Output data

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 : reserved 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	Setting the operating mode 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 object 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) Formula for Index 8010:54 = 0 : M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x8011:16) Formula for Index 8010:54 = 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) Formula for Index 0x8010:54 = 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)
7010:0B	Torque limitation	Torque threshold value for torque monitoring (bipolar limit) The value is specified in 1000th of the rated current (0x8011:12) Formula for Index 0x8010:54 = 0 : M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x8011:16) Formula for Index 8010:54 = 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)