"Index offset" specification for drive parameter (Index group 0x7000 + ID)
Index offset ( Hex ) | Access | Drive type | Data type | Phys. Unit | Definition range | Description | Note |
|---|---|---|---|---|---|---|---|
0x00000001 | Read | every | UINT32 | 1 | [1 ... 255] | Drive ID |
|
0x00000002 | Read | every | UINT8[30+1] | 1 | 30 characters | Drive name |
|
0x00000003 | Read | every | UINT32 | 1 | s. ENUM (>0) |
| |
0x00000004 | Read/Write | every | UINT32 | 1 | Byteoffset | Input address offset (IO-Input-Image) | change I/O address |
0x00000005 | Read/Write | every | UINT32 | 1 | Byteoffset | Output address offset (IO-Output-Image) | change I/O address |
0x00000006 | Read/Write | every | UINT16 | 1 | [0,1] | motor polarity | Writing is not allowed if the controller enable has been issued. |
0x0000000A | Read/Write | every | UINT32 | 1 | s. ENUM (>0) | drive mode | Default: |
0x0000000B | Read/Write | every | REAL64 | % | [-1.0 ... 1.0] | Minimum output limit (output limitation) (default setting: -1.0 == -100%) |
|
0x0000000C | Read/Write | every | REAL64 | % | [-1.0 ... 1.0] | Maximum output limit (output limitation) (default setting: 1.0 == 100%) |
|
0x0000000D | Read | every | UINT32 | INC |
| Maximum number of output increments (output mask) |
|
0x00000010 | Read/Write | every | UINT32 | 1 |
| Internal Drive Control double word to determine the drive operation modes | Reserved! |
0x00000011 | Read/Write | every | UINT32 | 1 | ≥ 5 | Internal drive reset counter | Reserved! |
0x00000020 | Read/Write | every | UINT32 | 1 | see ENUM (≥0) | Drive dead time compensation mode 0: Off (default) 1: On (with velocity) 2: On (with velocity and acceleration) |
|
0x00000021 | Read/Write | every | UINT32 | 1 |
| Control double word (32 bits) for the drive dead time compensation: Bit 0 = 0: relative IO times (default) Bit 0 = 1: absolute IO times |
|
0x00000022 | Read/Write | every | INT32 | ns | [±1.0E+9] | Sum of the parameterized time shifts for the drive dead time compensation (typically positive numerical values) |
|
0x00000031 | Read/Write | every | REAL64 | e.g. %/INC | [-1.0E+30 ... 1.0E+30] | Scaling factor for actual torque value of drive (or actual value of force or current respectively) e.g. AX5xxx: 0.1 => ±100% | NEW from TC3.1 |
0x00000032 | Read/Write | every | REAL64 | s | [0.0 ... 60.0] | P-T1 filter time for actual torque value (or actual value of force or current respectively) | NEW from TC3.1 |
0x00000033 | Read/Write | every | REAL64 | s | [0.0 ... 60.0] | P-T1 filter time for temporal derivation of the actual torque value (or actual value of force or current respectively) | NEW from TC3.1 |
|
|
|
|
|
|
|
|
0x00000101 | Read/Write | Servo | REAL64 | e.g. mm/s | >0.0 | Reference velocity at reference output (velocity pre-control) | Base Unit / s |
0x00000102 | Read/Write | Servo | REAL64 | % | [0.0 ... 5.0] | reference output in percent |
|
0x00000103 | Read | Servo | REAL64 | e.g. mm/s | >0.0 | resulting velocity at 100% output | Base Unit / s |
0x00000104 | Read/Write | Servo | REAL64 | e.g. mm/s | ±∞ | velocity offset (DAC offset) for drift calibration (offset calibration) of the axis | Base Unit / s |
0x00000105 | Read/Write | Servo (Sercos, Profi Drive, AX200x, CANopen) | REAL64 | 1 | [0.0 ... 100000000.0] | velocity scaling (scaling factor to react to the weight in the drive) | For Sercos, Profi Drive, AX200x, CANopen |
0x00000106 | Read/Write | Profi Drive DSC | UINT32 | 0.001 * 1/s | ≥ 0 | Profibus/Profi Drive DSC: position control gain Kpc | Only for Profi Drive DSC |
0x00000107 | Read/Write | Profi Drive DSC | REAL64 | 1 | ≥ 0.0 | Profibus/Profi Drive DSC: scaling for calculating 'XERR' (Default: 1.0) | Only for Profi Drive DSC |
0x00000109 | Read/Write | Servo | REAL64 | 1 | [0.0 ... 100000000.0] | Position scaling (scaling factor to react to the weight in the drive) | For Sercos, CANopen |
0x0000010A | Read/Write | Servo | REAL64 | 1 | [0.0 ... 100000000.0] | Acceleration scaling (scaling factor to react to the weight in the drive) | For Sercos, Profi Drive, AX200x, CANopen |
0x0000010B | Read/Write | Servo | 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 |
0x0000010C | Read/Write | Servo | 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 TC 3.1 B4024.2 |
0x0000010D | Read/Write | Servo (Sercos, CANopen) | REAL64 | s | [0.0 ... 1.0] | Damping time for drive velocity output | For Sercos, CANopen |
0x0000010E | Read/Write | Servo (Sercos, CANopen) | REAL64 | s | [0.0 ... 1.0] | Damping time for drive acceleration output | For Sercos, CANopen |
0x0000010F | Read/Write | Servo (Sercos, CANopen) | REAL64 | s | [0.0 ... 1.0] | Damping time for drive torque output or force output | For Sercos, CANopen |
|
|
|
|
|
|
|
|
0x00000120 | Read/Write | Servo/hydraulics/ | UINT32 | 1 | ≥ 0 | Table ID (0: no table) | Only for KL4xxx, M2400, Universal |
0x00000121 | Read/Write | Servo/hydraulics | UINT32 | 1 | ≥ 0 | Interpolation type 0: Linear | Only for KL4xxx, M2400, Universal |
0x00000122 | Read/Write | Servo/hydraulics | REAL64 | % | [-1.0 ... 1.0] | Output offset in percent Note: | Only for KL4xxx, M2400, Universal |
|
|
|
|
|
|
|
|
0x00000151 | Read/Write | Servo / non-linear | REAL64 | 1 | [0.0 ... 100.0] | Quadrant compensation factor (relationship between quadrant I and III) |
|
0x00000152 | Read/Write | Servo / non-linear | REAL64 | 1 | [0.01 ... 1.0] | Velocity reference point in percent (1.0 == 100 %) |
|
0x00000153 | Read/Write | Servo / non-linear | REAL64 | 1 | [0.01 ... 1.0] | Output reference point in percent (1.0 == 100%) |
|
|
|
|
|
|
|
|
|
0x00000301 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: cycle 1 |
|
0x00000302 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: cycle 2 |
|
0x00000303 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: cycle 3 |
|
0x00000304 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: cycle 4 |
|
0x00000305 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: cycle 5 |
|
0x00000306 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: cycle 6 |
|
0x00000307 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: cycle 7 |
|
0x00000308 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: cycle 8 |
|
0x00000310 | Read/Write | Stepper motor | UINT8 |
|
| Bit mask: holding current |
|