"Index offset" specification for drive parameter (Index group 0x7000 + ID)

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)

Drive type

0x00000004

Read/Write

every

UINT32

1

Byteoffset

Input address offset (I/O-Input-Image)

change I/O address

0x00000005

Read/Write

every

UINT32

1

Byteoffset

Output address offset (I/O-Output-Image)

change I/O address

0x00000006

Read/Write

every

UINT16

1

[0,1]

motor polarity

0x0000000A

Read/Write

every

UINT32

1

s. ENUM (>0)

drive mode

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

(time in NC cycles for enable and reset)

Reserved!

0x00000020

Read/Write

every

UINT32

1

s. ENUM (≥0)

Drive dead time compensation mode

0: Off (Default)

1: On (with velocity)

2: On (with velocity and acceleration)

s. appendix

0x00000021

Read/Write

every

UINT32

1

Control double word (32 bits) for the drive dead time compensation:

Bit 0 = 0: relative I/O times (default)

Bit 0 = 1: absolute I/O 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)

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 calculation of '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 to react to the weight in the drive)

For Sercos, Profi Drive, AX200x, CANopen

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

0x00000110

Read/Write

Servo (Sercos, CANopen)

UINT32

1

s. ENUM (≥0)

Optional output filtering of the set position value:

Filter type 0: OFF (default)

1: Moving Average

2: P-Tn

For Sercos, CANopen

0x00000111

Read/Write

Servo (Sercos, CANopen)

REAL64

s

[0.0 ... 1.0]

Optional output filtering of the position setpoint:

The maximum filter time depends on the NC cycle time and is limited to the following maximum value:

1 ms =>  64 ms
2 ms => 128 ms
3 ms => 192 ms

For Sercos, CANopen

0x00000112

Read/Write

Servo (Sercos, CANopen)

UINT32

1

[0 ... 10]

Optional output filtering of the position setpoint: Filter order 'n' (only for P-Tn type)

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

2: Spline 

Only for KL4xxx, M2400, Universal

0x00000122

Read/Write

Servo/hydraulics

REAL64

%

[-1.0 ... 1.0]

Output offset in percent

Acts according to the characteristic evaluation!

Only for KL4xxx, M2400, Universal

0x00000151

Read/Write

Servo/non-linear

REAL64

1

[0.0 ... 100.0]

Quadrant equalizing factor

(relation between quadrants 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