AKT2G-SM-Lx Object Description

The CoE overview contains objects for different intended applications

Restore Object

Index 1011 Restore default parameters

Index

Name

Meaning

Data type

Flags

Default value

1011:0

Restore default parameters

Restore default parameters

UINT8

RO

0x01 (1dec)

1011:01

SubIndex 001

If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.

UINT32

RW

0x00000000 (0dec)

Configuration Data

Index 8000 ENC Settings Ch.1

Index

Name

Meaning

Data type

Flags

Default value

8000:0

ENC Settings Ch.1

Maximum subindex

UINT8

RO

0x0E (14dec)

8000:08

Disable filter

Deactivates the input filters.

BOOLEAN

RW

0x00 (0dec)

8000:0A

Enable micro increments

The lower 8 bits of the counter value are extrapolated.

BOOLEAN

RW

0x00 (0dec)

8000:0E

Reversion of rotation

Activates reversion of rotation of the encoder.

BOOLEAN

RW

0x00 (0dec)
Index 8010 STM Motor Settings Ch.1

Index

Name

Meaning

Data type

Flags

Default value

8010:0

STM Motor Settings Ch.1

 

UINT8

RO

0x11 (17dec)

8010:01

Maximal current

Maximum permanent motor coil current Unit: 1 mA

UINT16

RW

0x1388 (5000dec)

8010:02

Reduced current

Reduced coil current Unit: 1 mA

UINT16

RW

0x09C4 (2500dec)

8010:03

Nominal voltage

Nominal voltage (supply voltage) of the motor Unit: 10 mV

UINT16

RW

0x1388 (5000dec)

8010:04

Motor coil resistance

Internal resistance of the motor Unit: 10 mOhm

UINT16

RW

0x0064 (100dec)

8010:05

Motor EMF

Countervoltage of the motor Unit: 1 mV / (rad/s)

UINT16

RW

0x0000 (0dec)

8010:06

Motor fullsteps

Number of full motor steps

UINT16

RW

0x00C8 (200dec)

8010:07

Encoder increments (4-fold)

Number of encoder increments per revolution with quadruple evaluation

UINT16

RW

0x1000 (4096dec)

8010:09

Start velocity

Minimum starting velocity of the motor

Unit: 10000 corresponds to 100%

UINT16

RW

0x0000 (0dec)

8010:0A

Motor coil inductance

Inductance of the motor Unit: 0.01 mH

UINT16

RW

0x0000 (0dec)

8010:10

Drive on delay time

Delay between activation of driver stage and „ready = 1“

UINT16

RW

0x0064 (100dez)

8010:11

Drive off delay time

Delay between deactivation of driver stage and „ready = 0“

UINT16

RW

0x0096 (150dez)
Index 8011 STM Controller Settings Ch.1

Index

Name

Meaning

Data type

Flags

Default value

8011:0

STM Controller Settings Ch.1

Maximum subindex

UINT8

RO

0x02 (2dec)

8011:01

Kp factor (curr.)

Kp control factor of the current controller

UINT16

RW

0x0096 (150dec)

8011:02

Ki factor (curr.)

Ki control factor of the current controller

UINT16

RW

0x000A (10dec)
Index 8012 STM Features Ch.1 (part 1)

Index

Name

Meaning

Data type

Flags

Default value

8012:0

STM Features Ch.1

Maximum subindex

UINT8

RO

0x3A (58dec)

8012:01

Operation mode

permitted values:

BIT4

RW

0x00 (0dec)

0: Automatic

1: Velocity direct

3: Position controller

4: Ext. Velocity mode

5: Ext. Position mode

6: Velocity sensorless

8012:05

Speed range

permitted values:

BIT3

RW

0x01 (1dec)

0: 1000 Fullsteps/sec

1: 2000 Fullsteps/sec

2: 4000 Fullsteps/sec

3: 8000 Fullsteps/sec

4: 16000 Fullsteps/sec

5: 32000 Fullsteps/sec

8012:08

Feedback type

permitted values:

BIT1

RW

0x01 (1dec)

0: Encoder

1: Internal counter

8012:09

Invert motor polarity

Invert the direction of rotation of the motor

BOOLEAN

RW

0x00 (0dec)

8012:0A

Error on step lost

Error on loss of step

BOOLEAN

RW

0x00 (0dec)

8012:11

Select info data 1

permitted values:

UINT8

RW

0x0B (11dec)

0: Status word

7: Motor velocity

11: Motor load

13: Motor dc current

101: Internal temperature

103: Control voltage

104: Motor supply voltage

150: Drive - Status word

151: Drive – State

152: Drive - Position lag (low word)

153: Drive - Position lag (high word)
Index 8012 STM Features Ch.1 (part 2)

Index

Name

Meaning

Data type

Flags

Default value

8012:19

Select info data 2

permitted values:

UINT8

RW

0x0D (13dec)

0: Status word

7: Motor velocity

11: Motor load

13: Motor dc current

101: Internal temperature

103: Control voltage

104: Motor supply voltage

150: Drive - Status word

151: Drive - State

152: Drive - Position lag (low word)

153: Drive - Position lag (high word)

8012:30

Invert digital input 1

Invert digital input

BOOLEAN

RW

0x00 (0dec)

8012:31

Invert digital input 2

Invert digital input

BOOLEAN

RW

0x00 (0dec)

8012:32

FunctionClosedA function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. for input 1

permitted values:

BIT4

RW

0x00 (0dec)

0: Normal input

1: Hardware enable

2: PLCClosed"Programmable Logic Controller" A Programmable Logic Controller, PLC, or Programmable Controller is a digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events cam

8012:36

Function for input 2

permitted values:

BIT4

RW

0x00 (0dec)

0: Normal input

1: Hardware enable

2: PLC cam

8012:3A

Function for output 1

permitted values:

BIT4

RW

0x0F (15dec)

0: Normal output

1: Break (linked with driver enable)

15: Disabled
Index 8014 STM Controller Settings 3 Ch.1

Index

Name

Meaning

Data type

Flags

Default value

8014:0

STM Controller Settings 3 Ch.1

Maximum subindex

UINT8

RO

0x09 (9dec)

8014:01

Feed forward (pos.)

Pilot control of the position controller

UINT32

RW

0x000186A0

(100000dec)

8014:02

Kp factor (pos.)

Kp control factor of the position controller

UINT16

RW

0x01F4 (500dec)

8014:03

Kp factor (velo.)

Kp control factor of the velocity controller Unit: 0.1 mA / (rad/s)

UINT32

RW

0x00000032

(50dec)

8014:04

Tn (velo.)

Time constant Tn of the velocity controller Unit: 0.01 ms

UINT16

RW

0xC350 (50000dec)

8014:05

Sensorless param 1

First parameter (sensorless control)

UINT16

RW

0x0000 (0dec)

8014:06

Sensorless param 2

Second parameter (sensorless control)

UINT16

RW

0x0000 (0dec)

8014:07

Cross over velocity 1

First velocity transition (sensorless control) Unit: 0.1 rad/s

UINT16

RW

0x0000 (0dec)

8014:08

Cross over velocity 2

Second velocity transition (sensorless control) Unit: 0.1 rad/s

UINT16

RW

0x0000 (0dec)

8014:09

Cross over velocity 3

Third velocity transition (sensorless control) Unit: 0.1 rad/s

UINT16

RW

0x0000 (0dec)
Index 8020 POS Settings Ch.1

Index

Name

Meaning

Data type

Flags

Default value

8020:0

POS Settings Ch.1

Maximum subindex

UINT8

RO

0x10 (16dec)

8020:01

Velocity min.

Minimum set velocity (range: 0-10000)

INT16

RW

0x0064 (100dec)

8020:02

Velocity max.

Maximum set velocity (range: 0-10000)

INT16

RW

0x2710 (10000dec)

8020:03

Acceleration pos.

Acceleration in positive direction of rotation Unit: 1 ms

UINT16

RW

0x03E8 (1000dec)

8020:04

Acceleration neg.

Acceleration in negative direction of rotation Unit: 1 ms

UINT16

RW

0x03E8 (1000dec)

8020:05

Deceleration pos.

Deceleration in positive direction of rotation Unit: 1 ms

UINT16

RW

0x03E8 (1000dec)

8020:06

Deceleration neg.

Deceleration in negative direction of rotation Unit: 1 ms

UINT16

RW

0x03E8 (1000dec)

8020:07

Emergency deceleration

Emergency deceleration (both directions of rotation) Unit: 1 ms

UINT16

RW

0x0064 (100dec)

8020:08

Calibration position

Calibration position

UINT32

RW

0x00000000 (0dec)

8020:09

Calibration velocity (towards plc cam)

Calibration velocity towards the cam (range: 0-10000)

INT16

RW

0x0064 (100dec)

8020:0A

Calibration Velocity (off plc cam)

Calibration velocity away from the cam (range: 0-10000)

INT16

RW

0x000A (10dec)

8020:0B

Target window

Target window

UINT16

RW

0x000A (10dec)

8020:0C

In-Target timeout

Target position timeout Unit: 1 ms

UINT16

RW

0x03E8 (1000dec)

8020:0D

Dead time compensation

Dead time compensation Unit: 1 µs

INT16

RW

0x0032 (50dec)

8020:0E

Modulo factor

Modulo factor/position

UINT32

RW

0x00000000 (0dec)

8020:0F

Modulo tolerance window

Tolerance window for modulo positioning

UINT32

RW

0x00000000 (0dec)

8020:10

Position lag max.

Maximum allowable step error

UINT16

RW

0x0000 (0dec)
Index 8021 POS Features Ch.1

Index

Name

Meaning

Data type

Flags

Default value

8021:0

POS Features Ch.1

Maximum subindex

UINT8

RO

0x16 (22dec)

8021:01

Start type

permitted values:

UINT16

RW

0x0001 (1dec)

0: Idle

1: Absolute

2: Relative

3: Endless plus

4: Endless minus

6: Additive

24832: Calibration (Hardware sync)

24576: Calibration (Plc cam)

28416: Calibration (Clear manual)

28160: Calibration (Set manual)

28161: Calibration (Set manual auto)

1029: Modulo current

773: Modulo minus

517: Modulo plus

261: Modulo short

8021:11

Time information

permitted values:

BIT2

RW

0x00 (0dec)

0: Elapsed time

current drive time since start of the travel command

8021:13

Invert calibration cam search direction

Inversion of the direction of rotation towards the cam

BOOLEAN

RW

0x01 (1dec)

8021:14

Invert sync impulse search direction

Inversion of the direction of rotation away from the cam

BOOLEAN

RW

0x00 (0dec)

8021:15

Emergency stop on position lag error

Triggers an emergency stop if the maximum following error is exceeded

BOOLEAN

RW

0x00 (0dec)

8021:16

Enhanced diag history

Provides detailed messages about the status of the positioning interface in the diag history

BOOLEAN

RW

0x00 (0dec)

Command Object

Index FB00 STM Command

Index

Name

Meaning

Data type

Flags

Default value

FB00:0

STM Command

Maximum subindex

UINT8

RO

0x03 (3dec)

FB00:01

Request

Requesting a command

0x8000: Software reset

OCTET-

STRING[2]

RW

{0}

FB00:02

Status

Status of the command

UINT8

RO

0x00 (0dec)

0: No error, without return value

1: No error, with return value

2: With error, without return value

3: With error, with return value

... reserved

255: Command execution active

FB00:03

Response

Return value of the executed command

OCTET-

STRING[4]

RO

{0}

Input data

Index 6000 ENC Inputs Ch.1

Index

Name

Meaning

Data type

Flags

Default value

6000:0

ENC Inputs Ch.1

Maximum subindex

UINT8

RO

0x16 (22dec)

6000:01

LatchClosedThe control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT bus cycle. The status word is used to return the drive's latch status C valid

The counter value was latched with the C track.

BOOLEAN

RO

0x00 (0dec)

6000:02

Latch extern valid

The counter value was stored via the external latch.

BOOLEAN

RO

0x00 (0dec)

6000:03

Set counter done

The counter was set.

BOOLEAN

RO

0x00 (0dec)

6000:04

Counter underflow

Counter underflow.

BOOLEAN

RO

0x00 (0dec)

6000:05

Counter overflow

Counter overflow.

BOOLEAN

RO

0x00 (0dec)

6000:08

Extrapolation stall

The extrapolated part of the counter is invalid

BOOLEAN

RO

0x00 (0dec)

6000:09

Status of input A

Status of the A-input.

BOOLEAN

RO

0x00 (0dec)

6000:0A

Status of input B

Status of the B-input.

BOOLEAN

RO

0x00 (0dec)

6000:0B

Status of input C

Status of the C-input.

BOOLEAN

RO

0x00 (0dec)

6000:0D

Status of extern latch

Status of the ext. latch input.

BOOLEAN

RO

0x00 (0dec)

6000:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

0x00 (0dec)

6000:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

0x00 (0dec)

6000:11

Counter value

The counter value.

UINT32

RO

0x00000000 (0dec)

6000:12

Latch value

The latch value.

UINT32

RO

0x00000000 (0dec)

6000:16

TimestampClosedA timestamp is a sequence of characters, denoting the date and/or time at which a certain event occurred

Time stamp of the last counter change.

UINT32

RO

0x00000000 (0dec)
Index 6010 STM Inputs Ch.1

Index

Name

Meaning

Data type

Flags

Default value

6010:0

STM Inputs Ch.1

Maximum subindex

UINT8

RO

0x15 (21dec)

6010:01

Ready to enable

DriverClosedIn computing and electronics, a driver is a software component allowing higher-level computer programs to interact with a computer hardware device. A driver typically communicates with the device through the computer bus or communications subsystem to which the hardware is connected stage is ready for enabling

BOOLEAN

RO

0x00 (0dec)

6010:02

Ready

Driver stage is ready for operation

BOOLEAN

RO

0x00 (0dec)

6010:03

Warning

a warning has occurred (see Index A010 STM Diag data Ch.1)

BOOLEAN

RO

0x00 (0dec)

6010:04

Error

an error has occurred (see Index A010 STM Diag data Ch.1)

BOOLEAN

RO

0x00 (0dec)

6010:05

Moving positive

Driver stage is activated in positive direction

BOOLEAN

RO

0x00 (0dec)

6010:06

Moving negative

Driver stage is activated in negative direction

BOOLEAN

RO

0x00 (0dec)

6010:07

TorqueClosedTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist reduced

Reduced torqueClosedTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist is active

BOOLEAN

RO

0x00 (0dec)

6010:08

Motor stall

A loss of step has occurred

BOOLEAN

RO

0x00 (0dec)

6010:0C

Digital input 1

Digital input 1

BOOLEAN

RO

0x00 (0dec)

6010:0D

Digital input 2

Digital input 2

BOOLEAN

RO

0x00 (0dec)

6010:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

0x00 (0dec)

6010:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

0x00 (0dec)

6010:11

Info data 1

Synchronous information (selection via subindex 8012:11)

UINT16

RO

0x0000 (0dec)

6010:12

Info data 2

Synchronous information (selection via subindex 8012:19)

UINT16

RO

0x0000 (0dec)

6010:13

Motor load

Current motor load Unit: 0.01°

INT16

RO

0x0000 (0dec)

6010:14

Internal position

Internal microstep position

UINT32

RO

0x00000000 (0dec)

6010:15

External position

Encoder position

UINT32

RO

0x00000000 (0dec)
Index 6020 POS Inputs Ch.1

Index

Name

Meaning

Data type

Flags

Default value

6020:0

POS Inputs Ch.1

Maximum subindex

UINT8

RO

0x22 (34dec)

6020:01

Busy

A current travel command is active

BOOLEAN

RO

0x00 (0dec)

6020:02

In-Target

Motor has arrived at target

BOOLEAN

RO

0x00 (0dec)

6020:03

Warning

A warning has occurred

BOOLEAN

RO

0x00 (0dec)

6020:04

Error

an error has occurred

BOOLEAN

RO

0x00 (0dec)

6020:05

Calibrated

Motor is calibrated

BOOLEAN

RO

0x00 (0dec)

6020:06

Accelerate

Motor is in the acceleration phase

BOOLEAN

RO

0x00 (0dec)

6020:07

Decelerate

Motor is in the deceleration phase

BOOLEAN

RO

0x00 (0dec)

6020:11

Actual position

Current target position of the travel command generator

UINT32

RO

0x00000000 (0dec)

6020:21

Actual velocity

Current set velocity of the travel command generator

INT16

RO

0x0000 (0dec)

6020:22

Actual drive time

Travel command time information (see subindex 8021:11)

UINT32

RO

0x00000000 (0dec)

6020:23

Actual position lag

Lag of position

UINT32

RO

0x00000000 (0dec)

Output data

Index 7000 ENC Outputs (compact) Ch.1

Index

Name

Meaning

Data type

Flags

Default value

7000:0

ENC Outputs Ch.1

Maximum subindex

UINT8

RO

0x11 (17dec)

7000:01

Enable latch C

Activate latching via the C-track.

BOOLEAN

RO

0x00 (0dec)

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

0x00 (0dec)

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

0x00 (0dec)

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

0x00 (0dec)

7000:11

Set counter value

This is the counter value to be set via "Set counter".

UINT16

RO

0x0000 (0dec)
Index 7000 ENC Outputs Ch.1

Index

Name

Meaning

Data type

Flags

Default value

7000:0

ENC Outputs Ch.1

Maximum subindex

UINT8

RO

0x11 (17dec)

7000:01

Enable latch C

Activate latching via the C-track.

BOOLEAN

RO

0x00 (0dec)

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

0x00 (0dec)

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

0x00 (0dec)

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

0x00 (0dec)

7000:11

Set counter value

This is the counter value to be set via "Set counter".

UINT32

RO

0x00000000 (0dec)
Index 7010 STM Outputs Ch.1

Index

Name

Meaning

Data type

Flags

Default value

7010:0

STM Outputs Ch.1

Maximum subindex

UINT8

RO

0x21 (33dec)

7010:01

Enable

activates the output stage

BOOLEAN

RO

0x00 (0dec)

7010:02

Reset

all errors that may have occurred are reset by setting this bit (rising edgeClosedA rising edge is the transition of a digital signal from low to high. It is also called positive edge)

BOOLEAN

RO

0x00 (0dec)

7010:03

Reduce torque

Reduced torque (coil current) is active (see subindex 8010:02)

BOOLEAN

RO

0x00 (0dec)

7010:0C

Digital output 1

Digital output 1

BOOLEAN

RO

0x00 (0dec)

7010:11

Position

Set position specification Unit: Increments

UINT32

RO

0x00000000 (0dec)

7010:21

Velocity

Set velocity specification

Unit: +/- 32767 corresponds to +/- 100%

INT16

RO

0x0000 (0dec)
Index 7020 POS Outputs Ch.1 (part 1)

Index

Name

Meaning

Data type

Flags

Default value

7020:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

0x24 (33dec)

7020:01

Execute

Start travel command (rising edge), or prematurely abort travel command (falling edge)

BOOLEAN

RO

0x00 (0dec)

7020:02

Emergency Stop

Prematurely abort travel command with an emergency ramp (rising edge)

BOOLEAN

RO

0x00 (0dec)

7020:11

Target position

Specification of the target position

UINT32

RO

0x00000000 (0dec)

7020:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0dec)
Index 7020 POS Outputs Ch.1 (part 2)

Index

Name

Meaning

Data type

Flags

Default value

7020:22

Start type

 

 

0x0000 Idle: No travel command is being executed

UINT16

RO

0x0000 (0dec)

0x0001 Absolute: Absolute target position

UINT16

RO

0x0000 (0dec)

0x1001 Absolute (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x0002 Relative: Target position relative to the current position

UINT16

RO

0x0000 (0dec)

0x1002 Relative (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x0003 Endless plus: Endless driving in positive direction of rotation

UINT16

RO

0x0000 (0dec)

0x0004 Endless minus: Endless driving in negative direction of rotation

UINT16

RO

0x0000 (0dec)

0x0105 Modulo short: Shortest distance to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0115 Modulo short extended: Shortest distance to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0205 Modulo plus: Drive in positive direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0215 Modulo plus extended: Drive in positive direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0305 Modulo minus: Drive in negative direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0315 Modulo minus extended: Drive in negative direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0405 Modulo current: Drive in the last implemented direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0415 Modulo current extended: Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0006 Additive: New target position relative/additive to the last target position

UINT16

RO

0x0000 (0dec)

0x1006 Additive (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x6000 Calibration, PLC cam: Calibration with cam

UINT16

RO

0x0000 (0dec)

0x6100 Calibration, HW sync: Calibration with cam and C-track

UINT16

RO

0x0000 (0dec)

0x6E00 Calibration, set manual: Set calibration manually

UINT16

RO

0x0000 (0dec)

0x6E01 Calibration, set manual auto: Set automatic calibration, for "Enable = 1"

UINT16

RO

0x0000 (0dec)

0x6F00 Calibration, clear manual: Clear calibration manually

UINT16

RO

0x0000 (0dec)

7020:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0dec)

7020:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0dec)
Index 7021 POS Outputs 2 Ch.1 (part 1)

Index

Name

Meaning

Data type

Flags

Default value

7021:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

0x24 (36dec)

7021:03

Enable auto start

Enable auto start

BOOLEAN

RO

0x00 (0dec)

7021:11

Target position

Specification of the target position

UINT32

RO

0x00000000 (0dec)

7021:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0dec)
Index 7021 POS Outputs 2 Ch.1 (part 2)

Index

Name

Meaning

Data type

Flags

Default value

7021:22

Start type

 

 

0x0000 Idle: No travel command is being executed

UINT16

RO

0x0000 (0dec)

0x0001 Absolute: Absolute target position

UINT16

RO

0x0000 (0dec)

0x1001 Absolute (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x0002 Relative: Target position relative to the current position

UINT16

RO

0x0000 (0dec)

0x1002 Relative (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x0003 Endless plus: Endless driving in positive direction of rotation

UINT16

RO

0x0000 (0dec)

0x0004 Endless minus: Endless driving in negative direction of rotation

UINT16

RO

0x0000 (0dec)

0x0105 Modulo short: Shortest distance to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0115 Modulo short extended: Shortest distance to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0205 Modulo plus: Drive in positive direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0215 Modulo plus extended: Drive in positive direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0305 Modulo minus: Drive in negative direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0315 Modulo minus extended: Drive in negative direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0405 Modulo current: Drive in the last implemented direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0415 Modulo current extended: Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0006 Additive: New target position relative/additive to the last target position

UINT16

RO

0x0000 (0dec)

0x1006 Additive (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x6000 Calibration, PLC cam: Calibration with cam

UINT16

RO

0x0000 (0dec)

0x6100 Calibration, HW sync: Calibration with cam and C-track

UINT16

RO

0x0000 (0dec)

0x6E00 Calibration, set manual: Set calibration manually

UINT16

RO

0x0000 (0dec)

0x6E01 Calibration, set manual auto: Set automatic calibration, for "Enable = 1"

UINT16

RO

0x0000 (0dec)

0x6F00 Calibration, clear manual: Clear calibration manually

UINT16

RO

0x0000 (0dec)

7021:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0dec)

7021:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0dec)

Information / Diagnostic Data (channel specific)

Index 9010 STM Info data Ch.1

Index

Name

Meaning

Data type

Flags

Default value

9010:0

STM Info data Ch.1

Maximum subindex

UINT8

RO

0x13 (19dec)

9010:01

Status word

Status word (see index Index A010 STM Diag data Ch.1)

UINT16

RO

0x0000 (0dec)

9010:08

Motor velocity

Current motor velocity

INT16

RO

0x0000 (0dec)

9010:09

Internal position

Internal position (micro increments)

UINT32

RO

0x00000000 (0dec)

9010:0B

Motor load

Current motor load Unit: 0.01°

INT16

RO

0x0000 (0dec)

9010:0D

Motor dc current

Current motor current (DC vector) Unit: 1 mA

INT16

RO

0x0000 (0dec)

9010:0E

Tn (curr.)

Internally calculated time constant of the current controller

Unit: 0.01 ms

UINT16

RO

0x0000 (0dec)

9010:13

External position

External position (connected encoder)

UINT32

RO

0x00000000 (0dec)
Index 9020 POS Info data Ch.1

Index

Name

Meaning

Data type

Flags

Default value

9020:0

POS Info data Ch.1

Maximum subindex

UINT8

RO

0x04 (4dec)

9020:01

Status word

Status word

UINT16

RO

0x0000 (0dec)

9020:03

State (drive controller)

permitted values:

UINT16

RO

0x0000 (0dec)

0: Init

1: Idle

272: Go cam

273: On cam

16: Start

17: Acceleration

18: Constant

19: Deceleration

288: Go sync impulse

289: Leave cam

4096: Pre target

4097: In target

32: Emergency Stop

33: Normal stop

304: Calibration stop

8192: Drive end

8193: Wait for init

320: Is calibrated

321: Not calibrated

16384: Drive warning

32768: Error

65535: Undefined

256: Calibration start

9020:04

Actual position lag

Current step error

INT32

RO

0x00000000 (0dec)
Index A010 STM Diag data Ch.1

Index

Name

Meaning

Data type

Flags

Default value

A010:0

STM Diag data Ch.1

Maximum subindex

UINT8

RO

0x11 (17dec)

A010:01

Saturated

Driver stage operates with maximum duty cycle

BOOLEAN

RO

0x00 (0dec)

A010:02

Over temperature

Internal terminal temperature is greater than 80 °C

BOOLEAN

RO

0x00 (0dec)

A010:03

Torque overload

Duty cycle output at 100%

BOOLEAN

RO

0x00 (0dec)

A010:04

Under voltage

Supply voltage less than 7 V

BOOLEAN

RO

0x00 (0dec)

A010:05

Over voltage

Supply voltage 10 % higher than the nominal voltage (see 8010:03)

BOOLEAN

RO

0x00 (0dec)

A010:06

Short circuit

Short circuit of motor coil

BOOLEAN

RO

0x00 (0dec)

A010:08

No control power

No power supply to driver stage

BOOLEAN

RO

0x00 (0dec)

A010:09

Misc error
  • Initialization failed or
  • Internal terminal temperature is higher than 100 °C (see F80F:05)

BOOLEAN

RO

0x00 (0dec)

A010:0A

Configuration

CoE change has not yet been adopted into the current configuration

BOOLEAN

RO

0x00 (0dec)

A010:0B

Motor stall

A loss of step has occurred

BOOLEAN

RO

0x00 (0dec)

A010:11

Actual operation mode

permitted values:

BIT4

RO

0x00 (0dec)

0: Automatic

1: Velocity direct

2: Velocity controller

3: Position controller

4: Ext. Velocity mode

5: Ext. Position mode

6: Velocity sensorless
Index A020 POS Diag data Ch.1

Index

Name

Meaning

Data type

Flags

Default value

A020:0

POS Diag data Ch.1

Maximum subindex

UINT8

RO

0x06 (6dec)

A020:01

Command rejected

Travel command was rejected

BOOLEAN

RO

0x00 (0dec)

A020:02

Command

aborted

Travel command was aborted

BOOLEAN

RO

0x00 (0dec)

A020:03

Target overrun

Target position was overrun in the opposite direction

BOOLEAN

RO

0x00 (0dec)

A020:04

Target timeout

The target window was not reached within the in-target timeout

BOOLEAN

RO

0x00 (0dec)

A020:05

Position lag

The maximum following error was exceeded

BOOLEAN

RO

0x00 (0dec)

A020:06

Emergency Stop

An emergency stop was triggered (automatic or manual)

BOOLEAN

RO

0x00 (0dec)

Manufacturer Configuration Data (device-specific)

Index F80F STM Vendor data

Index

Name

Meaning

Data type

Flags

Default value

F80F:0

STM Vendor data

Maximum subindex

UINT8

RO

0x05 (5dec)

F80F:04

Warning temperature

Temperature warning threshold Unit: 1 °C

INT8

RW

0x50 (80dec)

F80F:05

Switch off temperature

Switch-off temperature Unit: 1 °C

INT8

RW

0x64 (100dec)

Information / diagnostic data (device-specific)

Index F900 STM Info data

Index

Name

Meaning

Data type

Flags

Default value

F900:0

STM Info data

Maximum subindex

UINT8

RO

0x06 (6dec)

F900:01

Software version (driver)

Software version of the output driver

STRING

RO

 

F900:02

Internal temperature

Internal terminal temperature Unit: 1 °C

INT8

RO

0x00 (0dec)

F900:04

Control voltage

Control voltage

Unit: 1 mV, 10 mV with field-oriented control

UINT16

RO

0x0000 (0dec)

F900:05

Motor supply voltage

Motor supply voltage

Unit: 1 mV, 10 mV with field-oriented control

UINT16

RO

0x0000 (0dec)

F900:06

Cycle time

Current EtherCATClosed***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs cycle time Unit: 1 µs

UINT16

RO

0x0000 (0dec)
Index F010 Module list

Index

Name

Meaning

Data type

Flags

Default value

F010:0

Module list

Maximum subindex

UINT8

RW

0x03 (3dec)

F010:01

SubIndex 001

Encoder profile number

UINT32

RW

0x000001FF

(511dec)

F010:02

SubIndex 002

Stepper motor profile number

UINT32

RW

0x000002BF

(703dec)

F010:03

SubIndex 003

Positioning interface profile number

UINT32

RW

0x000002C0

(704dec)
Index F081 Download revision

Index

Name

Meaning

Data type

Flags

Default value

F081:0

Download revision

Maximum subindex

UINT8

RO

0x01 (1dec)

F081:01

Revision number

Revision number

UINT32

RW

0x00000000 (0dec)
Index FB40 Memory interface

Index

Name

Meaning

Data type

Flags

Default value

FB40:0

Memory interface

Maximum subindex

UINT8

RO

0x03 (3dec)

FB40:01

Address

reserved

UINT32

RW

0x00000000 (0dec)

FB40:02

Length

reserved

UINT16

RW

0x0000 (0dec)

FB40:03

Data

reserved

OCTET-STRING[8]

RW

{0}