Beckhoff EL7031 - Page 197

Commissioning
EL70x1 197Version: 4.4
Index 8012 STM Features Ch.1
Index (hex) Name Meaning Data type Flags Default
8012:0 STM Features Ch.1 Maximum subindex UINT8 RO 0x49 (73
dec
)
8012:01 Operation mode Operating mode
(currently only direct
velocity is sup-
ported)
0 Automatic BIT4 RW 0x00 (0
dec
)
1 Direct velocity
2 Velocity controller
3 Position controller
8012:05 Speed range Preselection of the
speed range
0 1000 full steps/second BIT3 RW 0x01 (1
dec
)
1 2000 full steps/second
2 4000 full steps/second
3 8000 full steps/second
4 16000 full steps/second
5 32000 full steps/second
8012:08 Feedback type Selection of the
feedback system
0 External encoder BIT1 RW 0x01 (1
dec
)
8012:09 Invert motor polarity Activates reversal of the motor rotation direction. BOOLEAN RW 0x00 (0
dec
)
8012:11 Select info data 1 Select "Info data
1" (see 0x6010:11
[}201])
0 Status word UINT8 RW 0x03 (3
dec
)
1 Motor voltage coil A
(unit 1 mV)
2 Motor voltage coil B
(unit 1 mV)
3 Motor current coil A
(unit 1 mA)
4 Motor current coil B
(unit 1 mA)
5 Duty-Cycle coil A
(unit 1%)
6 Duty-Cycle coil B
(unit 1%)
7 Current velocity
(value range +/- 10000)
... reserved
101 Internal temperature of the
driver card
... reserved
103 Control voltage
104 Motor supply voltage
... reserved
150 Drive - Status word
151 Drive - State
152 Drive - Position lag (low word)
153 Drive - Position lag (high
word)
... reserved
255 reserved