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 | UINT16 | RO | 0x0000 (0dec) |
7010:03 | Modes of operation | Selection of operation mode: | 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 | UINT16 | RO | 0x0000 (0dec) |
The following note refers to the DMC objects 0x6040, 0x7040, 0x8040 and 0x8041.
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.
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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 | Type of positioning task:
| 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) |