Output data

Index 7001 FB Touch probe outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7001:0

FB Touch probe outputs

Maximum subindex

UINT8

RO

0x0E (14dec)

7001:01

TP1 Enable

Switch on Touch probe 1.

BOOLEAN

RO

0x00 (0dec)

7001:02

TP1 Continous

0: triggered only on the first event.

1: triggered on every event.

BOOLEAN

RO

0x00 (0dec)

7001:03

TP1 Trigger mode

No function

BIT2

RO

0x00 (0dec)

7001:05

TP1 Enable pos edge

Trigger on positive edge

BOOLEAN

RO

0x00 (0dec)

7001:06

TP1 Enable neg edge

Trigger on negative edge

BOOLEAN

RO

0x00 (0dec)

7001:09

TP2 Enable

Switch on Touch probe 2.

BOOLEAN

RO

0x00 (0dec)

7001:0A

TP2 Continous

0: triggered only on the first event.

1: triggered on every event.

BOOLEAN

RO

0x00 (0dec)

7001:0B

TP2 Trigger mode

No function

BIT2

RO

0x00 (0dec)

7001:0D

TP2 Enable pos edge

Trigger on positive edge

BOOLEAN

RO

0x00 (0dec)

7001:0E

TP2 Enable neg edge

Trigger on negative edge

BOOLEAN

RO

0x00 (0dec)

Index 7010 DRV Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7010:0

DRV Outputs

Maximum subindex

UINT8

RO

0x0E (14dec)

7010:01

Controlword

Controlword:

Bit 0: Switch on
Bit 1: Enable voltage
Bit 2: reserved
Bit 3: Enable operation
Bit 4 - 6: reserved
Bit 7: Fault reset
Bit 8 - 15: reserved

UINT16

RO

0x0000 (0dec)

7010:03

Modes of operation

Selection of operation mode:
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)
131: Drive Motion Control (DMC)

UINT8

RW

0x08 (8dec)

7010:05

Target position

Configured target position

The value must be multiplied by the corresponding scaling factor.

INT32

RW

0x00000000 (0dec)

7010:06

Target velocity

Configured target velocity

The velocity scaling can be found in object 0x9010:14 ("Velocity encoder resolution").

INT32

RO

0x00000000 (0dec)

7010:09

Target torque

Configured target torque

The value is specified in 1000ths of "Rated current" (0x8011:12)

INT16

RO

0x0000 (0dec)

7010:0B

Torque limitation

Torque limit value (Bipolar Limit)

The value is specified in 1000ths of "Rated current" (0x8011:12)

UINT16

RW

0x7FFF (32767dec)

7010:0E

Commutation angle

Commutation angle for the operation mode CSTCA
Unit: 360 ° / 216

UINT16

RO

0x0000 (0dec)

The following note refers to the DMC objects 0x6040, 0x7040, 0x8040 and 0x8041.

Output data 1:

INT64 data type for all positions in the drive motion control

The data type INT64 is used for all positions in the drive motion control.

  • The single-turn position is located in the lower 32 bits.
  • The multi-turn position is located in the upper 32 bits.

Index 7040 DMC Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7040:0

DMC Outputs

 

UINT8

RO

0x36 (54dec)

7040:02

DMC__FeedbackControl__Enable latch extern on positive edge

Latches to the positive edge of the external input.

BOOLEAN

RO

0x00 (0dec)

7040:03

DMC__FeedbackControl__Set counter

With a rising edge "Actual position" is set to the value of "Set counter value".

BOOLEAN

RO

0x00 (0dec)

7040:04

DMC__FeedbackControl__Enable latch extern on negative edge

Latches to the negative edge of the external input.

BOOLEAN

RO

0x00 (0dec)

7040:11

DMC__DriveControl__Enable

Activate drive.

BOOLEAN

RO

0x00 (0dec)

7040:12

DMC__DriveControl__Reset

Perform a reset of the drive hardware.

BOOLEAN

RO

0x00 (0dec)

7040:21

DMC__PositioningControl__Execute

Start travel command with a rising edge.

The task runs as long as this bit is set or until the command is completed.

If the level drops during travel, the axis is brought to a standstill with the deceleration specified for the task.

BOOLEAN

RO

0x00 (0dec)

7040:22

DMC__PositioningControl__Emergency stop

In the event of a rising edge, decelerate to a standstill with the emergency stop ramp.

BOOLEAN

RO

0x00 (0dec)

7040:31

DMC__Set counter value

See index 0x7040:03.

INT64

RO

0x0000000000000000 (0dec)

7040:32

DMC__Target position

Position specification in feedback increments.

INT64

RO

0x0000000000000000 (0dec)

7040:33

DMC__Target velocity

Maximum velocity during the travel command in 10000ths of the motor nominal speed.

UINT16

RO

0x0000 (0dec)

7040:34

DMC__Start type

Type of positioning task:

  • 0x0001: Absolute
  • 0x0002: Relative
  • 0x0003: Endless +
  • 0x0004: Endless –
  • 0x0105: Modulo short
  • 0x0205: Modulo +
  • 0x0305: Modulo –
  • 0x6000: Cali PLC cam
  • 0x6200: Cali Block
  • 0x6E00: Cali set
  • 0x6F00: Cali clear

UINT16

RO

0x0000 (0dec)

7040:35

DMC__Target acceleration

Acceleration: time in ms from standstill to reaching the nominal motor speed.

UINT16

RO

0x0000 (0dec)

7040:36

DMC__Target deceleration

Deceleration: time in ms for the deceleration from the nominal motor speed to standstill.

UINT16

RO

0x0000 (0dec)