Input data

6000:0

FB Inputs

Maximum subindex

UINT8

RO

0x11 (17_dec)

6000:0E

TxPDO State

TRUE:
position data not valid

FALSE:
position data valid

BOOLEAN

RO

0x00 (0_dez)

6000:0F

Input Cycle Counter

Is incremented with each process data cycle and switches to 0 after its maximum value of 3.

BIT2

RO

0x00 (0_dez)

6000:11

Position

Position

UINT32

RO

0x00000000 (0_dec)

6010:0

DRV Inputs

Maximum subindex

UINT8

RO

0x13 (19_dec)

6010:01

Statusword

Statusword
Bit 0 : Ready to switch on
Bit 1 : Switched on
Bit 2 : Operation enabled
Bit 3 : Fault
Bit 4 : reserved
Bit 5 : reserved
Bit 6 : Switch on disabled
Bit 7 : Warning
Bit 8 + 9 : reserved
Bit 10: TxPDOToggle (selection/deselection via 0x8010:01)
Bit 11 : Internal limit active
Bit 12 : Drive follows the command value
Bit 13 - 15 : reserved

UINT16

RO

0x0000 (0_dec)

6010:03

Modes of operation display

Display of the operating mode

UINT8

RO

0x00 (0_dec)

6010:07

Velocity actual value

Display of the current velocity value
Unit: see Index 0x9010:14

INT32

RO

0x00000000 (0_dec)

6010:08

Torque actual value

Display of current torque value
The value is specified in 1000th of the rated current (0x8011:12)

Formula for Index 8010:54 = 0 :
M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x8011:16)

Formula for Index 0x8010:54 = 1 :
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8011:16)

INT16

RO

0x0000 (0_dec)

6010:09

Following error actual value

Following error
Unit: the given value must be multiplied by the corresponding scaling factor

INT32

RO

0x00000000 (0_dec)

6010:12

Info data 1

Synchronous information (selection via subindex 0x8010:39)

UINT16

RO

0x0000 (0_dec)

6010:13

Info data 2

Synchronous information (selection via subindex 0x8010:3A)

UINT16

RO

0x0000 (0_dec)