Output data

Index 7000 ENC Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7000:0

ENC Outputs Ch.1

Activate latching via the C-track. Maximum subindex

UINT8

RO

0x11 (17dec)

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

0x00 (0dec)

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

0x00 (0dec)

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

0x00 (0dec)

7000:11

Set counter value

This is the counter value to be set via "Set counter".

UINT32

RO

0x00000000 (0dec)

Index 7010 STM Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7010:0

STM Outputs Ch.1

Maximum subindex

UINT8

RO

0x21 (33dec)

7010:01

Enable

activates the output stage

BOOLEAN

RO

0x00 (0dec)

7010:02

Reset

all errors that may have occurred are reset by setting this bit (rising edge)

BOOLEAN

RO

0x00 (0dec)

7010:03

Reduce torque

Activation of reduced torque (coil current) (see subindex 0x8010:02)

BOOLEAN

RO

0x00 (0dec)

7010:11

Position

Set position

UINT32

RO

0x00000000 (0dec)

7010:21

Velocity

Set velocity

INT16

RO

0x0000 (0dec)

Index 7020 POS Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7020:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

0x24 (36dec)

7020:01

Execute

Start travel command (rising edge), or prematurely abort travel command (falling edge)

BOOLEAN

RO

0x00 (0dec)

7020:02

Emergency Stop

Prematurely abort travel command with an emergency ramp (rising edge)

BOOLEAN

RO

0x00 (0dec)

7020:11

Target position

Specification of the target position

UINT32

RO

0x00007FFF (32767dec)

7020:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0dec)

7020:22

Start type

Specification of the start types:

UINT16

RO

0x0000 (0dec)

0x0000

Idle

No travel command is being executed

0x0001

Absolute

Absolute target position

0x0002

Relative

Target position relative to the start position

0x0003

Endless plus

Endless driving in positive direction of rotation

0x0004

Endless minus

Endless driving in negative direction of rotation

0x0105

Modulo short

Shortest distance to the next modulo position

0x0115

Modulo short extended

Shortest distance to the next modulo position (without modulo window)

0x0205

Modulo plus

Drive in positive direction of rotation to the next modulo position

0x0215

Modulo plus extended

Drive in positive direction of rotation to the next modulo position (without modulo window)

0x0305

Modulo minus

Drive in negative direction of rotation to the next modulo position

0x0315

Modulo minus extended

Drive in negative direction of rotation to the next modulo position (without modulo window)

0x0405

Modulo current

Drive in the last implemented direction of rotation to the next modulo position

0x0415

Modulo current extended

Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

0x0006

Additive

New target position relative/additive to the last target position

0x6000

Calibration, Plc cam

Calibration with cam

0x6100

Calibration, Hw sync

Calibration with cam and C-track

0x6E00

Calibration, set manual

Set calibration manually

0x6E01

Calibration, set manual auto

Set calibration automatically

0x6F00

Calibration, clear manual

Clear calibration manually

7020:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0dec)

7020:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0dec)

Index 7021 POS Outputs 2 Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7021:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

0x24 (36dec)

7021:03

Enable auto start

Enable auto start

BOOLEAN

RO

0x00 (0dec)

7021:11

Target position

Specification of the target position

UINT32

RO

0x00000000 (0dec)

7021:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0dec)

7021:22

Start type

Specification of the start types:

UINT16

RO

0x0000 (0dec)

0x0000

Idle

No travel command is being executed

0x0001

Absolute

Absolute target position

0x1001

Absolute (Change)

Change during an active travel command

0x0002

Relative

Target position relative to the current position

0x1002

Relative (Change)

Change during an active travel command

0x0003

Endless plus

Endless driving in positive direction of rotation

0x0004

Endless minus

Endless driving in negative direction of rotation

0x0105

Modulo short

Shortest distance to the next modulo position

0x0115

Modulo short extended

Shortest distance to the next modulo position (without modulo window)

0x0205

Modulo plus

Drive in positive direction of rotation to the next modulo position

0x0215

Modulo plus extended

Drive in positive direction of rotation to the next modulo position (without modulo window)

0x0305

Modulo minus

Drive in negative direction of rotation to the next modulo position

0x0315

Modulo minus extended

Drive in negative direction of rotation to the next modulo position (without modulo window)

0x0405

Modulo current

Drive in the last implemented direction of rotation to the next modulo position

0x0415

Modulo current extended

Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

0x0006

Additive

0x0006 Additive: New target position relative/additive to the last target position

0x1006

Additive (Change)

Change during an active travel command

0x6000

Calibration, PLC cam

Calibration with cam

0x6100

Calibration, HW sync

Calibration with cam and C-track

0x6E00

Calibration, set manual

Set calibration manually

0x6E01

Calibration, set manual auto

Set automatic calibration, for "Enable = 1"

0x6F00

Calibration, clear manual

Clear calibration manually

7021:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0dec)

7021:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0dec)