (s.a. Fast Axis Stop Signal Type) |
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0x0000010B | Read/Write | Servo | REAL64 | e.g. mm/s^2 | [0.01 ... 1.0E20] | Fast Axis Stop: Deceleration (s.a. Fast Axis Stop Signal Type) |
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0x0000010C | Read/Write | Servo | REAL64 | e.g. mm/s^3 | [0.1 ... 1.0E30] | Fast Axis Stop: Jerk (s.a. Fast Axis Stop Signal Type) |
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0x0000010D | Read/Write | Servo | UINT32 | 1 |
| Index offset of the axis state that is passed in the cyclic interface as "UserData". 0x00000000: deactivated |
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0x00000201 | Read/Write | Stepper motor | UINT32 | 1 | ENUM | Operation mode stepper motor |
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0x00000202 | Read/Write | Stepper motor | REAL64 | e.g. mm/STEP | [1.0E-6 ... 1000.0] | Distance scaling of a motor step |
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0x00000203 | Read/Write | Stepper motor | REAL64 | e.g. mm/s | [0.0 ... 1000.0] | Minimum velocity for velocity profile |
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0x00000204 | Read/Write | Stepper motor | UINT32 | 1 | [0 ... 100] | Number of steps per frequency/velocity step |
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0x00000205 | Read/Write | Stepper motor | UINT32 | 1 |
| Motor mask as sync pulse | Not implemented! |
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0x00000301 | Read/Write | high/low | REAL64 | e.g. mm | [0.0 ... 100000.0] | Creep distance in pos. direction |
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0x00000302 | Read/Write | high/low | REAL64 | e.g. mm | [0.0 ... 100000.0] | Creep distance in neg. direction |
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0x00000303 | Read/Write | high/low | REAL64 | e.g. mm | [0.0 ... 100000.0] | Braking distance in pos. direction |
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0x00000304 | Read/Write | high/low | REAL64 | e.g. mm | [0.0 ... 100000.0] | Braking distance in neg. direction |
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0x00000305 | Read/Write | high/low | REAL64 | s | [0.0 ... 60.0] | Braking deceleration in pos. direction |
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0x00000306 | Read/Write | high/low | REAL64 | s | [0.0 ... 60.0] | Braking deceleration in neg. direction |
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0x00000307 | Read/Write | high/low | REAL64 | s | [0.0 ... 60.0] | Switching time from high to low velocity |
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0x00000308 | Read/Write | high/low | REAL64 | e.g. mm | [0.0 ... 100000.0] | Creep distance stop |
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0x00000309 | Read/Write | high/low | REAL64 | s | [0.0 ... 60.0] | Delay time to release brake |
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0x0000030A | Read/Write | high/low | REAL64 | s | [0.0 ... 60.0] | Pulse time in pos. direction |
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0x0000030B | Read/Write | high/low | REAL64 | s | [0.0 ... 60.0] | Pulse time in neg. direction |
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ENCODER |
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0x00n10001 | Read | Encoder: every | UINT32 | 1 | [1 ... 255] | Encoder ID n = 0: standard encoder of the axes > 0: nth encoder of the axis (optional) |
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0x00n10002 | Read | Encoder: every | STRING[30+1] | 1 | 30 characters | Encoder name |
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0x00n10003 | Read | Encoder: every | UINT32 | 1 | ENUM (>0) |
| |
0x00n10004 | Read/Write | Encoder: every | UINT32 | 1 | Byteoffset | Input address offset (I/O-Input-Image) | Change I/O address |
0x00n10005 | Read/Write | Encoder: every | UINT32 | 1 | Byteoffset | Output address offset (I/O-Output-Image) | Change I/O address |
0x00n10006 | Read/Write | Encoder: every | REAL64 | e.g. mm/INC | [1.0E-12 ... 1.0E+30] | Resulting scaling factor (numerator / denominator) Note: from TC3 the scaling factor consists of two components – numerator and denominator (default: 1.0). | Writing is not allowed if the controller enable has been issued. |
0x00n10007 | Read/Write | Encoder: every | REAL64 | e.g. mm | [±1.0E+9] | Position offset | Writing is not allowed if the controller enable has been issued. |
0x00n10008 | Read/Write | Encoder: every | UINT16 | 1 | [0,1] | Encoder count direction | Writing is not allowed if the controller enable has been issued. |
0x00n10009 | Read/Write | Encoder: every | REAL64 | e.g. mm | [0.001 ... 1.0E+9] | Modulo factor |
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0x00n1000A | Read/Write | Encoder: every | UINT32 | 1 | s. ENUM (>0) |
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0x00n1000B | Read/Write | Encoder: every | UINT16 | 1 | 0/1 | Soft end min. monitoring? |
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0x00n1000C | Read/Write | Encoder: every | UINT16 | 1 | 0/1 | Soft end max. monitoring? |
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0x00n1000D | Read/Write | Encoder: every | REAL64 | mm |
| Soft end position min. |
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0x00n1000E | Read/Write | Encoder: every | REAL64 | mm |
| Soft end position max. |
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0x00n1000F | Read/Write | Encoder: every | UINT32 | 1 | s. ENUM (≥0) | Encoder evaluation direction (enable for log. counting direction) |
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0x00n10010 | Read/Write | Encoder: every | REAL64 | s | [0.0...60.0] | Filter time for actual position value in seconds (P-T1) |
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0x00n10011 | Read/Write | Encoder: every | REAL64 | s | [0.0...60.0] | Filter time for actual velocity value in seconds (P-T1) |
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0x00n10012 | Read/Write | Encoder: every | REAL64 | s | [0.0...60.0] | Filter time for actual acceleration value in seconds (P-T1) |
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0x00n10013 | Read/Write | Encoder: every | STRING[10+1] | 1 |
| Physical unit | Not implemented! |
0x00n10014 | Read/Write | Encoder: every | UINT32 | 1 |
| Interpretation of the units (position, velocity, time) Bit 0: Velocity in x/min instead of x/s Bit 1: Position in thousandths of the base unit | Not implemented! Bit array |
0x00n10015 | Read | Encoder: every | UINT32 | INC | [0x0... 0xFFFFFFFF] | Encoder mask (maximum value of the encoder actual value in increments Note: The encoder mask may be any numerical value (e.g. 3600000). Unlike in the past, it no longer has to correspond to a continuous series off binary one's (2n-1). | Read-only parameter see also "Encoder Sub Mask" parameter |
0x00n10016 | Read/Write | Encoder: every | UINT16 | 1 | 0/1 | Actual position correction (measurement system error correction)? |
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0x00n10017 | Read/Write | Encoder: every | REAL64 | s | [0.0...60.0] | Filter time for actual position correction in seconds (P-T1) |
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0x00n10019 | Read/Write | Encoder: every | UINT32 | 1 | ENUM (>0) | Writing is not allowed if the controller enable has been issued. | |
0x00n1001A | Read | Encoder: every | UINT32 | 1 | ENUM (>0) | Encoder position initialization | Not implemented! |
0x00n1001B | Read/Write | Encoder: every | REAL64 | e.g. mm | [≥0, modulo factor/2] | Tolerance window for modulo-start |
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0x00n1001C | Read | Encoder: every | UINT32 | 1 | ENUM (>0) | Encoder sign interpretation (data type) |
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0x00n1001D | Read | Encoder: every | UINT16 | 1 | 0/1 | Incremental or absolute encoder ? 0: Incremental encoder type 1: Absolute encoder type |
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0x00n10023 | Read/Write | Encoder: every | REAL64 | e.g. mm/INC | [1.0E-12 ... 1.0E+30] | Component of the scaling factor: numerator (=> scaling factor numerator / scaling factor denominator) | NEW from TC3 Writing is not allowed if the controller enable has been issued. |
0x00n10024 | Read/Write | Encoder: every | REAL64 | 1 | [1.0E-12 ... 1.0E+30] | Component of the scaling factor: denominator (=> scaling factor numerator / scaling factor denominator) Default: 1.0 | NEW from TC3 Writing is not allowed if the controller enable has been issued. |
0x00n10025 | Read/Write | Encoder: every | { | e.g. mm/INC | [1.0E-12 ... 1.0E+30] | Component of the scaling factor: numerator Component of the scaling factor: denominator (=> scaling factor numerator / scaling factor denominator) | NEW from TC3 |
0x00n10030 | Read/Write | Encoder: every | UINT32 | 1 |
| Internal encoder control double word for specifying the operation modes and properties | NEW from TC3 |
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0x00n10101 | Read/Write | E: INC | UINT16 | 1 | [0,1] | Inverse search direction for ref.cam? |
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0x00n10102 | Read/Write | E: INC | UINT16 | 1 | [0,1] | inverse search direction for sync pulse? |
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0x00n10103 | Read/Write | E: INC | REAL64 | e.g. mm | [±1000000.0] | Reference position |
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0x00n10104 | Read/Write | E: INC | UINT16 | 1 | [0,1] | Distance monitoring between Ref. cams and sync pulse active? | Not implemented! |
0x00n10105 | Read/Write | E: INC | UINT32 | INC | [0 ... 65536] | Minimum gap between Ref. cams and sync pulse in increments | Not implemented! |
0x00n10106 | Read/Write | E: INC | UINT16 | 1 | [0,1] | External sync pulse? |
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0x00n10107 | Read/Write | E: INC | UINT32 | 1 | s. ENUM (>0) |
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0x00n10108 | Read/Write | E: INC | UINT32 | 1 | [0x0000000F... 0xFFFFFFFF]binary mask: (2n - 1) | Encoder Sub Mask (maximum value of the absolute range of the encoder actual value in increments) Used, for example, as a reference mark for the referencing mode "Software Sync" and for the NC Retain Data "ABSOLUTE (MODULO)", "INCREMENTAL (SINGLETURN ABSOLUTE)". Note 1: The Encoder Sub Mask must be smaller than or equal to the Encoder Mask. Note 2: The Encoder Mask must be an integer multiple of the Encoder Sub Mask. Note 3: The Encoder Sub Mask must be a continuous sequence of binary ones (2n-1), e.g. 0x000FFFFF. | see also "Encoder Mask" parameter |
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0x00n10110 | Read/Write | E: INC (encoder simulation) | REAL64 | 1 | [0.0 ... 1000000.0] | Scaling/weight of the noise part for the simulation encoder |
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CONTROLLER |
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0x00n20001 | Read | Controller: every | UINT32 | 1 | [1 ... 255] | Controller ID n = 0: standard controller of the axes > 0: nth controller of the axis (optional) |
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0x00n20002 | Read | Controller: every | STRING[30+1] | 1 | 30 characters | Controller name |
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0x00n20003 | Read | Controller: every | UINT32 | 1 | ENUM (>0) |
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0x00n2000A | Read/Write | Controller: every |
| 1 | ENUM (>0) | Controller mode |
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0x00n2000B | Read/Write | Controller: every | REAL64 | % | [0.0 ... 1.0] | Weighting of the velocity pre-control (default value: 1.0 = 100 %) |
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0x00n20010 | Read/Write | Controller: every | UINT16 | 1 | 0/1 | Position lag monitoring Pos.? |
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0x00n20011 | Read/Write | Controller: every | UINT16 | 1 | 0/1 | Position lag monitoring Velocity? |
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0x00n20012 | Read/Write | Controller: every | REAL64 | e.g. mm |
| Max. lag error position |
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0x00n20013 | Read/Write | Controller: every | REAL64 | s |
| Max. lag error filter time position |
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0x00n20014 | Read/Write | Controller: every | REAL64 | e.g. mm/s |
| Max. lag error velocity |
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0x00n20015 | Read/Write | Controller: every | REAL64 | s |
| Max. lag error filter time velocity |
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0x00n20100 | Read/Write | P/PID (pos., (veloc.) | REAL64 | 1 | [0.0...1.0] | Maximum output limitation (±) for controller total output | (default value: 0.5 == 50%) |
0x00n20102 | Read/Write | P/PID (pos.) | REAL64 | e.g. mm/s/ mm | [0.0...1000.0] | Proportional gain kp or kv | Position control |
0x00n20103 | Read/Write | PID (pos.) | REAL64 | s | [0.0 ... 60.0] | Integral action time Tn | Position control |
0x00n20104 | Read/Write | PID (pos.) | REAL64 | s | [0.0 ... 60.0] | Derivative action time Tv | Position control |
0x00n20105 | Read/Write | PID (pos.) | REAL64 | s | [0.0 ... 60.0] | Damping time Td | Position control |
0x00n20106 | Read/Write | PP (Pos.) | REAL64 | e.g. mm/s/ mm | [0.0...1000.0] | Additional proportional gain, kp or kv respectively, that applies above a limiting velocity in percent. | Position control |
0x00n20107 | Read/Write | PP (Pos.) | REAL64 | % | [0.0...1.0] | Threshold velocity in percent above which the additional proportional gain, kp or kv respectively, applies |
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0x00n20108 | Read/Write | P/PID (Acc.) | REAL64 | s | [0.0 ... 100.0] | Proportional gain ka | Acceleration pre-control |
0x00n2010D | Read/Write | P/PID | REAL64 | mm | [0.0 ... 10000.0] | "Dead band" for position error (control deviation) (for P/PID controllers with velocity or torque interface) | Reserved function |
0x00n2010F | Read/Write | P/PP/PID (pos.) | REAL64 | (mm/s) / mm | [0.0...1000.0] | Slave coupling difference control: Proportional gain kcp | Slave coupling difference control |
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0x00n20110 | Read/Write | P (Pos.) | UINT16 | 1 | 0/1 | Automatic offset calibration: active/passive |
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0x00n20111 | Read/Write | P (Pos.) | UINT16 | 1 | 0/1 | Automatic offset calibration: hold mode |
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0x00n20112 | Read/Write | P (Pos.) | UINT16 | 1 | 0/1 | Automatic offset calibration: Fading mode |
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0x00n20114 | Read/Write | P (Pos.) | REAL64 | % | [0.0 ... 1.0] | Automatic offset calibration: Pre-control limit |
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0x00n20115 | Read/Write | P (Pos.) | REAL64 | s | [0.1 ... 60.0] | Automatic offset calibration: Time constant |
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0x00n20116 | Read/Write | PID (pos.) | REAL64 | % | [0.0...1.0] | Maximum output limitation (±) for I part in percent (default setting: 0.1 = 10%) |
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0x00n20117 | Read/Write | PID (pos.) | REAL64 | % | [0.0...1.0] | Maximum output limitation (±) for D part in percent (default setting: 0.1 = 10%) |
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0x00n20118 | Read/Write | PID (pos.) | UINT16 | 1 | 0/1 | Deactivation of the I part during an active positioning process (assuming I part active)? (Default setting: 0 = FALSE) |
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0x00n20120 | Read/Write | P/PID (pos.) | REAL64 | s | ≥0 | PT-1 filter value for position error (pos. control deviation) | Reserved function, |
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0x00n20202 | Read/Write | P/PID (velocity) | REAL64 | 1 | [0.0...1000.0] | Proportional gain kp or kv | Velocity control |
0x00n20203 | Read/Write | PID (velocity) | REAL64 | s | [0.0 ... 60.0] | Integral action time Tn | Velocity |
0x00n20204 | Read/Write | PID (velocity) | REAL64 | s | [0.0 ... 60.0] | Derivative action time Tv | Velocity control |
0x00n20205 | Read/Write | PID (velocity) | REAL64 | s | [0.0 ... 60.0] | Damping time Td | Velocity control |
0x00n20206 | Read/Write | PID (velocity) | REAL64 | % | [0.0...1.0] | Maximum output limitation (±) for I-part in percent (default setting: 0.1 = 10%) | Velocity |
0x00n20207 | Read/Write | PID (velocity) | REAL64 | % | [0.0...1.0] | Maximum output limitation (±) for D-part in percent (default setting: 0.1 = 10%) | Velocity control |
0x00n2020D | Read/Write | P/PID (velocity) | REAL64 | mm/s | [0.0 ... 10000.0] | "Dead band" for velocity error (control deviation) (for P/PID controllers with velocity or torque interface) | Reserved function |
0x00n20220 | Read/Write | P/PID (velocity) | REAL64 | s | ≥0 | PT-2 filter value for velocity error (vel. control deviation) | Velocity control, not standard! |
0x00n20221 | Read/Write | P/PID (velocity) | REAL64 | s | ≥0 | PT-1 filter value for velocity error (vel. control deviation) | Reserved function, |
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0x00n20250 | Read/Write | P/PI (observer) | UINT32 | 1 | ENUM (>0) | Observer mode for control in the torque interface 0: OFF (default) 1: LUENBERGER |
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0x00n20251 | Read/Write | P/PI (observer) | REAL64 | Nm / A | >0.0 | Motor: Torque constant KT |
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0x00n20252 | Read/Write | P/PI (observer) | REAL64 | kg m2 | >0.0 | Motor: Moment of inertia JM |
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0x00n20253 | Read/Write | P/PI (observer) | REAL64 | Hz | [100.0 ... 2000.0] Default: 500 | Bandwidth f0 |
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0x00n20254 | Read/Write | P/PI (observer) | REAL64 | 1 | [0.0 ... 2.0] Default: 1.0 | Correction factor kc |
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0x00n20255 | Read/Write | P/PI (observer) | REAL64 | s | [0.0 ... 0.01] Default: 0.001 | Velocity filter (1st order): Time constant T |
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0x00n20A03 | Read/Write | P/PID (MW) | REAL64 | cm^2 | [0.0 ... 1000000] | Cylinder area AA of the A side in cm^2 | Reserved parameters! |
0x00n20A04 | Read/Write | P/PID (MW) | REAL64 | cm^2 | [0.0 ... 1000000] | Cylinder area AB of the B side in cm^2 | Reserved parameters! |
0x00n20A05 | Read/Write | P/PID (MW) | REAL64 | cm^3/s | [0.0 ... 1000000] | Nominal volume flow Qnom in cm^3/s | Reserved parameters! |
0x00n20A06 | Read/Write | P/PID (MW) | REAL64 | bar | [0.0 ... 1000000] | Nominal pressure or valve pressure drop, Pnom in bar | Reserved parameters! |
0x00n20A07 | Read/Write | P/PID (MW) | UINT32 | 1 | [1 ... 255] | Axis ID for the system pressure Po | Reserved parameters! |
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DRIVE: |
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0x00n30001 | Read | Drive: every | UINT32 | 1 | [1 ... 255] | Drive ID |
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0x00n30002 | Read | Drive: every | STRING[30+1] | 1 | 30 characters | Drive name |
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0x00n30003 | Read | Drive: every | UINT32 | 1 | ENUM (>0) |
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0x00n30004 | Read/Write | Drive: every | UINT32 | 1 | Byteoffset | Input address offset (I/O-Input-Image) | Change I/O address |
0x00n30005 | Read/Write | Drive: every | UINT32 | 1 | Byteoffset | Output address offset (I/O-Output-Image) | Change I/O address |
0x00n30006 | Read/Write | Drive: every | UINT16 | 1 | [0,1] | Motor polarity | Writing is not allowed if the controller enable has been issued. |
0x00n3000A | Read/Write | Drive: every | UINT32 | 1 | ENUM (≥0) | Drive mode |
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0x00n3000B | Read/Write | Drive: every | REAL64 | % | [-1.0 ... 1.0] | Minimum output limit (output limitation) (default setting: -1.0 = -100%) |
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0x00n3000C | Read/Write | Drive: every | REAL64 | % | [-1.0 ... 1.0] | Maximum output limit (output limitation) (default setting: 1.0 = 100%) |
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0x00n3000D | Read | Drive: every | UINT32 | INC |
| Maximum number of output increments (output mask) |
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0x00n30010 | Read/Write | Drive: every | UINT32 | 1 |
| Internal Drive Control double word to determine the drive operation modes | Reserved! |
0x00n30011 | Read/Write | every | UINT32 | 1 | ≥ 5 | Internal drive reset counter | Reserved! |
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0x00n30101 | Read/Write | D: Servo | REAL64 | e.g. mm/s | >0.0 | Reference velocity at reference output (velocity pre-control) |
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0x00n30102 | Read/Write | D: Servo | REAL64 | % | [0.0 ... 5.0] | Reference output in percent (default setting: 1.0 = 100%) |
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0x00n30103 | Read | D: Servo | REAL64 | e.g. mm/s | >0.0 | Resulting velocity at 100% output |
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0x00n30104 | Read/Write | D: Servo | REAL64 | e.g. mm/s | ±∞ | Velocity offset (DAC offset) for drift calibration (offset calibration) of the axis |
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0x00n30105 | Read/Write | D: Servo (Sercos, Profi Drive, AX200x, CANopen) | REAL64 | 1 | [0.0 ... 100000000.0] | Velocity scaling (scaling factor to respond to the weight in the drive) | For Sercos, Profi Drive, AX200x, CANopen |
0x00n30106 | Read/Write | D: Profi Drive DSC | UINT32 | 0.001 * 1/s | ≥ 0 | Profibus/Profi Drive DSC: Position control gain Kpc | Only for Profi Drive DSC |
0x00n30107 | Read/Write | D: Profi Drive DSC | REAL64 | 1 | ≥ 0.0 | Profibus/Profi Drive DSC: Scaling for calculation of 'XERR' (default: 1.0) | Only for Profi Drive DSC |
0x00n30109 | Read/Write | D: Servo (Sercos, CANopen) | REAL64 | 1 | [0.0 ... 100000000.0] | Position scaling (scaling factor to respond to the weight in the drive) | For Sercos, CANopen |
0x00n3010A | Read/Write | D: Servo (Sercos, Profi Drive, AX200x, CANopen) | REAL64 | 1 | [0.0 ... 100000000.0] | Acceleration scaling (scaling factor to respond to the weight in the drive) | For Sercos, Profi Drive, AX200x, CANopen |
0x00n3010B | Read/Write | D: Servo (Sercos, Profi Drive, AX200x, CANopen) | REAL64 | 1 | [0.0 ... 100000000.0] | Torque scaling (rotary motor) or force scaling (linear motor) (scaling factor for reacting to weighting in the drive) for "TorqueOffset" (additive moment as pre-control) | For Sercos, Profi Drive, AX200x, CANopen |
0x00n3010C | Read/Write | D: Servo (Sercos, Profi Drive, AX200x, CANopen) | REAL64 | 1 | [0.0 ... 100000000.0] | Torque scaling (rotary motor) or force scaling (linear motor) (scaling factor for reacting to weighting in the drive) for "SetTorque" | For Sercos, Profi Drive, AX200x, CANopen From TC3.1 B4024.2 |
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0x00n30120 | Read/Write | D: servo/hydraulics/ | UINT32 | 1 | ≥ 0 | Table ID (0: no table) | Only for KL4xxx, M2400, Universal |
0x00n30121 | Read/Write | D: servo/hydraulics | UINT32 | 1 | ≥ 0 | Interpolation type 0: linear 2: spline | Only for KL4xxx, M2400, Universal |
0x00n30122 | Read/Write | Servo/hydraulics | REAL64 | % | [-1.0 ... 1.0] | Output offset in percent Note: Acts according to the characteristic evaluation! | Only for KL4xxx, M2400, Universal |
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0x00n30151 | Read/Write | D: servo / non-linear | REAL64 | 1 | [0.0 ... 100.0] | Quadrant compensation factor (relationship between quadrant I and III) |
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0x00n30152 | Read/Write | D: servo / non-linear | REAL64 | 1 | [0.01 ... 1.0] | Velocity reference point in percent (1.0 = 100 %) |
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0x00n30153 | Read/Write | D: servo / non-linear | REAL64 | 1 | [0.01 ... 1.0] | Output reference point in percent (1.0 = 100 %) |
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0x00030301 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Cycle 1 |
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0x00030302 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Cycle 2 |
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0x00030303 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Cycle 3 |
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0x00030304 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Cycle 4 |
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0x00030305 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Cycle 5 |
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0x00030306 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Cycle 6 |
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0x00030307 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Cycle 7 |
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0x00030308 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Cycle 8 |
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0x00030310 | Read/Write | D: Stepper motor | UINT8 | 1 |
| Bit mask: Holding current |
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