Report File of XENAX Xvi75V8 Servocontroller -------------------------------------------- ******* System Configuration ******* Third party motor: Ra60 R30 8000 INC/REV XENAX Firmware: V 5.08A XENAX Hardware: V 4.00 WebMotion: V 6.06 Busmodul: EtherCAT V 2.66 ******* General ******* Program Mapping = 0 (Program 1..15 max. 50 program lines, Program 16..63 max. 10 program lines) Encoder Plausibility Check = ENABLED New P402 Set Point Acknowledge = ENABLED Enhanced Bandwidth Mode = ENABLED Current Feed Forward = DISABLED Application Motor Settigns from 0 ******* Limits ******* LR Software Position Limit Right = 0 LL Software Position Limit Left = 0 ******* Emergency ******* ED Emergency Deceleration = 10000000 BRKD Brake Delay = 100 ******* I/O ******* ILA Input Low Active = 2 ILAS Input Low Active Selective = 1 SOA Output Activity = 255 SOT Output Type = 21845 ******* State Controller ******* MAMO Mass Motor (lin) | Inertia Motor (rot) = 10000 ML Payload (lin) | Inertia Load (rot) = 22500 ACB Acceleration Boost = 0 BWP Bandwidth Position Controller = 70 PPSD Pole Placement Stability Dynamics = 0 SORF Input Shaping Frequency = 0 SORD Input Shaping Damping = 0 BWC Bandwidth Current Controller = 3000 FFC Frequency Filter Current = 0 FFS Frequency Filter Speed = 0 AVF Avoid Vibration Frequency = 0 FQC Bandwidth Filter Current = 5000 FQS Bandwidth Filter Speed = 20000 AVD Avoid Vibration Damping = 1 DP Deviation Position = 2000 DTP Deviation Target Position = 100 ******* Motor ******* IS Stop Current (lin) | Nominal Current (rot) = 370 IR Run Current (lin) | Torque Current (rot) = 780 POL Pole Pairs = 5 ENC Encoder Increments per Revolution = 8000 PHD Phase Direction = 0 PHO Phase Offset = 337 RPH Resistance Phase-Phase = 380 LPH Inductivity Phase-Phase = 220 FCM Force Constant = 26000 FFDY Dynamic Friction = 9550 FFST Static Friction = 0 ROID Rotative Motor Identifier = 301 ******* Basic ******* MD Mode = 0 ICP Increments per Pulse = 0 SR Synchronous Ratio = 0 CI Card Identifier = 0 CAB Can Baud Rate = 500000 PCT PDO Cycle Time = 500 ******* Reference Linear ******* DRHR Direction Reference Linear = 0 GSID Gantry Slave Identifier = 0 PGMSO PresetGantryMasterSlaveOffset = 0 ******* Reference Rotative ******* DRH Direction Reference Rotative = 2 SPH Reference Speed = 8000 INH Reference Input = 2 DRZ Direction to Z-Mark = 1 SPZ Speed to Z-Mark = 500 Clear Outputs = 0 ******* Reference Limit Stop ******* Creep Direction = 2 Creep Speed = 8000 Current Home = 300 DevPos Home = 0 ******* Reference ELAX ******* MLPN Mechanical Limit Position Negative = 0 MLPP Mechanical Limit Position Positive = 0 ******** Motion ********* AC Acceleration = 1000000 SP Speed = 100000 WA Way (relative) = 20000 PO Position (absolute) = 0 SCRV S-Curve Profile = 20 WT Wait Repeat (Testfunction) = 0 OVRD Override = 100 ******** Phasing Rotative ********* PWRT Phasing Rotative without Hall = 0 ******* Input Functions ****** Input Function 1 Code = EE IntParam = 0 Byte0 = 0 Byte1 = 0 ******* Output Functions ****** ******* Correction Table ******* Status = OFF Start Position = 0 Distance Points = 10000 Encoder [inc] Physical [inc] 0 0 10000 10000 20000 20000 30000 30000 40000 40000 50000 50000 60000 60000 70000 70000 80000 80000 90000 90000 100000 100000 110000 110000 120000 120000 130000 130000 140000 140000 150000 150000 160000 160000 170000 170000 180000 180000 190000 190000 200000 200000 210000 210000 220000 220000 230000 230000 240000 240000 250000 250000 260000 260000 270000 270000 280000 280000 290000 290000 300000 300000 310000 310000 320000 320000 330000 330000 340000 340000 350000 350000 360000 360000 370000 370000 380000 380000 390000 390000 400000 400000 410000 410000 420000 420000 430000 430000 440000 440000 450000 450000 460000 460000 470000 470000 480000 480000 490000 490000 500000 500000