"Index offset" specification for axis parameter (Index group 0x4000 + ID)

0x00n00000

Read

every
(Structure for all axis parameters)

{

General AXIS PARAMETER STRUCTURE (NC/CNC),
also contains the sub-elements such as encoder, controller and drive
(s. MC_ReadParameterSet in TcMc2.lib)

Note: Size and alignment changed.

Modified from TC3

UINT32

1

Axis ID

STRING[30+1]

1

Axis name

UINT32

1

ENUM

Axis type

. . .

. . .

. . .

. . .

}

1024 bytes (instead of 512 bytes)

0x00000001

Read

every

UINT32

1

Axis ID

0x00000002

Read

every

STRING[30+1]

UINT8[. . .]

1

Axis name

Any number of characters from TC3.1 Build 4022.32 or 4024.6

0x00000003

Read

every

UINT32

1

ENUM

Axis type

0x00000004

Read

every

UINT32

µs

Cycle time axis (SEC)

0x00000005

Read

every

STRING[10+1]

1

Physical unit

0x00000006

Read/Write

every

REAL64

e.g. mm/s

Ref. velocity in cam direction

0x00000007

Read/Write

every

REAL64

e.g. mm/s

Ref. velocity in sync direction

0x00000008

Read/Write

every

REAL64

e.g. mm/s

Velocity hand slow

0x00000009

Read/Write

every

REAL64

e.g. mm/s

Velocity hand fast

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?

0x00000010

Read/Write

every

REAL64

e.g. mm

[0.0...1.0E6]

Position range window

0x00000011

Read/Write

every

UINT16

1

0/1

Motion monitoring?

0x00000012

Read/Write

every

REAL64

s

[0.0...600]

Motion monitoring time

0x00000013

Read/Write

every

UINT16

1

0/1

Loop?

0x00000014

Read/Write

every

REAL64

e.g. mm

Looping distance (±)

0x00000015

Read/Write

every

UINT16

1

0/1

Target position monitoring?

0x00000016

Read/Write

every

REAL64

e.g. mm

[0.0...1.0E6]

Target position window

0x00000017

Read/Write

every

REAL64

s

[0.0...600]

Target position monitoring time

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

0x0000001A

Read/Write

every

UINT32

1

ENUM (≥0)

Error reaction mode:

0: instantaneous (default)

1: delayed

(e.g. for Master/Slave-coupling)

0x0000001B

Read/Write

every

REAL64

s

[0...1000]

Error delay time
(if delayed error reaction is selected)

0x0000001C

Read/Write

every

UINT16

1

0/1

Couple slaves via actual values if not ready to operate?

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))

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)"

0x00000020

Read/Write

every

UINT16

1

0/1

Allow motion commands for slave axis?

Default: FALSE

0x00000021

Read/Write

every

UINT16

1

0/1

Allow motion commands for axes with active external setpoint generator?

Default: FALSE

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

0x00000028

Read/Write

every

REAL64

e.g. mm

[0.0...1.0E6]

Motion monitoring window

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

0x0000002C

Read/Write

every

REAL64

e.g. mm

[-1000.0

...1000.0]

Backlash

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

{
UINT8[6]
UINT16 UINT16
} 10 bytes

AmsAddr:
AmsNetId,
AmsPortNo.
ChannelNo

1

Read the hardware AMS address
(AMS Net ID and AMS Port No) and the EtherCAT channel number (communication channel 0,1,2,3…)

0x00000031

Read

every

{
UINT8[6]
UINT16
UINT16
//
UINT16
UINT32
UINT32
UINT32
UINT32
UINT32
UINT32
UINT32
UINT32
UINT32
UINT32
UINT32[3]
} 64 bytes

AmsAddr:
AmsNetId,
AmsPortNo.
ChannelNo
Reserviert
NcDriveID
NcDriveIndex
NcDriveType
NcEncID
NcEncIndex
NcEncType
NcAxisID
NcAxisType
TcDriveObjectId
TcEncObjectId
reserved

1

Read the hardware AMS address
(AMS Net ID and devices AMS Port No) and the EtherCAT channel number (communication channel 0,1,2,3…)

Supplemented by additional NC information such as NcDriveID, NcDriveType (see appendix) etc..

NEW from TC3

DriveObjectId and EncObjectId from NC build 4437

0x00000033

Read

every

{
UINT16 ApplRequestBit
UINT16 ApplRequestType
UINT32 ApplCmdNo
UINT32 ApplCmdVersion
. . .
} 1024 bytes

1


1

Not implemented

1

0/1
≥0
>0
≥0

General APPLICATION REQUEST STRUCTURE (NC/NCI),
e.g. for ApplicationHoming request
(see MC_ReadApplicationRequest in TcMc2.lib)

Application request types:

0: NONE (IDLE)

1: HOMING

Changed in TC3

0x00000051

Read

Channel: every

UINT32

Channel ID

0x00000052

Read

Channel: every

STRING[30+1]

Channel name

0x00000053

Read

Channel: every

UINT32

1

ENUM

Channel type

0x00000054

Read

Group: every

UINT32

Group ID

0x00000055

Read

Group: every

STRING[30+1]

Group name

0x00000056

Read

Group: every

UINT32

1

ENUM

Group type

0x00000057

Read

every

UINT32

Number of encoders

0x00000058

Read

every

UINT32

Number of controllers

0x00000059

Read

every

UINT32

Number of drives

0x0000005A

Read

every

{

Read all sub-elements of an axis:

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

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

0x00000101

Read/Write

Servo

REAL64

e.g. mm/s^2

[0.01...1.0E20]

Acceleration (default data set)

0x00000102

Read/Write

Servo

REAL64

e.g. mm/s^2

[0.01...1.0E20]

Deceleration (default data set)

0x00000103

Read/Write

Servo

REAL64

e.g. mm/s^3

[0.1...1.0E30]

Jerk (default data set)

0x00000104

Read/Write

Servo

REAL64

s

[0.0 ... 1.0]
Default: 0.0 s

Deceleration time between velocity and position values of the setpoint generator in seconds

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)

0x00000106

Read/Write

Servo

REAL64

1

[0.0 ... 1.0E6]
Default: 0.0

Maximum permitted step change in velocity for dynamic reduction DV = factor *min(A+, A-) * DT

0x00000107

Read/Write

Servo

UINT16

1

[0.1]
Default: 1

Activates acceleration and jerk limitation for the auxiliary axis (Q1 to Q5)

Read/Write

Servo

REAL64

e.g. mm

[0.0..1000.0]

Radius of the tolerance sphere for the auxiliary axes

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

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)

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)

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)

0x0000010D

Read/Write

Servo

UINT32

1

Index offset of the axis state that is passed in the cyclic interface as "UserData".

0x00000000: deactivated
0x00010012: Encoder position with position bias voltage (without position correction and without dead time compensation)
0x00010014: DriveActVelo
0x00010017: MC_SetPosition offsets

0x00000201

Read/Write

Stepper motor

UINT32

1

ENUM

Operation mode stepper motor

0x00000202

Read/Write

Stepper motor

REAL64

e.g. mm/STEP

[1.0E-6 ... 1000.0]

Distance scaling of a motor step

0x00000203

Read/Write

Stepper motor

REAL64

e.g. mm/s

[0.0 ... 1000.0]

Minimum velocity for velocity profile

0x00000204

Read/Write

Stepper motor

UINT32

1

[0 ... 100]

Number of steps per frequency/velocity step

0x00000205

Read/Write

Stepper motor

UINT32

1

Motor mask as sync pulse

Not implemented!

0x00000301

Read/Write

high/low

REAL64

e.g. mm

[0.0 ... 100000.0]

Creep distance in pos. direction

0x00000302

Read/Write

high/low

REAL64

e.g. mm

[0.0 ... 100000.0]

Creep distance in neg. direction

0x00000303

Read/Write

high/low

REAL64

e.g. mm

[0.0 ... 100000.0]

Braking distance in pos. direction

0x00000304

Read/Write

high/low

REAL64

e.g. mm

[0.0 ... 100000.0]

Braking distance in neg. direction

0x00000305

Read/Write

high/low

REAL64

s

[0.0 ... 60.0]

Braking deceleration in pos. direction

0x00000306

Read/Write

high/low

REAL64

s

[0.0 ... 60.0]

Braking deceleration in neg. direction

0x00000307

Read/Write

high/low

REAL64

s

[0.0 ... 60.0]

Switching time from high to low velocity

0x00000308

Read/Write

high/low

REAL64

e.g. mm

[0.0 ... 100000.0]

Creep distance stop

0x00000309

Read/Write

high/low

REAL64

s

[0.0 ... 60.0]

Delay time to release brake

0x0000030A

Read/Write

high/low

REAL64

s

[0.0 ... 60.0]

Pulse time in pos. direction

0x0000030B

Read/Write

high/low

REAL64

s

[0.0 ... 60.0]

Pulse time in neg. direction

ENCODER

0x00n10001

Read

Encoder: every

UINT32

1

[1 ... 255]

Encoder ID n = 0: standard encoder of the axes > 0: nth encoder of the axis (optional)

0x00n10002

Read

Encoder: every

STRING[30+1]

1

30 characters

Encoder name

0x00n10003

Read

Encoder: every

UINT32

1

ENUM (>0)

Encoder type

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

0x00n1000A

Read/Write

Encoder: every

UINT32

1

s. ENUM (>0)

Encoder mode

0x00n1000B

Read/Write

Encoder: every

UINT16

1

0/1

Soft end min. monitoring?

0x00n1000C

Read/Write

Encoder: every

UINT16

1

0/1

Soft end max. monitoring?

0x00n1000D

Read/Write

Encoder: every

REAL64

mm

Soft end position min.

0x00n1000E

Read/Write

Encoder: every

REAL64

mm

Soft end position max.

0x00n1000F

Read/Write

Encoder: every

UINT32

1

s. ENUM (≥0)
in the appendix

Encoder evaluation direction (enable for log. counting direction)

0x00n10010

Read/Write

Encoder: every

REAL64

s

[0.0...60.0]

Filter time for actual position value in seconds (P-T1)

0x00n10011

Read/Write

Encoder: every

REAL64

s

[0.0...60.0]

Filter time for actual velocity value in seconds (P-T1)

0x00n10012

Read/Write

Encoder: every

REAL64

s

[0.0...60.0]

Filter time for actual acceleration value in seconds (P-T1)

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)?

0x00n10017

Read/Write

Encoder: every

REAL64

s

[0.0...60.0]

Filter time for actual position correction in seconds (P-T1)

0x00n10019

Read/Write

Encoder: every

UINT32

1

ENUM (>0)

Encoder absolute dimensioning system

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

0x00n1001C

Read

Encoder: every

UINT32

1

ENUM (>0)

Encoder sign interpretation (data type)

0x00n1001D

Read

Encoder: every

UINT16

1

0/1

Incremental or absolute encoder ?

0: Incremental encoder type

1: Absolute encoder type

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

{
REAL64
REAL64
}

e.g. mm/INC
1

[1.0E-12 ... 1.0E+30]
[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

0x00n10101

Read/Write

E: INC

UINT16

1

[0,1]

Inverse search direction for ref.cam?

0x00n10102

Read/Write

E: INC

UINT16

1

[0,1]

inverse search direction for sync pulse?

0x00n10103

Read/Write

E: INC

REAL64

e.g. mm

[±1000000.0]

Reference position

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?

0x00n10107

Read/Write

E: INC

UINT32

1

s. ENUM (>0)

Reference mode

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

0x00n10110

Read/Write

E: INC (encoder simulation)

REAL64

1

[0.0 ... 1000000.0]

Scaling/weight of the noise part for the simulation encoder

CONTROLLER

0x00n20001

Read

Controller: every

UINT32

1

[1 ... 255]

Controller ID

n = 0: standard controller of the axes > 0: nth controller of the axis (optional)

0x00n20002

Read

Controller: every

STRING[30+1]

1

30 characters

Controller name

0x00n20003

Read

Controller: every

UINT32

1

ENUM (>0)

Controller type

0x00n2000A

Read/Write

Controller: every

1

ENUM (>0)

Controller mode

0x00n2000B

Read/Write

Controller: every

REAL64

%

[0.0 ... 1.0]

Weighting of the velocity pre-control (default value: 1.0 = 100 %)

0x00n20010

Read/Write

Controller: every

UINT16

1

0/1

Position lag monitoring Pos.?

0x00n20011

Read/Write

Controller: every

UINT16

1

0/1

Position lag monitoring Velocity?

0x00n20012

Read/Write

Controller: every

REAL64

e.g. mm

Max. lag error position

0x00n20013

Read/Write

Controller: every

REAL64

s

Max. lag error filter time position

0x00n20014

Read/Write

Controller: every

REAL64

e.g. mm/s

Max. lag error velocity

0x00n20015

Read/Write

Controller: every

REAL64

s

Max. lag error filter time velocity

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
Unit: Base Unit / s / Base Unit

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.
Unit: Base Unit / s / Base Unit

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

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.)
Slave control

REAL64

(mm/s) / mm

[0.0...1000.0]

Slave coupling difference control:

Proportional gain k_cp

Slave coupling difference control

0x00n20110

Read/Write

P (Pos.)

UINT16

1

0/1

Automatic offset calibration: active/passive

0x00n20111

Read/Write

P (Pos.)

UINT16

1

0/1

Automatic offset calibration: hold mode

0x00n20112

Read/Write

P (Pos.)

UINT16

1

0/1

Automatic offset calibration: Fading mode

0x00n20114

Read/Write

P (Pos.)

REAL64

%

[0.0 ... 1.0]

Automatic offset calibration: Pre-control limit

0x00n20115

Read/Write

P (Pos.)

REAL64

s

[0.1 ... 60.0]

Automatic offset calibration: Time constant

0x00n20116

Read/Write

PID (pos.)

REAL64

%

[0.0...1.0]

Maximum output limitation (±) for I part in percent (default setting: 0.1 = 10%)

0x00n20117

Read/Write

PID (pos.)

REAL64

%

[0.0...1.0]

Maximum output limitation (±) for D part in percent (default setting: 0.1 = 10%)

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)

0x00n20120

Read/Write

P/PID (pos.)

REAL64

s

≥0

PT-1 filter value for position error (pos. control deviation)

Reserved function,
no standard!

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
control

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
control

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,
no standard!

0x00n20250

Read/Write

P/PI (observer)

UINT32

1

ENUM (>0)

Observer mode for control in the torque interface

0: OFF (default)

1: LUENBERGER

0x00n20251

Read/Write

P/PI (observer)

REAL64

Nm / A

>0.0

Motor:

Torque constant K_T

0x00n20252

Read/Write

P/PI (observer)

REAL64

kg m²

>0.0

Motor:

Moment of inertia J_M

0x00n20253

Read/Write

P/PI (observer)

REAL64

Hz

[100.0 ... 2000.0] Default: 500

Bandwidth f₀

0x00n20254

Read/Write

P/PI (observer)

REAL64

1

[0.0 ... 2.0] Default: 1.0

Correction factor k_c

0x00n20255

Read/Write

P/PI (observer)

REAL64

s

[0.0 ... 0.01] Default: 0.001

Velocity filter (1st order):

Time constant T

0x00n20A03

Read/Write

P/PID (MW)

REAL64

cm^2

[0.0 ... 1000000]

Cylinder area A_A of the A side in cm^2

Reserved parameters!

0x00n20A04

Read/Write

P/PID (MW)

REAL64

cm^2

[0.0 ... 1000000]

Cylinder area A_B 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 Q_nom in cm^3/s

Reserved parameters!

0x00n20A06

Read/Write

P/PID (MW)

REAL64

bar

[0.0 ... 1000000]

Nominal pressure or valve pressure drop, P_nom in bar

Reserved parameters!

0x00n20A07

Read/Write

P/PID (MW)

UINT32

1

[1 ... 255]

Axis ID for the system pressure Po

Reserved parameters!

DRIVE:

0x00n30001

Read

Drive: every

UINT32

1

[1 ... 255]

Drive ID

0x00n30002

Read

Drive: every

STRING[30+1]

1

30 characters

Drive name

0x00n30003

Read

Drive: every

UINT32

1

ENUM (>0)

Drive type

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

0x00n3000B

Read/Write

Drive: every

REAL64

%

[-1.0 ... 1.0]

Minimum output limit (output limitation) (default setting: -1.0 = -100%)

0x00n3000C

Read/Write

Drive: every

REAL64

%

[-1.0 ... 1.0]

Maximum output limit (output limitation) (default setting: 1.0 = 100%)

0x00n3000D

Read

Drive: every

UINT32

INC

Maximum number of output increments (output mask)

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
(time in NC cycles for enable and reset)

Reserved!

0x00n30101

Read/Write

D: Servo

REAL64

e.g. mm/s

>0.0

Reference velocity at reference output (velocity pre-control)

0x00n30102

Read/Write

D: Servo

REAL64

%

[0.0 ... 5.0]

Reference output in percent (default setting: 1.0 = 100%)

0x00n30103

Read

D: Servo

REAL64

e.g. mm/s

>0.0

Resulting velocity at 100% output

0x00n30104

Read/Write

D: Servo

REAL64

e.g. mm/s

±∞

Velocity offset (DAC offset) for drift calibration (offset calibration) of the axis

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"
(e.g. MC_TorqueControl) with Drive OpMode CST)

For Sercos, Profi Drive, AX200x, CANopen

From TC3.1 B4024.2

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

0x00n30151

Read/Write

D: servo / non-linear

REAL64

1

[0.0 ... 100.0]

Quadrant compensation factor (relationship between quadrant I and III)

0x00n30152

Read/Write

D: servo / non-linear

REAL64

1

[0.01 ... 1.0]

Velocity reference point in percent (1.0 = 100 %)

0x00n30153

Read/Write

D: servo / non-linear

REAL64

1

[0.01 ... 1.0]

Output reference point in percent (1.0 = 100 %)

0x00030301

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Cycle 1

0x00030302

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Cycle 2

0x00030303

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Cycle 3

0x00030304

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Cycle 4

0x00030305

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Cycle 5

0x00030306

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Cycle 6

0x00030307

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Cycle 7

0x00030308

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Cycle 8

0x00030310

Read/Write

D: Stepper motor

UINT8

1

Bit mask: Holding current