"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 (SEC)

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

Looping distance (±)

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 delay time (if delayed error reaction is selected)

From TC 2.11

0x0000001C

Read/Write

every

UINT16

1

0/1

Couple slaves via actual values if not ready to operate?

From TC 2.11

0x0000001D

Read/Write

every

REAL64

e.g. mm/s^2

[0, 0.01...1.0E10]

Acceleration for transition profile for switching from SET to ACTUAL values (fading of position):
Default: 0 (the minimum of the axis accelerations is used here, 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 generation?
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 thousandths 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?

Posi. 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)

ALT!

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 bytes

1
1
1
1

0/1
≥0
>0
≥0

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

(see 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 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

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]

Deceleration 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

D V = 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]

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

0x00n10011

Read/Write

Encoder: every

REAL64

s

[0.0...60.0]

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

0x00n10012

Read/Write

Encoder: every

REAL64

s

[0.0...60.0]

Filter time for acceleration actual 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 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: From TwinCAT 2.11 R2 the encoder mask may be any numerical value (e.g. 3600000) and does not have to correspond to a continuous sequence of binary ones (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

s. ENUM (≥0)

Encoder absolute dimensioning system

s. appendix

0x00n1001A

Read/Write

Encoder: every

UINT32

1

s. 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

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: numerator

(=> 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: numerator

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 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

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

see also "Encoder Mask"

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 axis controller

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]

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

0x00n20010

Read/Write

Controller: every

UINT16

1

0/1

Lag error monitoring Pos.?

0x00n20011

Read/Write

Controller: every

UINT16

1

0/1

Lag error 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.,

(velocity)

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, 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

s. ENUM (≥0)

Observer mode for control in the 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 (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 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

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

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 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 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/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

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