Input data
Index 6000 FB Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6000:0 | FB Inputs | Maximum subindex | UINT8 | RO | 0x12 (18dec) |
6000:0E | TxPDO State | True: the position data is invalid False: the position data is valid | BOOLEAN | RO | 0x00 (0dec) |
6000:0F | Input cycle counter | Incremented with each process data cycle, switches to 0 after reaching the maximum value of 3. | BIT2 | RO | 0x00 (0dec) |
6000:11 | Position | Position | UINT32 | RO | 0x00000000 (0dec) |
6000:12 | Enc Position |
| UINT32 | RO | 0x00000000 (0dec) |
Index 6001 FB Touch probe inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6001:0 | FB Touch probe inputs | Maximum subindex | UINT8 | RO | 0x14 (20dec) |
6001:01 | TP1 Enable | Touch probe 1 switched on | BOOLEAN | RO | 0x00 (0dec) |
6001:02 | TP1 Pos value stored | Positive value of Touch probe 1 stored | BOOLEAN | RO | 0x00 (0dec) |
6001:03 | TP1 Neg value stored | Negative value of Touch probe 1 stored | BOOLEAN | RO | 0x00 (0dec) |
6001:08 | TP1 Input | Digital input Touch probe 1. The input must be addressed with a 1-wire +24 V signal. | BOOLEAN | RO | 0x00 (0dec) |
6001:09 | TP2 Enable | Touch probe 2 switched on | BOOLEAN | RO | 0x00 (0dec) |
6001:0A | TP2 Pos value stored | Positive value of Touch probe 2 stored | BOOLEAN | RO | 0x00 (0dec) |
6001:0B | TP2 Neg value stored | Negative value of Touch probe 2 stored | BOOLEAN | RO | 0x00 (0dec) |
6001:10 | TP2 Input | Digital input Touch probe 2. The input must be addressed with a 1-wire +24 V signal. | BOOLEAN | RO | 0x00 (0dec) |
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 (0dec) |
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 (0dec) |
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 (0dec) |
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 (0dec) |
Index 6010 DRV Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default | |
---|---|---|---|---|---|---|
6010:0 | DRV Inputs |
| UINT8 | RO | 0x14 (20dec) | |
6010:01 | Statusword | Bit 0: ready to switch on Bit 1: switched on Bit 2: operation enabled Bit 3: fault Bit 4: reserved Bit 5: reserved Bit 6: switch on disabled Bit 7: warning Bit 8 + 9: reserved Bit 10: TxPDOToggle Bit 11: internal limit active Bit 12: drive follows the command value Bit 13: input cycle counter Bit 14 - 15: reserved | UINT16 | RO | 0x0000 (0dec) | |
6010:03 | Modes of operation display | permitted values: | UINT8 | RO | 0x00 (0dec) | |
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) | |||||
6010:06 | Following error actual value | Following error. The given value must be multiplied by the corresponding scaling factor. | INT32 | RO | 0x00000000 (0dec) | |
6010:07 | Velocity actual value |
| INT32 | RO | 0x00000000 (0dec) | |
6010:08 | Torque actual value |
| INT16 | RO | 0x0000 (0dec) | |
6010:12 | Info data 1 | Synchronous information (selection via subindex 0x8010:39). | INT16 | RO | 0x0000 (0dec) | |
6010:13 | Info data 2 | Synchronous information (selection via subindex 0x8010:3A). | INT16 | RO | 0x0000 (0dec) | |
6010:14 | Info data 3 | Synchronous information. | INT16 | RO | 0x0000 (0dec) |
Index 6020 DI Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6020:0 | DI Inputs |
| UINT8 | RO | 0x0D (13dec) |
6020:01 | Input 1 |
| BOOLEAN | RO | 0x00 (0dec) |
6020:02 | Input 2 |
| BOOLEAN | RO | 0x00 (0dec) |
6020:03 | Fan Diag |
| BOOLEAN | RO | 0x00 (0dec) |
6020:05 | Encoder A |
| BOOLEAN | RO | 0x00 (0dec) |
6020:06 | Encoder B |
| BOOLEAN | RO | 0x00 (0dec) |
6020:07 | Encoder C |
| BOOLEAN | RO | 0x00 (0dec) |
6020:09 | Hall A |
| BOOLEAN | RO | 0x00 (0dec) |
6020:0A | Hall B |
| BOOLEAN | RO | 0x00 (0dec) |
6020:0B | Hall C |
| BOOLEAN | RO | 0x00 (0dec) |
6020:0D | Level of ENA input |
| BOOLEAN | RO | 0x00 (0dec) |
Index 6040 DMC Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6040:0 | DMC Inputs |
| UINT8 | RO | 0x3C (60dec) |
6040:02 | DMC__FeedbackStatus__Latch extern valid | An edge was detected on the external input and latched. | BOOLEAN | RO | 0x00 (0dec) |
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 (0dec) |
6040:0D | DMC__FeedbackStatus__Status of extern latch | Status of the external latch input. | BOOLEAN | RO | 0x00 (0dec) |
6040:11 | DMC__DriveStatus__Ready to enable | The drive hardware is ready for activation. | BOOLEAN | RO | 0x00 (0dec) |
6040:12 | DMC__DriveStatus__Ready | The drive hardware is activated. | BOOLEAN | RO | 0x00 (0dec) |
6040:13 | DMC__DriveStatus__Warning | A warning is pending in the drive. | BOOLEAN | RO | 0x00 (0dec) |
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 (0dec) |
6040:15 | DMC__DriveStatus__Moving positive | The axis moves in positive direction. | BOOLEAN | RO | 0x00 (0dec) |
6040:16 | DMC__DriveStatus__Moving negative | The axis moves in negative direction. | BOOLEAN | RO | 0x00 (0dec) |
6040:1C | DMC__DriveStatus__Digital input 1 | Status of the first digital input. | BOOLEAN | RO | 0x00 (0dec) |
6040:1D | DMC__DriveStatus__Digital input 2 | Status of the second digital input. | BOOLEAN | RO | 0x00 (0dec) |
6040:21 | DMC__PositioningStatus__Busy | The positioning task is running. | BOOLEAN | RO | 0x00 (0dec) |
6040:22 | DMC__PositioningStatus__In-Target | The axis is at the target position. | BOOLEAN | RO | 0x00 (0dec) |
6040:23 | DMC__PositioningStatus__Warning | Warning. | BOOLEAN | RO | 0x00 (0dec) |
6040:24 | DMC__PositioningStatus__Error | Error. | BOOLEAN | RO | 0x00 (0dec) |
6040:25 | DMC__PositioningStatus__Calibrated | The axis is calibrated. | BOOLEAN | RO | 0x00 (0dec) |
6040:26 | DMC__PositioningStatus__Accelerate | The axis accelerates. | BOOLEAN | RO | 0x00 (0dec) |
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6040:27 | DMC__PositioningStatus__Decelerate | The axis is decelerating. | BOOLEAN | RO | 0x00 (0dec) |
6040:28 | DMC__PositioningStatus__Ready to execute | The path control is ready to accept a command. This bit is FALSE …
| BOOLEAN | RO | 0x00 (0dec) |
6040:31 | DMC__Set Position | Current target position specified by the ramp generator in feedback increments. | INT64 | RO | 0x0000000000000000 (0dec) |
6040:32 | DMC__Set velocity | Current velocity specified by the ramp generator in 10000ths of the nominal motor speed | INT16 | RO | 0x0000 (0dec) |
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 (0dec) |
6040:34 | DMC__Actual position lag | Lag error. | INT64 | RO | 0x0000000000000000 (0dec) |
6040:35 | DMC__Actual velocity | Current velocity in 10000ths of the nominal motor speed. | INT16 | RO | 0x0000 (0dec) |
6040:36 | DMC__Actual position | Current position from the feedback (incl. possible offsets due to homing, ...). | INT64 | RO | 0x0000000000000000 (0dec) |
6040:37 | DMC__Error id | Error Id (identical to Diag History). | UINT32 | RO | 0x00000000 (0dec) |
6040:38 | DMC__Input cycle counter | Incremented with each process data cycle. | UINT8 | RO | 0x00 (0dec) |
6040:39 | DMC__Channel id |
| UINT8 | RO | 0x00 (0dec) |
6040:3A | DMC__Latch value | Feedback position at latch time. | INT64 | RO | 0x0000000000000000 (0dec) |
6040:3B | DMC__Cyclic info data 1 | Synchronous info data | INT16 | RO | 0x0000 (0dec) |
63C040: | DMC__Cyclic info data 2 | Synchronous info data | INT16 | RO | 0x0000 (0dec) |
Index F600 FAN Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F600:0 | FAN Inputs | Fan input | UINT8 | RO | 0x01 (1dec) |
F600:01 | Fan diag/Standard input | Diagnostic input for the fan. Can also be used as a standard digital input when operated without a fan. (Configured via F800:05) | BOOLEAN | RO | 0x00 (0dec) |