Priorities of the actual values
| Description | Data type | PDO | DPR no. | NC assignment / remark |
|---|---|---|---|---|---|
A | Actual position value | UINT32 | 0x6064 | 200 | Enc->In->nInData1 |
B | Actual position value 2 | UINT32 | 0x35C9 | 201 | Enc2->In->nInData1 |
C | Actual current value | INT16 | 0x6077 | 88 | Standardised to 3280 digits from DIPEAK |
D | Drive following error | INT32 | 0x60F4 | 197 | Drv->In->nInData1 |
E | Operating mode (2 ms*) | UINT16 | 0x6061 | 1038 |
|
F | Status word (2 ms*) | UINT16 | 0x6041 | 1004 | Drv->In->nStatus1/nStatus2 |
G | Latch status word (2 ms*) | UINT16 | 0x2901 | 1037 | Enc->In->nStatus1/nStatus2 |
H | Latch value (2 ms*) | UINT32 | 0x2902 | 1022 | Enc->In->nInData2 (see below) |
I | WorkingCounter (WcState) | BOOL |
|
| Drv/Enc->In->nStatus4 |
(*) Update times: PDO 1-5 with 2 ms, PDO 6 with 1 ms, PDO 7-8 with 4 ms