"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 TcMc.lib)

UINT32

1

Axis ID

UINT8[30+1+1]

e.g. mm

Axis name

UINT32

1

Axis type

. . .

. . .

. . .

. . .

}

512 bytes

0x00000001

Read

every

UINT32

1

Axis ID

0x00000002

Read

every

UINT8[30+1]

1

Axis name

0x00000003

Read

every

UINT32

ENUM

Axis type

0x00000004

Read

every

UINT32

µs

Cycle time axis (SAF)

0x00000005

Read

every

UINT8[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

Velocity rapid traverse

0x0000000F

Read/Write

every

UINT16

1

0/1

Position range monitoring?

0x00000010

Read/Write

every

REAL64

e.g. mm

Position range window

0x00000011

Read/Write

every

UINT16

1

0/1

Motion monitoring?

0x00000012

Read/Write

every

REAL64

s

Motion monitoring time

0x00000013

Read/Write

every

UINT16

1

0/1

Loop?

0x00000014

Read/Write

every

REAL64

e.g. mm

Loop movement (±)

0x00000015

Read/Write

every

UINT16

1

0/1

Target position monitoring?

0x00000016

Read/Write

every

REAL64

e.g. mm

Target position window

0x00000017

Read/Write

every

REAL64

s

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

ENUM (≥0)

Error reaction mode:

0: instantaneous (default)

1: delayed

(e.g. for master/slave coupling)

From TC 2.11

0x0000001B

Read/Write

every

REAL64

s

[0...1000]

Error reaction delay

(if error reaction mode "delayed" is activated)

From TC 2.11

0x0000001C

Read/Write

every

UINT16

1

0/1

Couple slaves via actual values if not operational?

From TC 2.11

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))

From TC 2.11 R2

0x0000001E

Read/Write

every

UINT32

ENUM (≥0)

Fast Axis Stop Signal Type:

Signal type selection to force a Fast Axis Stop (s. Bit 7 from Drive->nStatus4)"0 (SignalType_OFF)","1 (SignalType_RisingEdge)","2 (SignalType_FallingEdge)","3 (SignalType_BothEdges)","4 (SignalType_HighActive)","5 (SignalType_LowActive)"

From TC 2.11 R3

0x00000020

Read/Write

every

UINT16

1

0/1

Allow motion commands for slave axis?

Default: FALSE

From TC 2.11

0x00000021

Read/Write

every

UINT16

1

0/1

Allow motion commands for axes with active external setpoint generator?

Default: FALSE

From TC 2.11 R2

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 thousands of the base unit

Bit 2: modulo position display

See encoder!

bit array

0x00000027

Read/Write

every

REAL64

e.g. mm/s

Max. allowed velocity

0x00000028

Read/Write

every

REAL64

e.g. mm

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

PEH monitoring time

0x0000002B

Read/Write

every

UINT16

1

0/1

Backlash compensation?

0x0000002C

Read/Write

every

REAL64

e.g. mm

Backlash

0x00000030

Read

every

UINT16

1

[0,1]

Persistent data e.g. for actual position and reference state of the encoder?

Boot parameter

0x00000031

Read

every

{
UINT8[6]
UINT16
}

AmsAddr

1

Read the hardware AMS address (AMS Net ID and device port)

OLD!

0x00000031

Read

every

{
UINT8[6]
UINT16
UINT16
}

AmsAddr

ChannelNo

1

Read the hardware AMS address (AMS Net ID and device port) and the channel number (0=Channel A, 1=Channel B)

0x00000033

Read

every

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

1
1
1
1

0/1
≥0
>0
≥0

General APPLICATION REQUEST STRUCTURE (NC/NCI),
e.g. for ApplicationHoming request

(s. MC_ReadApplicationRequest in TcMc2.lib)

From TC 2.11 R2

0x00000051

Read

Channel: every

UINT32

Channel ID

0x00000052

Read

Channel: every

UINT8[30+1]

Channel name

0x00000053

Read

Channel: every

UINT32

Channel type

0x00000054

Read

Group: every

UINT32

Group ID

0x00000055

Read

Group: every

UINT8[30+1]

Group name

0x00000056

Read

Group: every

UINT32

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 subelements 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

0x00000101

Read/Write

Servo

REAL64

e.g. mm/s^2

Acceleration

0x00000102

Read/Write

Servo

REAL64

e.g. mm/s^2

deceleration

0x00000103

Read/Write

Servo

REAL64

e.g. mm/s^3

Jerk

0x00000104

Read/Write

Servo

REAL64

s

[0.0 ... 1.0]

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

Default value: 0.0 s

0x00000105

Read/Write

Servo

UINT32

ENUM

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)

Default value: type 1

0x00000106

Read/Write

Servo

REAL64

1

[0.0 ... 1.0E6]

Maximum allowed velocity jump for dynamic reduction

DV = factor * min(A+, A-) * DT

Default value: 0.0

0x00000107

Read/Write

Servo

UINT16

1

[0,1]

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

Default value: 1

0x00000108

Read/Write

Servo

REAL64

e.g. mm

[0.0..1000.0]

Radius of the tolerance sphere for the auxiliary axes

From TC V2.9 B932

0x00000109

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

From TC V2.9 B1013

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)

From TC 2.11 R3

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)

From TC 2.11 R3

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)

From TC 2.11 R3

0x00000201

Read/Write

Stepper motor

UINT32

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 speed

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]

Damping 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 axis

n > 0: n-th encoder for the axis (optional)

0x00n10002

Read

Encoder: every

UINT8[30+1]

1

30 characters

Encoder name

0x00n10003

Read

Encoder: every

UINT32

1

s. ENUM (>0)

Encoder type

0x00n10004

Read/Write

Encoder: every

UINT32

1

Byteoffset

Input address offset (IO-Input-Image)

change I/O address

0x00n10005

Read/Write

Encoder: every

UINT32

1

Byteoffset

Output address offset (IO-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 TC 3.0 the scaling factor consists of two components – numerator and denominator (default: 1.0).

0x00n10007

Read/Write

Encoder: every

REAL64

e.g. mm

[±1.0E+9]

Position offset

0x00n10008

Read/Write

Encoder: every

UINT16

1

[0,1]

Encoder count direction

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)

Encoder evaluation direction (enable for log. counting direction)

s. appendix

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

UINT8[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 thousands 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: From TwinCAT 2.11 R2 the encoder mask can be any numerical value (e.g. 3600000) and no longer needs to be a continuous sequence of binary ones (2ⁿ-1).

Read-only parameter

s. parameter "Encoder Sub Mask"

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

s. ENUM (≥0)

Encoder absolute dimensioning system

s. appendix

0x00n1001A

Read/Write

Encoder: every

UINT32

1

s. ENUM (≥0)

EncoderPositionInitialization

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

s. 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: Counter

(=> scaling factor numerator / scaling factor denominator)

From TC 3.0

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

From TC 3.0

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: Counter

Component of the scaling factor: denominator

(=> scaling factor numerator / scaling factor denominator)

From TC 3.0

0x00n10030

Read/Write

Encoder: every

UINT32

1

Internal Encoder Control DWORD for specifying the operation modes and properties

From 211R3 B2227

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 distance 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

s. appendix

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.

NEW

s. parameter "Encoder Mask"

0x00n10110

Read/Write

E: INC (encoder simulation)

REAL64

1

[0.0 ... 1000000.0]

Scaling/weighting of the noise component for the simulation encoder

CONTROLLER:

0x00n20001

Read

Controller: every

UINT32

1

[1 ... 255]

Controller ID

n = 0: standard controller of the axis

n > 0: n-th controller of the axis (optional)

0x00n20002

Read

Controller: every

UINT8[30+1]

1

30 characters

Controller name

0x00n20003

Read

Controller: every

UINT32

1

s. ENUM (>0)

Controller type

0x00n2000A

Read/Write

Controller: every

1

s. ENUM (>0)

Controller mode

0x00n2000B

Read/Write

Controller: every

REAL64

%

[0.0 ... 1.0]

Weight of the velocity pre-control (standard value: 1.0 = 100 %)

0x00n20010

Read/Write

Controller: every

UINT16

1

0/1

Following error monitoring position?

0x00n20011

Read/Write

Controller: every

UINT16

1

0/1

Following error monitoring velocity?

0x00n20012

Read/Write

Controller: every

REAL64

e.g. mm

Max. following error position

0x00n20013

Read/Write

Controller: every

REAL64

s

Max. following error time position

0x00n20014

Read/Write

Controller: every

REAL64

e.g. mm/s

Max. following error velocity

0x00n20015

Read/Write

Controller: every

REAL64

s

Max. following error time velocity

0x00n20100

Read/Write

P/PID (Pos., (velocity)

REAL64

1

[0.0...1.0]

Maximum output limitation (±) for controller total output

(standard 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 respectively

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 limit 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-component during an active positioning process (assuming I-component active)?

(default setting: 0 = FALSE)

0x00n20120

Read/Write

P/PID (pos.)

REAL64

s

≥0

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

Reserved function, no standard!

0x00n20202

Read/Write

P/PID (velocity)

REAL64

1

[0.0...1000.0]

Proportional gain kp or kv respectively 

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 difference)

Velocity control
no standard!

0x00n20221

Read/Write

P/PID (velocity)

REAL64

s

≥0

PT-1 filter value for velocity error (vel. control difference)

Reserved function, no standard!

0x00n20250

Read/Write

P/PI (observer)

UINT32

1

s. ENUM (≥0)

Observer mode for controller with torque interface

0: OFF (default)

1: LUENBERGER

From TC 2.10 Build 1320

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 (1^st 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 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 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

UINT8[30+1]

1

30 characters

Drive name

0x00n30003

Read

Drive: every

UINT32

1

s. ENUM (>0)

Drive type

0x00n30004

Read/Write

Drive: every

UINT32

1

Byte offset

Input address offset (IO-Input-Image)

Change I/O address

0x00n30005

Read/Write

Drive: every

UINT32

1

Byte offset

Output address offset (IO-Output-Image)

Change I/O address

0x00n30006

Read/Write

Drive: every

UINT16

1

[0,1]

Motor polarity

0x00n3000A

Read/Write

Drive: every

UINT32

1

s. 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 DWord 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 react 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 calculating '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 react 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 react to the weight in the drive)

For Sercos, Profi Drive, AX200x, CANopen

0x00n30120

Read/Write

D: Servo/

Hydraulic/

UINT32

1

≥ 0

Table ID

(0: no table)

Only for KL4xxx, M2400, Universal

0x00n30121

Read/Write

D: Servo/

Hydraulic

UINT32

1

≥ 0

Interpolation type

0: Linear

2: Spline

Only for KL4xxx, M2400, Universal

0x00n30122

Read/Write

Servo/

Hydraulic

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 equalizing factor

(relation between quadrants 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