Input data

6000:0

FB Inputs

Maximum subindex

UINT8

RO

0x12 (18_dec)

6000:0E

TxPDO State

TRUE:
the position data is invalid.

FALSE:
the position data is valid.

BOOLEAN

RO

0x00 (0_dec)

6000:0F

Input cycle counter

Incremented with each process data cycle, switches to 0 after reaching the maximum value of 3.

BIT2

RO

0x00 (0_dec)

6000:11

Position

Position

UINT32

RO

0x00000000 (0_dec)

6000:12

Enc Position

Position value of the incremental encoder

UINT32

RO

0x00000000 (0_dec)

6001:0

FB Touch probe inputs

Maximum subindex

UINT8

RO

0x14 (20_dec)

6001:01

TP1 Enable

Touch probe 1 enabled

BOOLEAN

RO

0x00 (0_dec)

6001:02

TP1 Pos value stored

Positive value of Touch probe 1 stored

BOOLEAN

RO

0x00 (0_dec)

6001:03

TP1 Neg value stored

Negative value of Touch probe 1 stored

BOOLEAN

RO

0x00 (0_dec)

6001:08

TP1 Input

Digital input Touch probe 1

The input must be addressed with a 1-wire +24 V signal.

BOOLEAN

RO

0x00 (0_dec)

6001:09

TP2 Enable

Touch probe 2 enabled

BOOLEAN

RO

0x00 (0_dec)

6001:0A

TP2 Pos value stored

Positive value of Touch probe 2 stored

BOOLEAN

RO

0x00 (0_dec)

6001:0B

TP2 neg value stored

Negative value of Touch probe 2 stored

BOOLEAN

RO

0x00 (0_dec)

6001:10

TP2 Input

Digital input Touch probe 2

The input must be addressed with a 1-wire +24 V signal.

BOOLEAN

RO

0x00 (0_dec)

6001:11

TP1 Pos position

Positive value of Touch probe 1

The given value must be multiplied by the corresponding scaling factor.

UINT32

RO

0x00000000 (0_dec)

6001:12

TP1 Neg position

Negative value of Touch probe 1

The given value must be multiplied by the corresponding scaling factor.

UINT32

RO

0x00000000 (0_dec)

6001:13

TP2 Pos position

Positive value of Touch probe 2

The given value must be multiplied by the corresponding scaling factor.

UINT32

RO

0x00000000 (0_dec)

6001:14

TP2 Neg position

Negative value of Touch probe 2

The given value must be multiplied by the corresponding scaling factor.

UINT32

RO

0x00000000 (0_dec)

6010:0

DRV Inputs

Maximum subindex

UINT8

RO

0x14 (20_dec)

6010:01

Statusword

Bit 0: Ready to switch on
Bit 1: Switched on
Bit 2: Operation enabled
Bit 3: Fault Bit
Bit 4 +5: reserved
Bit 6: Switch on disabled
Bit 7 - 11: reserved
Bit 12: Drive follows the command value
Bit 13-15: reserved

UINT16

RO

0x0000 (0_dec)

6010:03

Modes of operation display

Permitted values:
8:Cyclic synchronous position mode (CSP)
9: Cyclic synchronous velocity mode (CSV)
10: Cyclic synchronous torque mode (CST)
11: Cyclic synchronous torque mode with commutation angle (CSTCA)
131: Drive Motion Control (DMC)

UINT8

RO

0x00 (0_dec)

6010:06

Following error actual value

Following error

The given value must be multiplied by the corresponding scaling factor.

INT32

RO

0x00000000 (0_dec)

6010:07

Velocity actual value

Current actual velocity
Scaling s. index 0x7010:06

INT32

RO

0x00000000 (0_dec)

6010:08

Torque actual value

Actual torque
Scaling see index 0x7010:09

INT16

RO

0x0000 (0_dec)

6010:12

Info data 1

Synchronous information (selection via subindex 0x8010:39)

INT16

RO

0x0000 (0_dec)

6010:13

Info data 2

Synchronous information (selection via subindex 0x8010:3A)

INT16

RO

0x0000 (0_dec)

6010:14

Info data 3

Synchronous information

INT16

RO

0x0000 (0_dec)

6020:0

DI Inputs

UINT8

RO

0x0D (13_dec)

6020:01

Input 1

BOOLEAN

RO

0x00 (0_dec)

6020:02

Input 2

BOOLEAN

RO

0x00 (0_dec)

6020:05

Encoder A

BOOLEAN

RO

0x00 (0_dec)

6020:06

Encoder B

BOOLEAN

RO

0x00 (0_dec)

6020:07

Encoder C

BOOLEAN

RO

0x00 (0_dec)

6020:09

Hall A

BOOLEAN

RO

0x00 (0_dec)

6020:0A

Hall B

BOOLEAN

RO

0x00 (0_dec)

6020:0B

Hall C

BOOLEAN

RO

0x00 (0_dec)

6020:0D

Level of ENA input

BOOLEAN

RO

0x00 (0_dec)

6040:0

DMC Inputs

UINT8

RO

0x3C (60_dec)

6040:02

DMC__FeedbackStatus__Latch extern valid

An edge was detected on the external input and latched.

BOOLEAN

RO

0x00 (0_dec)

6040:03

DMC__FeedbackStatus__Set counter done

The setting of the feedback position was successful.

This bit remains present until "Set counter" is released again

BOOLEAN

RO

0x00 (0_dec)

6040:0D

DMC__FeedbackStatus__Status of extern latch

Status of the external latch input.

BOOLEAN

RO

0x00 (0_dec)

6040:11

DMC__DriveStatus__Ready to enable

The drive hardware is ready for activation.

BOOLEAN

RO

0x00 (0_dec)

6040:12

DMC__DriveStatus__Ready

The drive hardware is activated.

BOOLEAN

RO

0x00 (0_dec)

6040:13

DMC__DriveStatus__Warning

A warning is pending in the drive.

BOOLEAN

RO

0x00 (0_dec)

6040:14

DMC__DriveStatus__Error

An error is pending in the drive.

The "Ready to enable" bit and the "Ready" bit are set to FALSE.

BOOLEAN

RO

0x00 (0_dec)

6040:15

DMC__DriveStatus__Moving positive

The axis moves in positive direction.

BOOLEAN

RO

0x00 (0_dec)

6040:16

DMC__DriveStatus__Moving negative

The axis moves in negative direction.

BOOLEAN

RO

0x00 (0_dec)

6040:1C

DMC__DriveStatus__Digital input 1

Status of the first digital input.

BOOLEAN

RO

0x00 (0_dec)

6040:1D

DMC__DriveStatus__Digital input 2

Status of the second digital input.

BOOLEAN

RO

0x00 (0_dec)

6040:21

DMC__PositioningStatus__Busy

The positioning task is running.

BOOLEAN

RO

0x00 (0_dec)

6040:22

DMC__PositioningStatus__In-Target

The axis is at the target position.

BOOLEAN

RO

0x00 (0_dec)

6040:23

DMC__PositioningStatus__Warning

Warning

BOOLEAN

RO

0x00 (0_dec)

6040:24

DMC__PositioningStatus__Error

Error

BOOLEAN

RO

0x00 (0_dec)

6040:25

DMC__PositioningStatus__Calibrated

The axis is calibrated.

BOOLEAN

RO

0x00 (0_dec)

6040:26

DMC__PositioningStatus__Accelerate

The axis accelerates.

BOOLEAN

RO

0x00 (0_dec)

6040:27

DMC__PositioningStatus__Decelerate

The axis is decelerating.

BOOLEAN

RO

0x00 (0_dec)

6040:28

DMC__PositioningStatus__Ready to execute

The drive motion control is ready to accept a command.

This bit is FALSE …

• ... if the drive has a fault
• ... if the drive is not activated
• ... as long as the "PositioningControl__Execute" is pending.

BOOLEAN

RO

0x00 (0_dec)

6040:31

DMC__Set Position

Current target position specified by the ramp generator in feedback increments.

INT64

RO

0x0000000000000000 (0_dec)

6040:32

DMC__Set velocity

Current velocity specified by the ramp generator in 10000ths of the nominal motor speed

INT16

RO

0x0000 (0_dec)

6040:33

DMC__Actual drive time

The time since the start of the travel command in ms.

Stops when the target position is reached.

UINT32

RO

0x00000000 (0_dec)

6040:34

DMC__Actual position lag

Following error

INT64

RO

0x0000000000000000 (0_dec)

6040:35

DMC__Actual velocity

Current velocity in 10000ths of the nominal motor speed.

INT16

RO

0x0000 (0_dec)

6040:36

DMC__Actual position

Current position from the feedback (incl. possible offsets due to homing, ...).

INT64

RO

0x0000000000000000 (0_dec)

6040:37

DMC__Error id

Error Id (identical to Diag History).

UINT32

RO

0x00000000 (0_dec)

6040:38

DMC__Input cycle counter

Incremented with each process data cycle.

UINT8

RO

0x00 (0_dec)

6040:39

DMC__Channel id

UINT8

RO

0x00 (0_dec)

6040:3A

DMC__Latch value

Feedback position at latch time.

INT64

RO

0x0000000000000000 (0_dec)

6040:3B

DMC__Cyclic info data 1

Synchronous info data

INT16

RO

0x0000 (0_dec)

6040:3C

DMC__Cyclic info data 2

Synchronous info data

INT16

RO

0x0000 (0_dec)