AKT2G-SM-Lx Object Description
The CoE overview contains objects for different intended applications
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Restore Object
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 |
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 |
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) |
Reduced current |
Reduced coil current Unit: 1 mA |
UINT16 |
RW |
0x09C4 (2500dec) |
|
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 |
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 |
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) |
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 |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
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 |
permitted values: |
BIT4 |
RW |
0x00 (0dec) |
|
0: Normal input |
|||||
1: Hardware enable |
|||||
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 |
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 |
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 |
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 |
|||||
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 |
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 |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
6000:0 |
ENC Inputs Ch.1 |
Maximum subindex |
UINT8 |
RO |
0x16 (22dec) |
The counter value was latched with the C track. |
BOOLEAN |
RO |
0x00 (0dec) |
||
Latch extern valid |
The counter value was stored via the external latch. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Set counter done |
The counter was set. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Counter underflow |
Counter underflow. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Counter overflow |
Counter overflow. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Extrapolation stall |
The extrapolated part of the counter is invalid |
BOOLEAN |
RO |
0x00 (0dec) |
|
Status of input A |
Status of the A-input. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Status of input B |
Status of the B-input. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Status of input C |
Status of the C-input. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Status of extern latch |
Status of the ext. latch input. |
BOOLEAN |
RO |
0x00 (0dec) |
|
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) |
|
TxPDO Toggle |
The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Counter value |
The counter value. |
UINT32 |
RO |
0x00000000 (0dec) |
|
Latch value |
The latch value. |
UINT32 |
RO |
0x00000000 (0dec) |
|
Time stamp of the last counter change. |
UINT32 |
RO |
0x00000000 (0dec) |
Index |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
6010:0 |
STM Inputs Ch.1 |
Maximum subindex |
UINT8 |
RO |
0x15 (21dec) |
Ready to enable |
BOOLEAN |
RO |
0x00 (0dec) |
||
Ready |
Driver stage is ready for operation |
BOOLEAN |
RO |
0x00 (0dec) |
|
Warning |
a warning has occurred (see Index A010 STM Diag data Ch.1) |
BOOLEAN |
RO |
0x00 (0dec) |
|
Error |
an error has occurred (see Index A010 STM Diag data Ch.1) |
BOOLEAN |
RO |
0x00 (0dec) |
|
Moving positive |
Driver stage is activated in positive direction |
BOOLEAN |
RO |
0x00 (0dec) |
|
Moving negative |
Driver stage is activated in negative direction |
BOOLEAN |
RO |
0x00 (0dec) |
|
Reduced torqueTorque 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) |
||
Motor stall |
A loss of step has occurred |
BOOLEAN |
RO |
0x00 (0dec) |
|
Digital input 1 |
Digital input 1 |
BOOLEAN |
RO |
0x00 (0dec) |
|
Digital input 2 |
Digital input 2 |
BOOLEAN |
RO |
0x00 (0dec) |
|
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) |
|
TxPDO Toggle |
The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Info data 1 |
Synchronous information (selection via subindex 8012:11) |
UINT16 |
RO |
0x0000 (0dec) |
|
Info data 2 |
Synchronous information (selection via subindex 8012:19) |
UINT16 |
RO |
0x0000 (0dec) |
|
Motor load |
Current motor load Unit: 0.01° |
INT16 |
RO |
0x0000 (0dec) |
|
Internal position |
Internal microstep position |
UINT32 |
RO |
0x00000000 (0dec) |
|
External position |
Encoder position |
UINT32 |
RO |
0x00000000 (0dec) |
Index |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
6020:0 |
POS Inputs Ch.1 |
Maximum subindex |
UINT8 |
RO |
0x22 (34dec) |
Busy |
A current travel command is active |
BOOLEAN |
RO |
0x00 (0dec) |
|
In-Target |
Motor has arrived at target |
BOOLEAN |
RO |
0x00 (0dec) |
|
Warning |
A warning has occurred |
BOOLEAN |
RO |
0x00 (0dec) |
|
Error |
an error has occurred |
BOOLEAN |
RO |
0x00 (0dec) |
|
Calibrated |
Motor is calibrated |
BOOLEAN |
RO |
0x00 (0dec) |
|
Accelerate |
Motor is in the acceleration phase |
BOOLEAN |
RO |
0x00 (0dec) |
|
Decelerate |
Motor is in the deceleration phase |
BOOLEAN |
RO |
0x00 (0dec) |
|
Actual position |
Current target position of the travel command generator |
UINT32 |
RO |
0x00000000 (0dec) |
|
Actual velocity |
Current set velocity of the travel command generator |
INT16 |
RO |
0x0000 (0dec) |
|
Actual drive time |
Travel command time information (see subindex 8021:11) |
UINT32 |
RO |
0x00000000 (0dec) |
|
Actual position lag |
Lag of position |
UINT32 |
RO |
0x00000000 (0dec) |
Output data
Index |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
7000:0 |
ENC Outputs Ch.1 |
Maximum subindex |
UINT8 |
RO |
0x11 (17dec) |
Enable latch C |
Activate latching via the C-track. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Enable latch extern on positive edge |
Activate external latch with positive edge. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Set counter |
Set the counter value. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Enable latch extern on negative edge |
Activate external latch with negative edge. |
BOOLEAN |
RO |
0x00 (0dec) |
|
Set counter value |
This is the counter value to be set via "Set counter". |
UINT16 |
RO |
0x0000 (0dec) |
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 |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
7010:0 |
STM Outputs Ch.1 |
Maximum subindex |
UINT8 |
RO |
0x21 (33dec) |
Enable |
activates the output stage |
BOOLEAN |
RO |
0x00 (0dec) |
|
Reset |
all errors that may have occurred are reset by setting this bit (rising edgeA rising edge is the transition of a digital signal from low to high. It is also called positive edge) |
BOOLEAN |
RO |
0x00 (0dec) |
|
Reduce torque |
Reduced torque (coil current) is active (see subindex 8010:02) |
BOOLEAN |
RO |
0x00 (0dec) |
|
Digital output 1 |
Digital output 1 |
BOOLEAN |
RO |
0x00 (0dec) |
|
Position |
Set position specification Unit: Increments |
UINT32 |
RO |
0x00000000 (0dec) |
|
Velocity |
Set velocity specification Unit: +/- 32767 corresponds to +/- 100% |
INT16 |
RO |
0x0000 (0dec) |
Index |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
7020:0 |
POS Outputs Ch.1 |
Maximum subindex |
UINT8 |
RO |
0x24 (33dec) |
Execute |
Start travel command (rising edge), or prematurely abort travel command (falling edge) |
BOOLEAN |
RO |
0x00 (0dec) |
|
Emergency Stop |
Prematurely abort travel command with an emergency ramp (rising edge) |
BOOLEAN |
RO |
0x00 (0dec) |
|
Target position |
Specification of the target position |
UINT32 |
RO |
0x00000000 (0dec) |
|
Velocity |
Specification of the maximum set velocity |
INT16 |
RO |
0x0000 (0dec) |
Index |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
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) |
||
Acceleration |
Acceleration specification |
UINT16 |
RO |
0x0000 (0dec) |
|
Deceleration |
Deceleration specification |
UINT16 |
RO |
0x0000 (0dec) |
Index |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
7021:0 |
POS Outputs Ch.1 |
Maximum subindex |
UINT8 |
RO |
0x24 (36dec) |
Enable auto start |
Enable auto start |
BOOLEAN |
RO |
0x00 (0dec) |
|
Target position |
Specification of the target position |
UINT32 |
RO |
0x00000000 (0dec) |
|
Velocity |
Specification of the maximum set velocity |
INT16 |
RO |
0x0000 (0dec) |
Index |
Name |
Meaning |
Data type |
Flags |
Default value |
---|---|---|---|---|---|
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) |
||
Acceleration |
Acceleration specification |
UINT16 |
RO |
0x0000 (0dec) |
|
Deceleration |
Deceleration specification |
UINT16 |
RO |
0x0000 (0dec) |
Information / Diagnostic Data (channel specific)
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 |
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 |
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 |
|
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 |
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 |
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) |
Switch off temperature |
Switch-off temperature Unit: 1 °C |
INT8 |
RW |
0x64 (100dec) |
Information / diagnostic data (device-specific)
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 |
UINT16 |
RO |
0x0000 (0dec) |
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 |
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 |
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} |