Input data

6000:0

ENC Inputs Ch.1

Maximum subindex

UINT8

RO

0x16 (22_dec)

6000:01

Latch C valid

The counter value was latched with the C track.

BOOLEAN

RO

0x00 (0_dec)

6000:02

Latch extern valid

The counter value was stored via the external latch.

BOOLEAN

RO

0x00 (0_dec)

6000:03

Set counter done

The counter was set.

BOOLEAN

RO

0x00 (0_dec)

6000:04

Counter underflow

Counter underflow

BOOLEAN

RO

0x00 (0_dec)

6000:05

Counter overflow

Counter overflow

BOOLEAN

RO

0x00 (0_dec)

6000:08

Extrapolation stall

The extrapolated part of the counter is invalid.

BOOLEAN

RO

0x00 (0_dec)

6000:09

Status of input A

Status of the A-input

BOOLEAN

RO

0x00 (0_dec)

6000:0A

Status of input B

Status of the B-input

BOOLEAN

RO

0x00 (0_dec)

6000:0B

Status of input C

Status of the C-input

BOOLEAN

RO

0x00 (0_dec)

6000:0D

Status of extern latch

Status of the ext. latch input

BOOLEAN

RO

0x00 (0_dec)

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 (0_dec)

6000:10

TxPDO Toggle

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

BOOLEAN

RO

0x00 (0_dec)

6000:11

Counter value

The counter value

UINT32

RO

0x00000000 (0_dec)

6000:12

Latch value

The latch value

UINT32

RO

0x00000000 (0_dec)

6000:16

Timestamp

Time stamp of the last counter change

UINT32

RO

0x00000000 (0_dec)

6010:0

STM Inputs Ch.1

Maximum subindex

UINT8

RO

0x15 (21_dec)

6010:01

Ready to enable

Driver stage is ready for enabling.

BOOLEAN

RO

0x00 (0_dec)

6010:02

Ready

Driver stage is ready for operation.

BOOLEAN

RO

0x00 (0_dec)

6010:03

Warning

A warning has occurred (see index 0xA010).

BOOLEAN

RO

0x00 (0_dec)

6010:04

Error

An error has occurred (see index 0xA010).

BOOLEAN

RO

0x00 (0_dec)

6010:05

Moving positive

Driver stage is activated in positive direction.

BOOLEAN

RO

0x00 (0_dec)

6010:06

Moving negative

Driver stage is activated in negative direction.

BOOLEAN

RO

0x00 (0_dec)

6010:07

Torque reduced

Reduced torque is active.

BOOLEAN

RO

0x00 (0_dec)

6010:08

Motor stall

A loss of step has occurred.

BOOLEAN

RO

0x00 (0_dec)

6010:0C

Digital input 1

Digital input 1

BOOLEAN

RO

0x00 (0_dec)

6010:0D

Digital input 2

Digital input 2

BOOLEAN

RO

0x00 (0_dec)

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 (0_dec)

6010:10

TxPDO Toggle

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

BOOLEAN

RO

0x00 (0_dec)

6010:11

Info data 1

Synchronous information (selection via subindex 0x8012:11)

UINT16

RO

0x0000 (0_dec)

6010:12

Info data 2

Synchronous information (selection via subindex 0x8012:19)

UINT16

RO

0x0000 (0_dec)

6010:13

Motor load

Current motor load
Unit: 0.01°

INT16

RO

0x0000 (0_dec)

6010:14

Internal position

Internal microstep position

UINT32

RO

0x00000000 (0_dec)

6010:15

External position

Encoder position

UINT32

RO

0x00000000 (0_dec)

6020:0

POS Inputs Ch.1

Maximum subindex

UINT8

RO

0x23 (35_dec)

6020:01

Busy

A current travel command is active.

BOOLEAN

RO

0x00 (0_dec)

6020:02

In-Target

Motor has arrived at target.

BOOLEAN

RO

0x00 (0_dec)

6020:03

Warning

A warning has occurred.

BOOLEAN

RO

0x00 (0_dec)

6020:04

Error

An error has occurred.

BOOLEAN

RO

0x00 (0_dec)

6020:05

Calibrated

Motor is calibrated.

BOOLEAN

RO

0x00 (0_dec)

6020:06

Accelerate

Motor is in the acceleration phase.

BOOLEAN

RO

0x00 (0_dec)

6020:07

Decelerate

Motor is in the deceleration phase.

BOOLEAN

RO

0x00 (0_dec)

6020:11

Actual position

Current target position of the travel command generator

UINT32

RO

0x00000000 (0_dec)

6020:21

Actual velocity

Current set velocity of the travel command generator

INT16

RO

0x0000 (0_dec)

6020:22

Actual drive time

Travel command time information (see subindex 0x8021:11)

UINT32

RO

0x00000000 (0_dec)

6020:23

Actual position lag

Lag of position

UINT32

RO

0x00000000 (0_dec)