"Index offset" specification for controller state (Index group 0x6100 + ID)

Index offset ( Hex )

Access

Controller type

Data type

Phys. unit

Definition range

Description

Note

0x00000001

Read

every

INT32

 

 

Error state controller

 

0x00000002

Read

every

REAL64

e.g. mm/s

 

Controller output in absolute units

Base Unit / s

Symbolic access possible!
"CtrlOutput"

0x00000003

Read

every

REAL64

%

 

Controller output in percent

Cannot be traced by oscilloscope!

0x00000004

Read

every

REAL64

V

 

Controller output in volts

Cannot be traced by oscilloscope!

 

 

 

 

 

 

 

 

0x0000000D

Read

every

REAL64

mm

 

Following error position (without dead time compensation)

Base Unit

0x0000000E

Read

every

REAL64

mm

 

Following error position (without set position correction)

Base Unit

0x0000000F

Read

every

REAL64

mm

 

Following error position (with set position correction and dead time compensation)

Base Unit

Symbolic access possible!
"PosDiff"

0x00000010

Read

every

REAL64

mm

 

Peak hold value for maximum negative following error of the position

Base Unit

0x00000011

Read

every

REAL64

mm

 

Peak hold value for minimum positive following error of the position

Base Unit

0x00000012

Read

every

REAL64

mm/s

 

Following error velocity

Base Unit / s

 

 

 

 

 

 

 

 

0x00000021

Read

every

REAL64

mm

 

Difference (deviation) between the following error from master and slave axis (master error minus slave error)

Base Unit

Symbolic access possible via axis!

"PosDiffCouple"

0x00000022

Read

every

REAL64

mm

 

PeakHold value for the maximum negative difference between master and slave axis following error of the position

Base Unit

0x00000023

Read

every

REAL64

mm

 

PeakHold value for the maximum positive difference between master and slave axis following error of the position

Base Unit

 

 

 

 

 

 

 

 

0x00000101

Read

P/PID (pos.)

REAL64

e.g. mm/s

 

P-part of the controller in absolute units

 

0x00000102

Read

PID (pos.)

REAL64

e.g. mm/s

 

I-part of the controller in absolute units

 

0x00000103

Read

PID (pos.)

REAL64

e.g. mm/s

 

D-part of the controller in absolute units

 

0x00000104

Read

PID (pos.)

UINT16

1

0/1

Limitation of the I-part active?

 

0x00000105

Read

PID (pos.)

UINT16

1

0/1

Limitation of the D-part active?

 

0x00000106

Read

PID (pos.)

UINT16

1

0/1

ARW measures for the I-part active?

ARW: Anti Reset Windup

0x0000010F

Read

P/PP/PID (veloc.)

REAL64

e.g. mm/s

 

Proportion of automatic offset compensation in absolute units

NEW

 

 

 

 

 

 

 

 

0x00000110

Read

PID (pos.)

REAL64

e.g. mm/s

 

Acceleration pre-control Yacc of the controller in absolute units

Note: function depends on controller type!

Acceleration pre-control

0x00000111

Read

PP (Pos.)

REAL64

mm/s/ mm

≥0

Internal interpolated proportional gain kp or kv

PP controller

 

 

 

 

 

 

 

 

0x0000011A
0x0000011B
0x0000011C
0x0000011D
0x0000011E
0x0000011F
0x00000120
0x00000121
0x00000122
0x00000123
0x00000124

Read

P (Pos.)

UINT32
REAL64
REAL64
REAL64
REAL64
REAL64
REAL64
REAL64
REAL64
REAL64
REAL64

1
mm
mm/s
mm/s
mm/s^2
mm
mm
mm/s
mm/s^2
mm/s
mm/s^2

 

Set velocity filter:

InternalPhase
InternalPosSollError!
TestVeloSoll
InternalLimitedVeloSoll
InternalAccSollRel
InternalPosSollRel
PosSollCorrected!
VeloSollCorrected!
AccSollCorrected!
TestVeloSollCorrected
TestAccSollCorrected

List!Reserved function,
no standard!

 

 

 

 

 

 

 

 

0x00000201

Read

P,PID (velocity)

REAL64

e.g. mm/s

 

Velocity part of the controller

Base Unit / s

0x00000202

Read

P,PID (velocity)

REAL64

%

 

Velocity part of the controller in percent

Cannot be traced by oscilloscope!

0x00000203

Read

P,PID (velocity)

REAL64

V

 

Velocity part of the controller in volts

Cannot be traced by oscilloscope!

0x00000201

Read

P/PID (velocity)

REAL64

e.g. mm/s

 

P-part of the controller in absolute units

 

0x00000202

Read

P/PID (velocity)

REAL64

e.g. mm/s

 

I-part of the controller in absolute units

 

0x00000203

Read

P/PID (velocity)

REAL64

e.g. mm/s

 

D-part of the controller in absolute units

 

0x00000204

Read

P/PID (velocity)

UINT16

1

0/1

Limitation of the I-part active?

 

0x00000205

Read

P/PID (velocity)

UINT16

1

0/1

Limitation of the D-part active?

 

0x00000206

Read

P/PID (velocity)

UINT16

1

0/1

ARW measures for the I-part active?

ARW: Anti Reset Windup

0x0000020A

Read

P/PID (velocity)

REAL64

e.g. mm/s

 

Total input size of the velocity controller

 

 

 

 

 

 

 

 

 

0x00000250

Read

P/PI (observer)

REAL64

e.g. mm

 

Observer: position difference (actual position - observer position

 

0x00000251

Read

P/PI (observer)

REAL64

e.g. mm

 

Observer: position

 

0x00000252

Read

P/PI (observer)

REAL64

e.g. mm/s

 

Observer: velocity 2
(for P-part)

 

0x00000253

Read

P/PI (observer)

REAL64

e.g. mm/s

 

Observer: velocity 1
(for I-part)

 

0x00000254

Read

P/PI (observer)

REAL64

e.g. mm/s^2

 

Observer: acceleration

 

0x00000255

Read

P/PI (observer)

REAL64

A

 

Observer: motor actual current

 

0x00000256

Read

P/PI (observer)

UINT16

1

0/1

Observer: limitation of the I-part active?

 

 

 

 

 

 

 

 

 

0x00000A00

Read

PID (MW)

REAL64

%

[-1.0...1.0]

Calculation of the set velocity (pre-control) in percent

 

0x00000A01

Read

PID (MW)

REAL64

e.g. mm/s

 

P-part of the controller in absolute units or percent (according to output weight)

 

0x00000A02

Read

PID (MW)

REAL64

e.g. mm/s

 

I-part of the controller in absolute units or percent (according to output weight)

 

0x00000A03

Read

PID (MW)

REAL64

e.g. mm/s

 

D-part of the controller in absolute units or percent (according to output weight)

 

0x00000A04

Read

PID (MW)

UINT16

1

0/1

Limitation of the I-part active?

 

0x00000A05

Read

PID (MW)

UINT16

1

0/1

Limitation of the D-part active?

 

 

 

 

 

 

 

 

 

0x00000A10

Read

PID (pos.)

REAL64

e.g. mm/s

 

Acceleration pre-control Yacc of the controller in absolute units

Acceleration pre-control