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 (14_dec)
7001:01	TP1 Enable	Switch on Touchprobe 1	BOOLEAN	RO	0x00 (0_dec)
7001:02	TP1 Continous	0: triggered only on the first event 1. triggered on every event	BOOLEAN	RO	0x00 (0_dec)
7001:03	TP1 Trigger mode	Input 1 is triggered (not changeable).	BIT2	RO	0x00 (0_dec)
7001:05	TP1 Enable pos edge	Trigger on positive edge	BOOLEAN	RO	0x00 (0_dec)
7001:06	TP1 Enable neg edge	Trigger on negative edge	BOOLEAN	RO	0x00 (0_dec)
7001:09	TP2 Enable	Switch on Touchprobe 2	BOOLEAN	RO	0x00 (0_dec)
7001:0A	TP2 Continous	0: triggered only on the first event 1. triggered on every event	BOOLEAN	RO	0x00 (0_dec)
7001:0B	TP2 Trigger mode	Input 2 is triggered (not changeable).	BIT2	RO	0x00 (0_dec)
7001:0D	TP2 Enable pos edge	Trigger on positive edge	BOOLEAN	RO	0x00 (0_dec)
7001:0E	TP2 Enable neg edge	Trigger on negative edge	BOOLEAN	RO	0x00 (0_dec)

Index 7010 DRV Outputs

Index (hex)	Name	Meaning	Data type	Flags	Default
7010:0	DRV Outputs	Maximum subindex	UINT8	RO	0x0E (14_dec)
7010:01	Controlword	Controlword Bit 0: Switch on Bit 1: Enable voltage Bit 2: Quick stop (inverse) Bit 3: Enable operation Bit 4 - 6: reserved Bit 7: Fault reset Bit 8 - 15: reserved	UINT16	RO	0x0000 (0_dec)
7010:03	Modes of operation	Permitted values: 0x08: Cyclic synchronous position mode (CSP) 0x09: Cyclic synchronous velocity mode (CSV) 0x0A: Cyclic synchronous torque mode (CST) 0x0B: Cyclic synchronous torque mode with commutation angle (CSTCA)	UINT8	RW	0x00 (0_dec)
7010:05	Target position	Configured target position Unit: the value must be multiplied by the corresponding scaling factor	UINT32	RW	0x00000000 (0_dec)
7010:06	Target velocity	Configured target velocity The velocity scaling can be found in index 0x9010:14 (Velocity encoder resolution).	INT32	RO	0x00000000 (0_dec)
7010:09	Target torque	Configured input value for torque monitoring The value is specified in 1000th of the rated current (0x8011:12). Equation for index 0x8010:54 = 0 : M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x8011:16) Equation for index 0x8010:54 = 1 : M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8011:16)	INT16	RO	0x0000 (0_dec)
7010:0A	Torque offset	Torque value offset The value is specified in 1000th of the rated current (0x8011:12). Equation for index 0x8010:54 = 0 : M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x8011:16) Equation for index 0x8010:54 = 1 : M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8011:16)	INT16	RO	0x0000 (0_dec)
7010:0B	Torque limitation	Torque threshold value for torque monitoring (bipolar limit) The value is specified in 1000th of the rated current (0x8011:12). Equation for index 0x8010:54 = 0 : M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x8011:16) Equation for index 0x8010:54 = 1 : M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8011:16)	UINT16	RW	0x7FFF (32767_dec)
7010:0E	Commutation angle	Commutation angle (for CSTCA mode) Unit: 360° / 2¹⁶	UINT16	RO	0x0000 (0_dec)

The following note relates to the DMC objects 0x6030, 0x7030, 0x8030 and 0x8031.

	Data type INT64 for all positions in the travel distance control The data type INT64 is used for all positions in the travel distance control. The single-turn position is located in the lower 32 bits. The multi-turn position is located in the upper 32 bits.

Index 7030 DMC outputs

Index (hex)	Name	Meaning	Data type	Flags	Default
7030:0	DMC Outputs	Maximum subindex	UINT8	RO	0x36 (54_dec)
7030:02	DMC_FeedbackControl__Enable latch extern on positive edge	Latches to the positive edge of the external input	BOOLEAN	RO	0x00 (0_dec)
7030:03	DMC_FeedbackControl__Set counter	With a rising edge, "Actual position" is set to the value of "Set counter value".	BOOLEAN	RO	0x00 (0_dec)
7030:04	DMC_FeedbackControl__Enable latch extern on negative edge	Latches to the negative edge of the external input	BOOLEAN	RO	0x00 (0_dec)
7030:11	DMC_DriveControl__Enable	Activate drive	BOOLEAN	RO	0x00 (0_dec)
7030:12	DMC_DriveControl__Reset	Perform a reset of the drive hardware	BOOLEAN	RO	0x00 (0_dec)
7030:21	DMC_PositionControl__Execute	Start motion command with 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 (0_dec)
7030:22	DMC_PositionControl__Emergency stop	In the event of a rising edge, decelerate to a standstill with the emergency stop ramp	BOOLEAN	RO	0x00 (0_dec)
7030:31	DMC__Set counter value	s. 0x7030:03	INT64	RO	0x0000000000000000 (0_dec)
7030:32	DMC__Target position	Position specification in feedback increments	INT64	RO	0x0000000000000000 (0_dec)
7030:33	DMC__Target velocity	Maximum velocity during the motion command in 10000ths of the rated motor speed	INT16	RO	0x0000 (0_dec)
7030:34	DMC__Start type	Type of positioning task: 0x0001: Absolute 0x0002: Relative 0x0003: Endless + 0x0004: Endless - 0x0105: Modulo short 0x0205: Modulo + 0x0305: Modulo - 0x6000: Cali PLC cam 0x6200: Cali Block 0x6E00: Cali set 0x6F00: Cali clear	UINT16	RO	0x0000 (0_dec)
7030:35	DMC__Target acceleration	Acceleration: Time in ms from standstill to reaching the rated motor speed	UINT16	RO	0x0000 (0_dec)
7030:36	DMC__Target deceleration	Delay: Time in ms for deceleration from rated motor speed to standstill	UINT16	RO	0x0000 (0_dec)