Input data
Index 6000 ENC Inputs Ch.1
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
|---|---|---|---|---|---|
|
6000:0 |
ENC Inputs Ch.1 |
Maximum subindex |
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 | Maximum subindex | 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 | 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 | Maximum subindex | 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 | A warning has occurred | BOOLEAN | RO | 0x00 (0dec) |
6020:04 | Error | an error 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 | 0x00007FFF (32767dec) |
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 | Lag of position | UINT32 | RO | 0x00000000 (0dec) |
Index 60n0 AI Inputs (for n = 3, 4)
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
60n0:0 | AI inputs | Maximum subindex | INT16 | RO | 0x11 (17dec) |
60n0:01 | Underrange | Value below measuring range. | BOOLEAN | RO | 0x00 (0dec) |
60n0:02 | Overrange | Measuring range exceeded. | BOOLEAN | RO | 0x00 (0dec) |
60n0:03 | Limit 1 | Limit value monitoring Limit 1 | BIT2 | RO | 0x00 (0dec) |
60n0:05 | Limit 2 | Limit value monitoring Limit 2 | BIT2 | 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 | Value | Analog input date | INT32 | RO | 0x0000 (0dec) |