Output data

7000:0

ENC Outputs Ch.1

Max. Subindex

UINT8

RO

0x11 (17_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 counter

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

The counter value to be set via "Set counter" (index 0x7000:03).

UINT32

RO

0x00000000 (0_dec)

7010:0

ENC Outputs Ch.2

Max. Subindex

UINT8

RO

0x11 (17_dec)

7010:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

0x00 (0_dec)

7010:03

Set counter

Set counter

BOOLEAN

RO

0x00 (0_dec)

7010:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

0x00 (0_dec)

7010:11

Set counter value

The counter value to be set via "Set counter" (index 0x7010:03).

UINT32

RO

0x00000000 (0_dec)

7020:0

DCM Outputs Ch.1

Max. Subindex

UINT8

RO

0x21 (33_dec)

7020:01

Enable

Activates the output stage

BOOLEAN

RO

0x00 (0_dec)

7020:02

Reset

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

BOOLEAN

RO

0x00 (0_dec)

7020:03

Reduce torque

Reduced torque (coil current) is active (see subindex 0x8020:05 / 0x8020:06)

BOOLEAN

RO

0x00 (0_dec)

7020:11

Position

Set position specification

UINT32

RO

0x00000000 (0_dec)

7020:21

Velocity

Set velocity specification

INT16

RO

0x0000 (0_dec)

7030:0

DCM Outputs Ch.2

Max. Subindex

UINT8

RO

0x21 (33_dec)

7030:01

Enable

Activates the output stage

BOOLEAN

RO

0x00 (0_dec)

7030:02

Reset

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

BOOLEAN

RO

0x00 (0_dec)

7030:03

Reduce torque

Reduced torque (coil current) is active (see subindex 0x8030:05 / 0x8030:06)

BOOLEAN

RO

0x00 (0_dec)

7030:11

Position

Set position specification

UINT32

RO

0x00000000 (0_dec)

7030:21

Velocity

Set velocity specification

INT16

RO

0x0000 (0_dec)

7040:0

POS Outputs Ch.1

Max. Subindex

UINT8

RO

0x24 (36_dec)

7040:01

Execute

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

BOOLEAN

RO

0x00 (0_dec)

7040:02

Emergency stop

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

BOOLEAN

RO

0x00 (0_dec)

7040:11

Target position

Specification of the target position

UINT32

RO

0x00007FFF (32767_dec)

7040:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0_dec)

7040:22

Start type

Specification of the start types

0x0000 Idle
No travel command is being executed

0x0001 Absolute
Absolute target position

0x0002 Relative
Target position relative to the start position

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

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 calibration automatically

0x6F00 Calibration, clear manual
Clear calibration manually

UINT16

RO

0x0000 (0_dec)

7040:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0_dec)

7040:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0_dec)

7050:0

POS Outputs Ch.2

Max. Subindex

UINT8

RO

0x24 (36_dec)

7050:01

Execute

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

BOOLEAN

RO

0x00 (0_dec)

7050:02

Emergency Stop

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

BOOLEAN

RO

0x00 (0_dec)

7050:11

Target position

Specification of the target position

UINT32

RO

0x00007FFF (32767_dec)

7050:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0_dec)

7050:22

Start type

Specification of the start types 0x0000 Idle
No travel command is being executed

0x0001 Absolute
Absolute target position

0x0002 Relative
Target position relative to the start position

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

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 calibration automatically

0x6F00 Calibration, clear manual
Clear calibration manually

UINT16

RO

0x0000 (0_dec)

7050:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0_dec)

7050:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0_dec)