Output data

7000:0

ENC Outputs Ch.1

Maximum subindex

UINT8

RO

0x11 (17_dec)

7000:01

Enable latch C

Activate latching via the C-track.

BOOLEAN

RO

0x00 (0_dec)

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

0x00 (0_dec)

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

0x00 (0_dec)

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

0x00 (0_dec)

7000:11

Set counter value

This is the counter value to be set via "Set counter".

UINT32

RO

0x00000000 (0_dec)

7010:0

STM Outputs Ch.1

Maximum subindex

UINT8

RO

0x21 (33_dec)

7010:01

Enable

Activates the output stage

BOOLEAN

RO

0x00 (0_dec)

7010:02

Reset

All errors that may have occurred are reset by setting this bit (rising edge).

BOOLEAN

RO

0x00 (0_dec)

7010:03

Reduce torque

Reduced torque (coil current) is active (see subindex 0x8010:02).

BOOLEAN

RO

0x00 (0_dec)

7010:0C

Digital output 1

Digital output 1

BOOLEAN

RO

0x00 (0_dec)

7010:11

Position

Set position specification
Unit: Increments

UINT32

RO

0x00000000 (0_dec)

7010:21

Velocity

Set velocity specification
Unit: +/- 32767 corresponds to +/- 100%

INT16

RO

0x0000 (0_dec)

7020:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

0x24 (36_dec)

7020:01

Execute

Start travel command (rising edge), or prematurely abort travel command (falling edge)

BOOLEAN

RO

0x00 (0_dec)

7020:02

Emergency Stop

Prematurely abort travel command with an emergency ramp (rising edge)

BOOLEAN

RO

0x00 (0_dec)

7020:11

Target position

Specification of the target position

UINT32

RO

0x00000000 (0_dec)

7020:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0_dec)

7020:22

Start type

0x0000
Idle

No travel command is being executed

UINT16

RO

0x0000 (0_dec)

0x0001
Absolute

Absolute target position

0x1001
Absolute (Change)

Change during an active travel command

0x0002
Relative

Target position relative to the current position

0x1002
Relative (Change)

Change during an active travel command

0x0003
Endless plus

Endless driving in positive direction of rotation

0x0004
Endless minus

Endless driving in negative direction of rotation

0x0105
Modulo short

Shortest distance to the next modulo position

0x0115
Modulo short extended

Shortest distance to the next modulo position (without modulo window)

0x0205
Modulo plus

Drive in positive direction of rotation to the next modulo position

0x0215
Modulo plus extended

Drive in positive direction of rotation to the next modulo position (without modulo window)

0x0305
Modulo minus

Drive in negative direction of rotation to the next modulo position

0x0315
Modulo minus extended

Drive in negative direction of rotation to the next modulo position (without modulo window)

0x0405
Modulo current

Drive in the last implemented direction of rotation to the next modulo position

0x0415
Modulo current extended

Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

0x0006
Additive

New target position relative/additive to the last target position

0x1006
Additive (Change)

Change during an active travel command

0x6000
Calibration, PLC cam

Calibration with cam

0x6100
Calibration, HW sync

Calibration with cam and C-track

0x6E00
Calibration, set manual

Set calibration manually

0x6E01
Calibration, set manual auto

Set automatic calibration, for "Enable = 1"

0x6F00
Calibration, clear manual

Clear calibration manually

7020:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0_dec)

7020:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0_dec)

7021:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

0x24 (36_dec)

7021:03

Enable auto start

Enable auto start

BOOLEAN

RO

0x00 (0_dec)

7021:11

Target position

Specification of the target position

UINT32

RO

0x00000000 (0_dec)

7021:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0_dec)

7021:22

Start type

0x0000
Idle

No travel command is being executed

UINT16

RO

0x0000 (0_dec)

0x0001
Absolute

Absolute target position

0x1001
Absolute (Change)

Change during an active travel command

0x0002
Relative

Target position relative to the current position

0x1002
Relative (Change)

Change during an active travel command

0x0003
Endless plus

Endless driving in positive direction of rotation

0x0004
Endless minus

Endless driving in negative direction of rotation

0x0105
Modulo short

Shortest distance to the next modulo position

0x0115
Modulo short extended

Shortest distance to the next modulo position (without modulo window)

0x0205
Modulo plus

Drive in positive direction of rotation to the next modulo position

0x0215
Modulo plus extended

Drive in positive direction of rotation to the next modulo position (without modulo window)

0x0305
Modulo minus

Drive in negative direction of rotation to the next modulo position

0x0315
Modulo minus extended

Drive in negative direction of rotation to the next modulo position (without modulo window)

0x0405
Modulo current

Drive in the last implemented direction of rotation to the next modulo position

0x0415
Modulo current extended

Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

0x0006
Additive

New target position relative/additive to the last target position

0x1006
Additive (Change)

Change during an active travel command

0x6000
Calibration, PLC cam

Calibration with cam

0x6100
Calibration, HW sync

Calibration with cam and C-track

0x6E00
Calibration, set manual

Set calibration manually

0x6E01
Calibration, set manual auto

Set automatic calibration, for "Enable = 1"

0x6F00
Calibration, clear manual

Clear calibration manually

7021:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0_dec)

7021:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0_dec)