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Parameter settings

Parameter settings

The settings of all parameters of the TGZ servo amplifier are available in the Parameters tab. In addition to this detailed setting, it is also possible to find detailed information about the connected servo amplifier (type, serial number, etc.).

TGZ GUI servo parameters

The open window also consists of several panes:

  • BASIC GROUPS - list of parameter groups (in individual groups it is possible to find and set all parameters of the servo amplifier).
  • USER GROUPS - user groups (allow setting the display of selected parameter groups).
  • DRIVE INFO - displays information about the given servo amplifier (type, serial number, HW version, firmware version, etc.).
  • PARAMETERS - display and edit parameters of the active group
  • MONITORED VALUES - AXIS 1 - displays basic status information (position, speed, proud, etc.) of Axis 1 of the TGZ servo amplifier, displays a code of possible errors and allows its reset.
  • MONITORED VALUES - AXIS 2 - displays basic status information (position, speed, proud, etc.) of Axis 2 of the TGZ servo amplifier, displays a code of possible errors and allows its reset.

At the bottom of the window there is an informative status bar with several function buttons:

  • COMMON

    Icon Common

  • HW ENABLE status information the Disable function key allows the HW ENABLE to be switched off simultaneously on both axes of the servo amplifier

  • AXIS 1

    Icon Ax1

    • display of information about the status of axis 1 (error, warning message SW Enable)
    • the function key Disable enables switching off the SW ENABLE for axis 1
    • the function key Enable allows to switch on SW ENABLE for axis 1

  • AXIS 2

    Icon Ax2

    • display of information about the status of axis 2 (error, warning message SW Enable)
    • the function key Disable enables switching off the SW ENABLE for axis 2
    • the function key Enable allows to switch on SW ENABLE for axis 2

Basic TGZ parameters in the TGZ GUI

Description of TGZ main parameters
Name Axis Basic Group Index (ETH) Group
Index		 Item
Index		 Access Unit Size Description [EN]
C-Type1 Common 0x2000 0 0 read-only chars 32 bits Servo drive hw type 1/5
C-Type2 Common 0x2001 0 1 read-only chars 32 bits Servo drive hw type 2/5
C-Type3 Common 0x2002 0 2 read-only chars 32 bits Servo drive hw type 3/5
C-Type4 Common 0x2003 0 3 read-only chars 32 bits Servo drive hw type 4/5
C-Type5 Common 0x2004 0 4 read-only chars 32 bits Servo drive hw type 5/5
C-HWVer Common 0x2005 0 5 read-only chars 32 bits HW version
C-FWVer Common 0x2006 0 6 read-only chars 32 bits Firmware version
C-FWBuild1 Common 0x2007 0 7 read-only chars 32 bits Firmware build 1/5
C-FWBuild2 Common 0x2008 0 8 read-only chars 32 bits Firmware build 2/5
C-FWBuild3 Common 0x2009 0 9 read-only chars 32 bits Firmware build 3/5
C-FWBuild4 Common 0x200A 0 10 read-only chars 32 bits Firmware build 4/5
C-FWBuild5 Common 0x200B 0 11 read-only chars 32 bits Firmware build 5/5
C-IPAddress Common 0x200C 0 12 read-write - 32 bits IP address X11 service UDP chanel
C-ID Common 0x200D 0 13 read-write - 32 bits ID fieldbus
C-SyncTime Common 0x200E 0 14 read-only - 32 bits Measured time between synchronization pulses
(only for DC functionality)
C-Enable_1G Common 0x200F 0 15 read-write - 32 bits Enable 1G speed fieldbus (preparing)
C-SetCycleTime Common 0x2010 0 16 read-write us 32 bits Desired cycle time (used only without DC
functionality)
C-UserProgStart Common 0x2011 0 17 read-write - 32 bits Enable autostart of user program : 0 .. no autostart, 1 .. autostart from flash memory, (2 ..
autostart from SD .. preparing)
M-Name1 Axis 1 Motor 0x2100 1 0 read-write chars 32 bits Motor name 1 1/6
M-Name1 Axis 2 Motor 0x2200 2 0 read-write chars 32 bits Motor name 2 1/6
M-Name2 Axis 1 Motor 0x2101 1 1 read-write chars 32 bits Motor name 1 2/6
M-Name2 Axis 2 Motor 0x2201 2 1 read-write chars 32 bits Motor name 2 2/6
M-Name3 Axis 1 Motor 0x2102 1 2 read-write chars 32 bits Motor name 1 3/6
M-Name3 Axis 2 Motor 0x2202 2 2 read-write chars 32 bits Motor name 2 3/6
M-Name4 Axis 1 Motor 0x2103 1 3 read-write chars 32 bits Motor name 1 4/6
M-Name4 Axis 2 Motor 0x2203 2 3 read-write chars 32 bits Motor name 2 4/6
M-Name5 Axis 1 Motor 0x2104 1 4 read-write chars 32 bits Motor name 1 5/6
M-Name5 Axis 2 Motor 0x2204 2 4 read-write chars 32 bits Motor name 2 5/6
M-Name6 Axis 1 Motor 0x2105 1 5 read-write chars 32 bits Motor name 1 6/6
M-Name6 Axis 2 Motor 0x2205 2 5 read-write chars 32 bits Motor name 2 6/6
M-Inull Axis 1 Motor 0x2106 1 6 read-write mA(rms) 32 bits Allowed stall rms current of motor 1
M-Inull Axis 2 Motor 0x2206 2 6 read-write mA(rms) 32 bits Allowed stall rms current of motor 2
M-Ipeak Axis 1 Motor 0x2107 1 7 read-write mA 32 bits Allowed peak current amplitude of motor 1
(Iamp = 1.41 * Irms)
M-Ipeak Axis 2 Motor 0x2207 2 7 read-write mA 32 bits Allowed peak current amplitude of motor 2
(Iamp = 1.41 * Irms)
M-Nmax Axis 1 Motor 0x2108 1 8 read-write rpm 32 bits Maximal mechanical speed of motor 1 - error
limit
M-Nmax Axis 2 Motor 0x2208 2 8 read-write rpm 32 bits Maximal mechanical speed of motor 2 - error
limit
M-Polepairs Axis 1 Motor 0x2109 1 9 read-write - 32 bits Number of motor 1 polepairs (polepairs = poles
/ 2)
M-Polepairs Axis 2 Motor 0x2209 2 9 read-write - 32 bits Number of motor 2 polepairs (polepairs = poles
/ 2)
M-CommutOffset Axis 1 Motor 0x210A 1 10 read-write - 32 bits Angle offset between zero of feedback encoder
and stator of motor 1
M-CommutOffset Axis 2 Motor 0x220A 2 10 read-write - 32 bits Angle offset between zero of feedback encoder
and stator of motor 2
M-MinResTerm Axis 1 Motor 0x210B 1 11 read-write Ohm 32 bits Limit for overtemperature error - Minimal resistivity of motor 1 thermal sensor (used only for digital feedback with connected thermal
sensor)
M-MinResTerm Axis 2 Motor 0x220B 2 11 read-write Ohm 32 bits Limit for overtemperature error - Minimal resistivity of motor 2 thermal sensor (used only for digital feedback with connected thermal
sensor)
M-MaxResTerm Axis 1 Motor 0x210C 1 12 read-write Ohm 32 bits Limit for overtemperature error - Maximal resistivity of motor 1 thermal sensor (used only for digital feedback with connected thermal
sensor)
M-MaxResTerm Axis 2 Motor 0x220C 2 12 read-write Ohm 32 bits Limit for overtemperature error - Maximal resistivity of motor 2 thermal sensor (used only for digital feedback with connected thermal
sensor)
M-StaticBrake Axis 1 Motor 0x210D 1 13 read-write - 32 bits Motor 1 static brake: 1 = yes , 0 = no
M-StaticBrake Axis 2 Motor 0x220D 2 13 read-write - 32 bits Motor 2 static brake: 1 = yes , 0 = no
M-ThermTimeConst Axis 1 Motor 0x210E 1 14 read-write s 32 bits ThermalTimeConstant of motor 1
M-ThermTimeConst Axis 2 Motor 0x220E 2 14 read-write s 32 bits ThermalTimeConstant of motor 2
D-Name1 Axis 1 Drive 0x2300 3 0 read-write chars 32 bits Drive 1 name 1/3
D-Name1 Axis 2 Drive 0x2400 4 0 read-write chars 32 bits Drive 2 name 1/3
D-Name2 Axis 1 Drive 0x2301 3 1 read-write chars 32 bits Drive 1 name 2/3
D-Name2 Axis 2 Drive 0x2401 4 1 read-write chars 32 bits Drive 2 name 2/3
D-Name3 Axis 1 Drive 0x2302 3 2 read-write chars 32 bits Drive 1 name 3/3
D-Name3 Axis 2 Drive 0x2402 4 2 read-write chars 32 bits Drive 2 name 3/3
D-Mode Axis 1 Drive 0x2303 3 3 read-write - 32 bits Mode of drive 1 - see manual
D-Mode Axis 2 Drive 0x2403 4 3 read-write - 32 bits Mode of drive 2 - see manual
D-DelayEnable_Hwen Axis 1 Drive 0x230A 3 10 read-write 0.1ms 32 bits Delay enable drive 1 after HW enable signal
rising edge X1
D-DelayEnable_Hwen Axis 2 Drive 0x240A 4 10 read-write 0.1ms 32 bits Delay enable drive 2 after HW enable signal
rising edge X1
D-DelayUnbrake_Enable Axis 1 Drive 0x230B 3 11 read-write 0.1ms 32 bits Delay release brake of motor 1 after enable
drive
D-DelayUnbrake_Enable Axis 2 Drive 0x240B 4 11 read-write 0.1ms 32 bits Delay release brake of motor 2 after enable
drive
D-DelayDisable_Brake Axis 1 Drive 0x230C 3 12 read-write 0.1ms 32 bits Delay disable drive 1 after activating brake
D-DelayDisable_Brake Axis 2 Drive 0x240C 4 12 read-write 0.1ms 32 bits Delay disable drive 2 after activating brake
D-VoltDCLinkMinErrLim Drive 0x230D 3 13 read-write V 32 bits Minimal DC link voltage - low voltage error level
D-VoltDCLinkMaxErrLim Drive 0x230E 3 14 read-write V 32 bits Maximal DC link voltage - high voltage error
level
C-K Axis 1 Currentcontroller 0x2500 5 0 read-write mV/A 32 bits Current controller Q gain
C-K Axis 2 Currentcontroller 0x2600 6 0 read-write mV/A 32 bits Current controller Q gain
C-Ti Axis 1 Currentcontroller 0x2501 5 1 read-write µs 32 bits Current controller integral time
C-Ti Axis 2 Currentcontroller 0x2601 6 1 read-write µs 32 bits Current controller integral time
C-KDr Axis 1 Currentcontroller 0x2502 5 2 read-write % 32 bits Current controller D relative gain to K
C-KDr Axis 2 Currentcontroller 0x2602 6 2 read-write % 32 bits Current controller D relative gain to K
C-Tc Axis 1 Currentcontroller 0x2503 5 3 read-write µs 32 bits Time constant of current command filter (not
used)
C-Tc Axis 2 Currentcontroller 0x2603 6 3 read-write µs 32 bits Time constant of current command filter (not
used)
C-Filt Axis 1 Currentcontroller 0x2504 5 4 read-write % 32 bits Percentable value of current command (100 =
100% goes via filter) (not used)
C-Filt Axis 2 Currentcontroller 0x2604 6 4 read-write % 32 bits Percentable value of current command (100 =
100% goes via filter) (not used)
C-LimN Axis 1 Currentcontroller 0x2505 5 5 read-write 0,1% 32 bits Current amplitude negative limit relatively to M- Inull (limiting output of speed controller)
C-LimN Axis 2 Currentcontroller 0x2605 6 5 read-write 0,1% 32 bits Current amplitude negative limit relatively to M- Inull (limiting output of speed controller)
C-LimP Axis 1 Currentcontroller 0x2506 5 6 read-write 0,1% 32 bits Current amplitude positive limit relatively to M- Inull (limiting output of speed controller)
C-LimP Axis 2 Currentcontroller 0x2606 6 6 read-write 0,1% 32 bits Current amplitude positive limit relatively to M- Inull (limiting output of speed controller)
C-VoltLimMin Axis 1 Currentcontroller 0x2507 5 7 read-write % 32 bits Negative voltage limit (output of current
controller)
C-VoltLimMin Axis 2 Currentcontroller 0x2607 6 7 read-write % 32 bits Negative voltage limit (output of current
controller)
C-VoltLimMax Axis 1 Currentcontroller 0x2508 5 8 read-write % 32 bits Possitive voltage limit (output of current
controller)
C-VoltLimMax Axis 2 Currentcontroller 0x2608 6 8 read-write % 32 bits Possitive voltage limit (output of current
controller)
C-CogCompFac Axis 1 Currentcontroller 0x2509 5 9 read-write % 32 bits Cogging compensation factor 0 .. Off (Before
using function must be measured compensation data of motor)
C-CogCompFac Axis 2 Currentcontroller 0x2609 6 9 read-write % 32 bits Cogging compensation factor 0 .. Off (Before using function must be measured compensation
data of motor)
V-K Axis 1 Velocitycontroller 0x2700 7 0 read-write mA/1000rpm 32 bits Velocity controller gain
V-K Axis 2 Velocitycontroller 0x2800 8 0 read-write mA/1000rpm 32 bits Velocity controller gain
V-Ti Axis 1 Velocitycontroller 0x2701 7 1 read-write µs 32 bits Velocity controller integral time
V-Ti Axis 2 Velocitycontroller 0x2801 8 1 read-write µs 32 bits Velocity controller integral time
V-LimN Axis 1 Velocitycontroller 0x2702 7 2 read-write rpm 32 bits Velocity negative limit (limiting output of
position controller)
V-LimN Axis 2 Velocitycontroller 0x2802 8 2 read-write rpm 32 bits Velocity negative limit (limiting output of
position controller)
V-LimP Axis 1 Velocitycontroller 0x2703 7 3 read-write rpm 32 bits Velocity positive limit (limiting output of
position controller)
V-LimP Axis 2 Velocitycontroller 0x2803 8 3 read-write rpm 32 bits Velocity positive limit (limiting output of
position controller)
V-Tfb Axis 1 Velocitycontroller 0x2704 7 4 read-write µs 32 bits Time constant of velocity feedback lowpass filter
(not used)
V-Tfb Axis 2 Velocitycontroller 0x2804 8 4 read-write µs 32 bits Time constant of velocity feedback lowpass filter
(not used)
V-Tv Axis 1 Velocitycontroller 0x2705 7 5 read-write µs 32 bits Time constant of velocity command lowpass
filter (not used)
V-Tv Axis 2 Velocitycontroller 0x2805 8 5 read-write µs 32 bits Time constant of velocity command lowpass
filter (not used)
V-FiFact Axis 1 Velocitycontroller 0x2706 7 6 read-write 0,1% 32 bits Velocity filter factor 0 .. not filtered (not used)
V-FiFact Axis 2 Velocitycontroller 0x2806 8 6 read-write 0,1% 32 bits Velocity filter factor 0 .. not filtered (not used)
P-K Axis 1 Positioncontroller 0x2900 9 0 read-write 0.001 1/s 32 bits Position controller gain
P-K Axis 2 Positioncontroller 0x2A00 10 0 read-write 0.001 1/s 32 bits Position controller gain
P-SFF Axis 1 Positioncontroller 0x2901 9 1 read-write 0,1% 32 bits Speed feed forward
P-SFF Axis 2 Positioncontroller 0x2A01 10 1 read-write 0,1% 32 bits Speed feed forward
P-MaxAngleError Axis 1 Positioncontroller 0x2902 9 2 read-write --- 32 bits maximal position error - angle part
P-MaxAngleError Axis 2 Positioncontroller 0x2A02 10 2 read-write --- 32 bits maximal position error - angle part
P-MaxRevolError Axis 1 Positioncontroller 0x2903 9 3 read-write --- 32 bits maximal position error - revolution part
P-MaxRevolError Axis 2 Positioncontroller 0x2A03 10 3 read-write --- 32 bits maximal position error - revolution part
F-Type Axis 1 Feedback 0x2B00 11 0 read-write - 32 bits Feedback type : 1.. Hiperface DSL, 2.. Endat
, 4.. Incremental, 6.. BISS, 7.. SSI
F-Type Axis 2 Feedback 0x2C00 12 0 read-write - 32 bits Feedback type : 1.. Hiperface DSL, 2.. Endat
, 4.. Incremental, 6.. BISS, 7.. SSI
F-Resolution Axis 1 Feedback 0x2B01 11 1 read-write - 32 bits Feedback resolution per revolution(read only for
digital feedbacks type 1 and 2)
F-Resolution Axis 2 Feedback 0x2C01 12 1 read-write - 32 bits Feedback resolution per revolution(read only for
digital feedbacks type 1 and 2)
F-IncrEnc Axis 1 Feedback 0x2B02 11 2 read-write pulses 32 bits Incremental encoder feedback resolution
F-IncrEnc Axis 2 Feedback 0x2C02 12 2 read-write pulses 32 bits Incremental encoder feedback resolution
F-ExtIncrEnc Feedback 0x2B03 11 3 read-write pulses 32 bits External incremental encoder resolution
F-ResolverPoles Axis 1 Feedback 0x2B04 11 4 read-write - 32 bits Number of resolver poles (not used - only for
optional board)
F-ResolverPoles Axis 2 Feedback 0x2C04 12 4 read-write - 32 bits Number of resolver poles (not used - only for
optional board)
K-Command Axis 1 Command 0x3100 17 0 read-write - 32 bits Command bits[1,0]=01 .. SW enable bit[3] = 1 ..
Clear errors
K-Command Axis 2 Command 0x3200 18 0 read-write - 32 bits Command bits[1,0]=01 .. SW enable bit[3] = 1 ..
Clear errors
K-I Axis 1 Command 0x3101 17 1 read-write mA 32 bits Required current (current mode = 1)
K-I Axis 2 Command 0x3201 18 1 read-write mA 32 bits Required current (current mode = 1)
K-V Axis 1 Command 0x3102 17 2 read-write rpm 32 bits Required velocity (velocity mode = 2)
K-V Axis 2 Command 0x3202 18 2 read-write rpm 32 bits Required velocity (velocity mode = 2)
K-P_Angle Axis 1 Command 0x3103 17 3 read-write - 32 bits Required position - angle (position mode = 3)
K-P_Angle Axis 2 Command 0x3203 18 3 read-write - 32 bits Required position - angle (position mode = 3)
K-P_Revol Axis 1 Command 0x3104 17 4 read-write - 32 bits Required position - revolutions (position mode =
3)
K-P_Revol Axis 2 Command 0x3204 18 4 read-write - 32 bits Required position - revolutions (position mode =
3)
K-DigitalOutputForce_Set Axis 1 Command 0x3109 17 9 read-write - 32 bits force outputs - set
K-DigitalOutputForce_Set Axis 2 Command 0x3209 18 9 read-write - 32 bits force outputs - set
K-DigitalOutputForce_Clr Axis 1 Command 0x310A 17 10 read-write - 32 bits force outputs - clear
K-DigitalOutputForce_Clr Axis 2 Command 0x320A 18 10 read-write - 32 bits force outputs - clear
Monitor-Counter Monitoring 0x3300 19 0 read-only - 32 bits Main counter
aIa Axis 1 Monitoring 0x3301 19 1 read-only mA 32 bits Actual current phase A
aIa Axis 2 Monitoring 0x3401 20 1 read-only mA 32 bits Actual current phase A
aIb Axis 1 Monitoring 0x3302 19 2 read-only mA 32 bits Actual current phase B
aIb Axis 2 Monitoring 0x3402 20 2 read-only mA 32 bits Actual current phase B
aIc Axis 1 Monitoring 0x3303 19 3 read-only mA 32 bits Actual current phase C
aIc Axis 2 Monitoring 0x3403 20 3 read-only mA 32 bits Actual current phase C
aIq Axis 1 Monitoring 0x3306 19 6 read-only mA 32 bits Actual current q
aIq Axis 2 Monitoring 0x3406 20 6 read-only mA 32 bits Actual current q
aId Axis 1 Monitoring 0x3307 19 7 read-only mA 32 bits Actual current d
aId Axis 2 Monitoring 0x3407 20 7 read-only mA 32 bits Actual current d
aAngle Axis 1 Monitoring 0x3310 19 16 read-only inc 32 bits Actual position per revolution (resolution :
32bit per revolution)
aAngle Axis 2 Monitoring 0x3410 20 16 read-only inc 32 bits Actual position per revolution (resolution :
32bit per revolution)
aRevol Axis 1 Monitoring 0x3311 19 17 read-only 1 32 bits Actual number of revolutions
aRevol Axis 2 Monitoring 0x3411 20 17 read-only 1 32 bits Actual number of revolutions
aSpeed Axis 1 Monitoring 0x3312 19 18 read-only rpm 32 bits Actual motor speed
aSpeed Axis 2 Monitoring 0x3412 20 18 read-only rpm 32 bits Actual motor speed
aSpeedError Axis 1 Monitoring 0x3314 19 20 read-only rpm 32 bits Actual speed error
aSpeedError Axis 2 Monitoring 0x3414 20 20 read-only rpm 32 bits Actual speed error
aAngleError Axis 1 Monitoring 0x331C 19 28 read-only rpm 32 bits Actual angle error
aAngleError Axis 2 Monitoring 0x341C 20 28 read-only rpm 32 bits Actual angle error
aRevolError Axis 1 Monitoring 0x331D 19 29 read-only rpm 32 bits Actual revol error
aRevolError Axis 2 Monitoring 0x341D 20 29 read-only rpm 32 bits Actual revol error
aDriveStatus Axis 1 Monitoring 0x3325 19 37 read-only -- 32 bits Status of drive : bit[0] = 1 .. Enabled, bit[1] = 1 .. HW Enable signal, bit[2] = 1 .. Software enable, bit[3] = 1 .. Brake released, bit [4] = 1 .. No error, bit[5] = 1 .. Initialization finished, bit[6] = 1
..fieldbus mode, .............
aDriveStatus Axis 2 Monitoring 0x3425 20 37 read-only -- 32 bits Status of drive : bit[0] = 1 .. Enabled, bit[1] = 1 .. HW Enable signal, bit[2] = 1 .. Software enable, bit[3] = 1 .. Brake released, bit [4] = 1 .. No error, bit[5] = 1 .. Initialization finished, bit[6] = 1
..fieldbus mode, ..............
aDriveError Axis 1 Monitoring 0x3326 19 38 read-only -- 32 bits Error of drive (see manual)
aDriveError Axis 2 Monitoring 0x3426 20 38 read-only -- 32 bits Error of drive (see manual)
aDriveWarning Axis 1 Monitoring 0x3327 19 39 read-only -- 32 bits Warning (not used)
aDriveWarning Axis 2 Monitoring 0x3427 20 39 read-only -- 32 bits Warning (not used)
AnInput Axis 1 Monitoring 0x3328 19 40 read-only 0,1% 32 bits Analogue input 1
AnInput Axis 2 Monitoring 0x3428 20 40 read-only 0,1% 32 bits Analogue input 2
VoltDCLink Monitoring 0x3329 19 41 read-only V 32 bits DC-link voltage
OnChipTemp Monitoring 0x332A 19 42 read-only deg 32 bits CPU temperature
ec_SetPointAngle Axis 1 Monitoring 0x332B 19 43 read-only inc 32 bits Desired position per revolution (fieldbus)
ec_SetPointAngle Axis 2 Monitoring 0x342B 20 43 read-only inc 32 bits Desired position per revolution (fieldbus)
ec_SetPointRevol Axis 1 Monitoring 0x332C 19 44 read-only 1 32 bits Desired number of revolutions (fieldbus)
ec_SetPointRevol Axis 2 Monitoring 0x342C 20 44 read-only 1 32 bits Desired number of revolutions (fieldbus)
ec_control Axis 1 Monitoring 0x332D 19 45 read-only 1 32 bits Fieldbus control register
ec_control Axis 2 Monitoring 0x342D 20 45 read-only 1 32 bits Fieldbus control register
ec_currentSetPoint Axis 1 Monitoring 0x332E 19 46 read-only 1 32 bits Fieldbus current setpoint
ec_currentSetPoint Axis 2 Monitoring 0x342E 20 46 read-only 1 32 bits Fieldbus current setpoint
ec_currentLimit Axis 1 Monitoring 0x332F 19 47 read-only 1 32 bits Fieldbus current limitation
ec_currentLimit Axis 2 Monitoring 0x342F 20 47 read-only 1 32 bits Fieldbus current limitation
Digital_Inputs Axis 1 Monitoring 0x3330 19 48 read-only - 32 bits Digital inputs : bit[0] .. IN1,bit[1] .. IN3,bit[2] ..
IN5,bit[3] .. IN7
Digital_Inputs Axis 2 Monitoring 0x3430 20 48 read-only - 32 bits Digital inputs : bit[0] .. IN2,bit[1] .. IN4,bit[2] ..
IN6,bit[3] .. IN8
Motor_temperature Axis 1 Monitoring 0x3331 19 49 read-only Ohm 32 bits Rezistivity of motor temperature sensor (only for
digital feedback with connected temperature sensor)
Motor_temperature Axis 2 Monitoring 0x3431 20 49 read-only Ohm 32 bits Rezistivity of motor temperature sensor (only for
digital feedback with connected temperature sensor)
rIq Axis 1 Monitoring 0x3332 19 50 read-only mA 32 bits Required current (input - current controller)
rIq Axis 2 Monitoring 0x3432 20 50 read-only mA 32 bits Required current (input - current controller)
Ia_rms Axis 1 Monitoring 0x3333 19 51 read-only mA 32 bits Current Ia rms value
Ia_rms Axis 2 Monitoring 0x3433 20 51 read-only mA 32 bits Current Ia rms value
Ib_rms Axis 1 Monitoring 0x3334 19 52 read-only mA 32 bits Current Ib rms value
Ib_rms Axis 2 Monitoring 0x3434 20 52 read-only mA 32 bits Current Ib rms value
Ic_rms Axis 1 Monitoring 0x3335 19 53 read-only mA 32 bits Current Ic rms value
Ic_rms Axis 2 Monitoring 0x3435 20 53 read-only mA 32 bits Current Ic rms value
aI2t Axis 1 Monitoring 0x3337 19 55 read-only mA 32 bits Integrated value I2t
aI2t Axis 2 Monitoring 0x3437 20 55 read-only mA 32 bits Integrated value I2t
rAngle Axis 1 Monitoring 0x3338 19 56 read-only inc 32 bits Required position per revolution (input -
position controller)
rAngle Axis 2 Monitoring 0x3438 20 56 read-only inc 32 bits Required position per revolution (input -
position controller)
rRevol Axis 1 Monitoring 0x3339 19 57 read-only 1 32 bits Required number of revolutions (input - position
controller)
rRevol Axis 2 Monitoring 0x3439 20 57 read-only 1 32 bits Required number of revolutions (input - position
controller)
rSpeed Axis 1 Monitoring 0x333A 19 58 read-only rpm 32 bits Required speed (input - speed controller)
rSpeed Axis 2 Monitoring 0x343A 20 58 read-only rpm 32 bits Required speed (input - speed controller)
DSL_status Axis 1 Monitoring 0x333B 19 59 read-only bit 32 bits Status DSL fb encoder
DSL_status Axis 2 Monitoring 0x343B 20 59 read-only bit 32 bits Status DSL fb encoder
DO Axis 1 Monitoring 0x333C 19 60 read-write bit 32 bits Digital outputs: bit[0] .. Out1, bit[1] .. Out3,
bit[2] .. Out5
DO Axis 2 Monitoring 0x343C 20 60 read-write bit 32 bits Digital outputs: bit[0] .. Out2, bit[1] .. Out4,
bit[2] .. Out6
C-PackeTime Monitoring 0x3340 19 64 read-only - 32 bits Measured time between packets for fieldbus
mode
Acc Axis 1 PG 0x3900 25 0 read-write pginc/s2 32 bits Desired acceleration of movement [ inc/s2 ] ..
see functional manual
Acc Axis 2 PG 0x3A00 26 0 read-write pginc/s2 32 bits Desired acceleration of movement [ inc/s2 ] ..
see functional manual
Dec Axis 1 PG 0x3901 25 1 read-write pginc/s2 32 bits Desired deceleration of movenent [ inc/s2 ] ..
see functional manual
Dec Axis 2 PG 0x3A01 26 1 read-write pginc/s2 32 bits Desired deceleration of movenent [ inc/s2 ] ..
see functional manual
APosAngle Axis 1 PG 0x3902 25 2 read-only inc 32 bits Actual position of movenent[ inc ] .. see
functional manual
APosAngle Axis 2 PG 0x3A02 26 2 read-only inc 32 bits Actual position of movenent[ inc ] .. see
functional manual
APosRevol Axis 1 PG 0x3903 25 3 read-only inc 32 bits Actual position of movenent[ inc ] .. see
functional manual
APosRevol Axis 2 PG 0x3A03 26 3 read-only inc 32 bits Actual position of movenent[ inc ] .. see
functional manual
DPosAngle Axis 1 PG 0x3904 25 4 read-write inc 32 bits Destination position of movenent[ inc ] .. see
functional manual
DPosAngle Axis 2 PG 0x3A04 26 4 read-write inc 32 bits Destination position of movenent[ inc ] .. see
functional manual
DPosRevol Axis 1 PG 0x3905 25 5 read-write inc 32 bits Destination position of movenent[ inc ] .. see
functional manual
DPosRevol Axis 2 PG 0x3A05 26 5 read-write inc 32 bits Destination position of movenent[ inc ] .. see
functional manual
ASpeed Axis 1 PG 0x3906 25 6 read-only pginc/s 32 bits Actual speed of movenent[ inc/s ] .. see
functional manual
ASpeed Axis 2 PG 0x3A06 26 6 read-only pginc/s 32 bits Actual speed of movenent[ inc/s ] .. see
functional manual
PosSpeed Axis 1 PG 0x3907 25 7 read-write pginc/s 32 bits Desired speed of movenent in position mode[
inc/s ] .. see functional manual
PosSpeed Axis 2 PG 0x3A07 26 7 read-write pginc/s 32 bits Desired speed of movenent in position mode[
inc/s ] .. see functional manual
Speed Axis 1 PG 0x3908 25 8 read-write pginc/s 32 bits Desired speed of movenent in speed mode[
inc/s ] .. see functional manual
Speed Axis 2 PG 0x3A08 26 8 read-write pginc/s 32 bits Desired speed of movenent in speed mode[
inc/s ] .. see functional manual
Mode Axis 1 PG 0x3909 25 9 read-write - 32 bits Mode of profile generator 0 = speed mode, 1 = position mode, 2( only read ) = signalizing deceleration ramp in position mode .. see
functional manual
Mode Axis 2 PG 0x3A09 26 9 read-write - 32 bits Mode of profile generator 0 = speed mode, 1 = position mode, 2( only read ) = signalizing deceleration ramp in position mode .. see
functional manual
Rdy Axis 1 PG 0x390A 25 10 read-write - 32 bits Flag end of movemnet 1 = Destination position is reached .. see functional manual
Rdy Axis 2 PG 0x3A0A 26 10 read-write - 32 bits Flag end of movemnet 1 = Destination position is reached .. see functional manual
Type Axis 1 PG 0x390B 25 11 read-write - 32 bits Type of speed profile 0 = harmonic non symetric, 1 = harmonic symetric, 2 = full harmonic, 3 = trapezoidal .. see functional
manual
Type Axis 2 PG 0x3A0B 26 11 read-write - 32 bits Type of speed profile 0 = harmonic non symetric, 1 = harmonic symetric, 2 = full harmonic, 3 = trapezoidal .. see functional
manual
BitsPerRevol Axis 1 PG 0x390C 25 12 read-write - 32 bits Number of bit per revolution for internal pg calculation. It take affect to resolution of speeds and accelerations (decelerations) .. see
functional manual
BitsPerRevol Axis 2 PG 0x3A0C 26 12 read-write - 32 bits Number of bit per revolution for internal pg calculation. It take affect to resolution of speeds and accelerations (decelerations) .. see
functional manual