Input data

6000:0

ENC Inputs Ch.1

Length of this object

UINT8

RO

0x16 (22_dec)

6000:01

Latch C valid

The counter value was interlocked with the C-track.

BOOLEAN

RO

0x00 (0_dec)

6000:02

Latch extern valid

The counter value was stored via the external latch.

BOOLEAN

RO

0x00 (0_dec)

6000:03

Set counter done

The counter was set.

BOOLEAN

RO

0x00 (0_dec)

6000:04

Counter underflow

Counter underflow.

BOOLEAN

RO

0x00 (0_dec)

6000:05

Counter overflow

Counter overflow.

BOOLEAN

RO

0x00 (0_dec)

6000:08

Extrapolation stall

The extrapolated part of the counter is invalid

BOOLEAN

RO

0x00 (0_dec)

6000:09

Status of input A

Status of the A-input

BOOLEAN

RO

0x00 (0_dec)

6000:0A

Status of input B

Status of the B-input

BOOLEAN

RO

0x00 (0_dec)

6000:0B

Status of input C

Status of the C-input

BOOLEAN

RO

0x00 (0_dec)

6000:0D

Status of extern latch

The status of the external latch input

BOOLEAN

RO

0x00 (0_dec)

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 (0_dec)

6000:10

TxPDO Toggle

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

BOOLEAN

RO

0x00 (0_dec)

6000:11

Counter value

The counter value

UINT32

RO

0x00000000 (0_dec)

6000:12

Latch value

The latch value

UINT32

RO

0x00000000 (0_dec)

6000:16

Timestamp

Timestamp of the last counter change

UINT32

RO

0x00000000 (0_dec)

6010:0

STM Inputs Ch. 1

Length of this object

UINT8

RO

0x15 (21_dec)

6010:01

Ready to enable

Driver stage is ready for enabling

BOOLEAN

RO

0x00 (0_dec)

6010:02

Ready

Driver stage is ready for operation

BOOLEAN

RO

0x00 (0_dec)

6010:03

Warning

a warning has occurred (see Index 0xA010) was activated.

BOOLEAN

RO

0x00 (0_dec)

6010:04

Error

an error has occurred (see Index 0xA010) was activated.

BOOLEAN

RO

0x00 (0_dec)

6010:05

Moving positive

Driver stage is activated in positive direction

BOOLEAN

RO

0x00 (0_dec)

6010:06

Moving negative

Driver stage is activated in negative direction

BOOLEAN

RO

0x00 (0_dec)

6010:07

Torque reduced

Reduced torque is active

BOOLEAN

RO

0x00 (0_dec)

6010:08

Motor stall

A loss of step has occurred

BOOLEAN

RO

0x00 (0_dec)

6010:0C

Digital input 1

Digital input 1

BOOLEAN

RO

0x00 (0_dec)

6010:0D

Digital input 2

Digital input 2

BOOLEAN

RO

0x00 (0_dec)

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 (0_dec)

6010:10

TxPDO Toggle

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

BOOLEAN

RO

0x00 (0_dec)

6010:11

Info data 1

Synchronous information (selection via subindex 0x8012:11)

UINT16

RO

0x0000 (0_dec)

6010:12

Info data 2

Synchronous information (selection via subindex 0x8012:19)

UINT16

RO

0x0000 (0_dec)

6010:13

Motor load

Current motor load
Unit: 0.01°

INT16

RO

0x0000 (0_dec)

6010:14

Internal position

Internal microstep position

UINT32

RO

0x00000000 (0_dec)

6010:15

External position

Encoder position

UINT32

RO

0x00000000 (0_dec)

6020:0

POS Inputs Ch. 1

Length of this object

UINT8

RO

0x23 (35_dec)

6020:01

Busy

A current motion command is active

BOOLEAN

RO

0x00 (0_dec)

6020:02

In-Target

Motor has arrived at target

BOOLEAN

RO

0x00 (0_dec)

6020:03

Warning

A warning has occurred

BOOLEAN

RO

0x00 (0_dec)

6020:04

Error

An error has occurred

BOOLEAN

RO

0x00 (0_dec)

6020:05

Calibrated

Motor is calibrated

BOOLEAN

RO

0x00 (0_dec)

6020:06

Accelerate

Motor is in the acceleration phase

BOOLEAN

RO

0x00 (0_dec)

6020:07

Decelerate

Motor is in the deceleration phase

BOOLEAN

RO

0x00 (0_dec)

6020:08

Ready to execute

ready for motion command

BOOLEAN

RO

0x00 (0_dec)

6020:11

Actual position

Current set position of the motion command generator

UINT32

RO

0x00000000 (0_dec)

6020:21

Actual velocity

Current set velocity of the motion command generator

INT16

RO

0x0000 (0_dec)

6020:22

Actual drive time

Motion command time information (see subindex 0x8021:11)

UINT32

RO

0x00000000 (0_dec)

6020:23

Actual position lag

Following error

INT32

RO

0x00000000 (0_dec)