Input data

Index 60n0 ENC inputs (n = 0 for Ch.1; n = 1 for Ch.2)

Index (hex)

Name

Meaning

Data type

Flags

Default value

60n0:0

ENC Inputs

Maximum subindex

UINT8

RO

0x14 (20dec)

60n0:03

Set counter done

The counter was set.

BOOLEAN

RO

0x00 (0dec)

60n0:08

Extrapolation stall

The extrapolated part of the counter is invalid.
The speed has fallen below the minimum speed required to use the micro-increments.

BOOLEAN

RO

0x00 (0dec)

60n0:09

Status of input A

Status of input A

BOOLEAN

RO

0x00 (0dec)

60n0:0A

Status of input B

Status of input B

BOOLEAN

RO

0x00 (0dec)

60n0:0E

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)

60n0:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

0x00 (0dec)

60n0:11

Counter value

Counter value

UINT32

RO

0x00000000 (0dec)

60n0:13

Frequency value

The frequency
(setting of the scaling in index 0x80n0:13 and
the resolution in index 0x80n0:15)

UINT32

RO

0x00000000 (0dec)

60n0:14

Period value

The period
(setting of the scaling in index 0x80n0:14 and
the resolution in index 0x80n0:16)

UINT32

RO

0x00000000 (0dec)