Input data
Index 6000 ENC Inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
6000:0 | ENC Inputs Ch.1 | Length of this object | UINT8 | RO | 0x16 (22dec) |
6000:02 | Latch extern valid | The counter value was stored via the external latch. | BOOLEAN | RO | 0x00 (0dec) |
6000:03 | Set counter done | The counter was set. | BOOLEAN | RO | 0x00 (0dec) |
6000:04 | Counter underflow | Counter underflow. | BOOLEAN | RO | 0x00 (0dec) |
6000:05 | Counter overflow | Counter overflow. | BOOLEAN | RO | 0x00 (0dec) |
6000:0D | Status of extern latch | Status of the ext. latch input. | BOOLEAN | RO | 0x00 (0dec) |
6000:0E | Sync error | The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle. | BOOLEAN | RO | 0x00 (0dec) |
6000:10 | TxPDO Toggle | The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. | BOOLEAN | RO | 0x00 (0dec) |
6000:11 | Counter value | The counter value. | UINT32 | RO | 0x00000000 (0dec) |
6000:12 | Latch value | The latch value. | UINT32 | RO | 0x00000000 (0dec) |
6000:16 | Timestamp | Time stamp of the last counter change. | UINT32 | RO | 0x00000000 (0dec) |
Index 6010 STM Inputs Ch. 1
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
6010:0 | STM Inputs Ch. 1 | Length of this object | UINT8 | RO | 0x15 (21dec) |
6010:01 | Ready to enable | Driver stage is ready for enabling | BOOLEAN | RO | 0x00 (0dec) |
6010:02 | Ready | Driver stage is ready for operation | BOOLEAN | RO | 0x00 (0dec) |
6010:03 | Warning | A warning has occurred (see index 0xA010). | BOOLEAN | RO | 0x00 (0dec) |
6010:04 | Error | An error has occurred (see index 0xA010). | BOOLEAN | RO | 0x00 (0dec) |
6010:05 | Moving positive | Motor turns in positive direction | BOOLEAN | RO | 0x00 (0dec) |
6010:06 | Moving negative | Motor turns in negative direction | BOOLEAN | RO | 0x00 (0dec) |
6010:07 | Torque reduced | Reduced torque is active | BOOLEAN | RO | 0x00 (0dec) |
6010:0C | Digital input 1 | digital Input 1 | BOOLEAN | RO | 0x00 (0dec) |
6010:0D | Digital input 2 | digital Input 2 | BOOLEAN | RO | 0x00 (0dec) |
6010:0E | Sync error | The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle. | BOOLEAN | RO | 0x00 (0dec) |
6010:10 | TxPDO Toggle | The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. | BOOLEAN | RO | 0x00 (0dec) |
6010:11 | Info data 1 | Synchronous information (selection via subindex 0x8012:11) | UINT16 | RO | 0x0000 (0dec) |
6010:12 | Info data 2 | Synchronous information (selection via subindex 0x8012:19) | UINT16 | RO | 0x0000 (0dec) |
6010:14 | Internal position | internal microstep position | UINT32 | RO | 0x00000000 (0dec) |
6010:15 | External position | Encoder position | UINT32 | RO | 0x00000000 (0dec) |
Index 6020 POS Inputs Ch. 1
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
6020:0 | POS Inputs Ch. 1 | Length of this object | UINT8 | RO | 0x23 (35dec) |
6020:01 | Busy | A current travel command is active. | BOOLEAN | RO | 0x00 (0dec) |
6020:02 | In-Target | Motor has arrived at target. | BOOLEAN | RO | 0x00 (0dec) |
6020:03 | Warning | eine Warnung ist aufgetreten | BOOLEAN | RO | 0x00 (0dec) |
6020:04 | Error | A warning has occurred. | BOOLEAN | RO | 0x00 (0dec) |
6020:05 | Calibrated | Motor is calibrated. | BOOLEAN | RO | 0x00 (0dec) |
6020:06 | Accelerate | Motor is in the acceleration phase. | BOOLEAN | RO | 0x00 (0dec) |
6020:07 | Decelerate | Motor is in the deceleration phase. | BOOLEAN | RO | 0x00 (0dec) |
6020:08 | Ready to execute | ready for driving job | BOOLEAN | RO | 0x00 (0dec) |
6020:11 | Actual position | Current target position of the travel command generator | UINT32 | RO | 0x00000000 (0dec) |
6020:21 | Actual velocity | Current set velocity of the travel command generator | INT16 | RO | 0x0000 (0dec) |
6020:22 | Actual drive time | Travel command time information (see subindex 0x8021:11) | UINT32 | RO | 0x00000000 (0dec) |
6020:23 | Actual position lag | Position lag | INT32 | RO | 0x00000000 (0dec) |