Input data
Index 6000 FB Inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6000:0 | FB Inputs Ch.1 |
| UINT8 | RO | 0x11 (17dec) |
6000:0E | TxPDO State | TRUE: the position data is invalid. FALSE: the position data is valid. | BOOLEAN | RO | 0x00 (0dec) |
6000:0F | Input cycle counter | Incremented with each process data cycle, switches to 0 after reaching the maximum value of 3. | BIT2 | RO | 0x00 (0dec) |
6000:11 | Position | Position | UINT32 | RO | 0x00000000 (0dec) |
Index 6001 FB Touch probe inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6001:0 | FB Touch probe inputs Ch.1 |
| UINT8 | RO | 0x18 (24dec) |
6001:01 | TP1 Enable | Touch probe 1 switched on | BOOLEAN | RO | 0x00 (0dec) |
6001:02 | TP1 Pos value stored | Positive value of Touch probe 1 stored | BOOLEAN | RO | 0x00 (0dec) |
6001:03 | TP1 Neg value stored | Negative value of Touch probe 1 stored | BOOLEAN | RO | 0x00 (0dec) |
6001:08 | TP1 Input | Digital inputs Touch probe 1. The input must be addressed with a single conductor + 24 V signal. | BOOLEAN | RO | 0x00 (0dec) |
6001:09 | TP2 Enable | Touch probe 2 switched on | BOOLEAN | RO | 0x00 (0dec) |
6001:0A | TP2 Pos value stored | Positive value of Touch probe 2 stored | BOOLEAN | RO | 0x00 (0dec) |
6001:0B | TP2 Neg value stored | Negative value of Touch probe 2 stored | BOOLEAN | RO | 0x00 (0dec) |
6001:10 | TP2 Input | Digital input Touch probe 2. The input must be addressed with a single conductor + 24 V signal. | BOOLEAN | RO | 0x00 (0dec) |
6001:11 | TP1 Pos position | Positive value of Touch probe 1. Unit: the given value must be multiplied by the corresponding scaling factor. | UINT32 | RO | 0x00000000 (0dec) |
6001:12 | TP1 Neg position | Negative value of Touch probe 1. | UINT32 | RO | 0x00000000 (0dec) |
6001:13 | TP2 Pos position | Positive value of Touch probe 2. | UINT32 | RO | 0x00000000 (0dec) |
6001:14 | TP2 Neg position | Negative value of Touch probe 2. Unit: the given value must be multiplied by the corresponding scaling factor. | UINT32 | RO | 0x00000000 (0dec) |
6001:15 | TP1 Pos timestamp | DC timestamp at which the last positive edge was detected on Touch probe 1. | UINT32 | RO | 0x00000000 (0dec) |
6001:16 | TP1 Neg timestamp | DC timestamp at which the last negative edge was detected on Touch probe 1. | UINT32 | RO | 0x00000000 (0dec) |
6001:17 | TP2 Pos timestamp | DC timestamp at which the last positive edge was detected on Touch probe 2. | UINT32 | RO | 0x00000000 (0dec) |
6001:18 | TP2 Neg timestamp | DC timestamp at which the last negative edge was detected on Touch probe 2. | UINT32 | RO | 0x00000000 (0dec) |
Index 6010 DRV Inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6010:0 | DRV Inputs Ch.1 |
| UINT8 | RO | 0x15 (21dec) |
6010:01 | 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 Bit 11: Internal limit active Bit 12: Drive follows the command value Bit 13: Input cycle counter Bit 14 - 15: reserved | UINT16 | RO | 0x0000 (0dec) |
6010:03 | Modes of operation display | Modes of operation display. Possible values:
| UINT8 | RO | 0x00 (0dec) |
6010:06 | Following error actual value | Following error. Unit: the given value must be multiplied by the corresponding scaling factor. | INT32 | RO | 0x00000000 (0dec) |
6010:07 | Velocity actual value | Display of the current velocity value. Unit: see 0x9010:14. | INT32 | RO | 0x00000000 (0dec) |
6010:08 | Torque actual value | Display of the current torque value Calculation formula: | INT16 | RO | 0x0000 (0dec) |
6010:12 | Info data 1 | Synchronous information. Selection via 0x8010:39. | UINT16 | RO | 0x0000 (0dec) |
6010:13 | Info data 2 | Synchronous information. Selection via 0x8010:3A. | UINT16 | RO | 0x0000 (0dec) |
6010:14 | Info data 3 | Synchronous information. Selection via 0x8010:58. | UINT16 | RO | 0x0000 (0dec) |
6010:15 | Torque limitation status | Bit 0: Torque demand value is equal to ramp input Bit 1: High velocity limit active Bit 2: Low velocity limit active Bit 3 - 7: reserved | UINT8 | RO | 0x00 (0dec) |
Index 6020 DMC Inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6020:0 | DMC Inputs Ch.1 |
| UINT8 | RO | 0x3C (60dec) |
6020:02 | DMC__FeedbackStatus__Latch extern valid | An edge was detected on the external input and latched. | BOOLEAN | RO | 0x00 (0dec) |
6020:03 | DMC__FeedbackStatus__Set counter done | The setting of the feedback position was successful. This bit remains present until "Set counter" is released again | BOOLEAN | RO | 0x00 (0dec) |
6020:0D | DMC__FeedbackStatus__Status of extern latch | Status of the external latch input. | BOOLEAN | RO | 0x00 (0dec) |
6020:11 | DMC__DriveStatus__Ready to enable | The drive hardware is ready for activation. | BOOLEAN | RO | 0x00 (0dec) |
6020:12 | DMC__DriveStatus__Ready | The drive hardware is activated. | BOOLEAN | RO | 0x00 (0dec) |
6020:13 | DMC__DriveStatus__Warning | A warning is pending in the drive. | BOOLEAN | RO | 0x00 (0dec) |
6020:14 | DMC__DriveStatus__Error | An error is pending in the drive. The "Ready to enable" bit and the "Ready" bit are set to FALSE. | BOOLEAN | RO | 0x00 (0dec) |
6020:15 | DMC__DriveStatus__Moving positive | The axis moves in positive direction. | BOOLEAN | RO | 0x00 (0dec) |
6020:16 | DMC__DriveStatus__Moving negative | The axis moves in negative direction. | BOOLEAN | RO | 0x00 (0dec) |
6020:1C | DMC__DriveStatus__Digital input 1 | Status of the first digital input. | BOOLEAN | RO | 0x00 (0dec) |
6020:1D | DMC__DriveStatus__Digital input 2 | Status of the second digital input. | BOOLEAN | RO | 0x00 (0dec) |
6020:21 | DMC__PositioningStatus__Busy | The positioning task is running. | BOOLEAN | RO | 0x00 (0dec) |
6020:22 | DMC__PositioningStatus__In-Target | The axis is at the target position. | BOOLEAN | RO | 0x00 (0dec) |
6020:23 | DMC__PositioningStatus__Warning | Warning. | BOOLEAN | RO | 0x00 (0dec) |
6020:24 | DMC__PositioningStatus__Error | Error. | BOOLEAN | RO | 0x00 (0dec) |
6020:25 | DMC__PositioningStatus__Calibrated | The axis is calibrated. | BOOLEAN | RO | 0x00 (0dec) |
6020:26 | DMC__PositioningStatus__Accelerate | The axis accelerates. | BOOLEAN | RO | 0x00 (0dec) |
6020:27 | DMC__PositioningStatus__Decelerate | The axis is decelerating. | BOOLEAN | RO | 0x00 (0dec) |
6020:28 | DMC__PositioningStatus__Ready to execute | The path control is ready to accept a command. This bit is FALSE …
| BOOLEAN | RO | 0x00 (0dec) |
6020:31 | DMC__Set position | Current target position specified by the ramp generator in feedback increments. | INT64 | RO |
|
6020:32 | DMC__Set velocity | Current velocity specified by the ramp generator in 10000ths of the nominal motor speed | INT16 | RO | 0x0000 (0dec) |
6020:33 | DMC__Actual drive time | The time since the start of the travel command in ms. Stops when the target position is reached. | UINT32 | RO | 0x00000000 (0dec) |
6020:34 | DMC__Actual position lag | Following error. | INT64 | RO |
|
6020:35 | DMC__Actual velocity | Current velocity in 10000ths of the nominal motor speed. | INT16 | RO | 0x0000 (0dec) |
6020:36 | DMC__Actual position | Current position from the feedback (incl. possible offsets due to homing, ...). | INT64 | RO |
|
6020:37 | DMC__Error id | Error Id (identical to Diag History). | UINT32 | RO | 0x00000000 (0dec) |
6020:38 | DMC__Input cycle counter | Incremented with each process data cycle. | UINT8 | RO | 0x00 (0dec) |
6020:39 | DMC__Channel id |
| UINT8 | RO | 0x00 (0dec) |
6020:3A | DMC__Latch value | Feedback position at latch time. | INT64 | RO |
|
6020:3B | DMC__Cyclic info data 1 | Synchronous info data | INT16 | RO | 0x0000 (0dec) |
6020:3C | DMC__Cyclic info data 2 | Synchronous info data | INT16 | RO | 0x0000 (0dec) |
Index 6100 FB Inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6100:0 | FB Inputs Ch.2 |
| UINT8 | RO | 0x11 (17dec) |
6100:0E | TxPDO State | TRUE: the position data is invalid. FALSE: the position data is valid. | BOOLEAN | RO | 0x00 (0dec) |
6100:0F | Input cycle counter | Incremented with each process data cycle, switches to 0 after reaching the maximum value of 3. | BIT2 | RO | 0x00 (0dec) |
6100:11 | Position | Position | UINT32 | RO | 0x00000000 (0dec) |
Index 6101 FB Touch probe inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6101:0 | FB Touch probe inputs Ch.2 |
| UINT8 | RO | 0x18 (24dec) |
6101:01 | TP1 Enable | Touch probe 1 switched on | BOOLEAN | RO | 0x00 (0dec) |
6101:02 | TP1 Pos value stored | Positive value of Touch probe 1 stored | BOOLEAN | RO | 0x00 (0dec) |
6101:03 | TP1 Neg value stored | Negative value of Touch probe 1 stored | BOOLEAN | RO | 0x00 (0dec) |
6101:08 | TP1 Input | Digital inputs Touch probe 1. The input must be addressed with a single conductor + 24 V signal. | BOOLEAN | RO | 0x00 (0dec) |
6101:09 | TP2 Enable | Touch probe 2 switched on | BOOLEAN | RO | 0x00 (0dec) |
6101:0A | TP2 Pos value stored | Positive value of Touch probe 2 stored | BOOLEAN | RO | 0x00 (0dec) |
6101:0B | TP2 Neg value stored | Negative value of Touch probe 2 stored | BOOLEAN | RO | 0x00 (0dec) |
6101:10 | TP2 Input | Digital input Touch probe 2. The input must be addressed with a single conductor + 24 V signal. | BOOLEAN | RO | 0x00 (0dec) |
6101:11 | TP1 Pos position | Positive value of Touch probe 1. Unit: the given value must be multiplied by the corresponding scaling factor. | UINT32 | RO | 0x00000000 (0dec) |
6101:12 | TP1 Neg position | Negative value of Touch probe 1. | UINT32 | RO | 0x00000000 (0dec) |
6101:13 | TP2 Pos position | Positive value of Touch probe 2. | UINT32 | RO | 0x00000000 (0dec) |
6101:14 | TP2 Neg position | Negative value of Touch probe 2. Unit: the given value must be multiplied by the corresponding scaling factor. | UINT32 | RO | 0x00000000 (0dec) |
6101:15 | TP1 Pos timestamp | DC timestamp at which the last positive edge was detected on Touch probe 1. | UINT32 | RO | 0x00000000 (0dec) |
6101:16 | TP1 Neg timestamp | DC timestamp at which the last negative edge was detected on Touch probe 1. | UINT32 | RO | 0x00000000 (0dec) |
6101:17 | TP2 Pos timestamp | DC timestamp at which the last positive edge was detected on Touch probe 2. | UINT32 | RO | 0x00000000 (0dec) |
6101:18 | TP2 Neg timestamp | DC timestamp at which the last negative edge was detected on Touch probe 2. | UINT32 | RO | 0x00000000 (0dec) |
Index 6110 DRV Inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6110:0 | DRV Inputs Ch.2 |
| UINT8 | RO | 0x15 (21dec) |
6110:01 | 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 Bit 11: Internal limit active Bit 12: Drive follows the command value Bit 13: Input cycle counter Bit 14 - 15: reserved | UINT16 | RO | 0x0000 (0dec) |
6110:03 | Modes of operation display | Modes of operation display. Possible values:
| UINT8 | RO | 0x00 (0dec) |
6110:06 | Following error actual value | Following error. Unit: the given value must be multiplied by the corresponding scaling factor. | INT32 | RO | 0x00000000 (0dec) |
6110:07 | Velocity actual value | Display of the current velocity value. Unit: see 0x9110:14. | INT32 | RO | 0x00000000 (0dec) |
6110:08 | Torque actual value | Display of the current torque value Calculation formula: | INT16 | RO | 0x0000 (0dec) |
6110:12 | Info data 1 | Synchronous information. Selection via 0x8110:39. | UINT16 | RO | 0x0000 (0dec) |
6110:13 | Info data 2 | Synchronous information. Selection via 0x8110:3A. | UINT16 | RO | 0x0000 (0dec) |
6110:14 | Info data 3 | Synchronous information. Selection via 0x8110:58. | UINT16 | RO | 0x0000 (0dec) |
6110:15 | Torque limitation status | Bit 0: Torque demand value is equal to ramp input Bit 1: High velocity limit active Bit 2: Low velocity limit active Bit 3 - 7: reserved | UINT8 | RO | 0x00 (0dec) |
Index 6120 DMC Inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
6120:0 | DMC Inputs Ch.2 |
| UINT8 | RO | 0x3C (60dec) |
6120:02 | DMC__FeedbackStatus__Latch extern valid | An edge was detected on the external input and latched. | BOOLEAN | RO | 0x00 (0dec) |
6120:03 | DMC__FeedbackStatus__Set counter done | The setting of the feedback position was successful. This bit remains present until "Set counter" is released again | BOOLEAN | RO | 0x00 (0dec) |
6120:0D | DMC__FeedbackStatus__Status of extern latch | Status of the external latch input. | BOOLEAN | RO | 0x00 (0dec) |
6120:11 | DMC__DriveStatus__Ready to enable | The drive hardware is ready for activation. | BOOLEAN | RO | 0x00 (0dec) |
6120:12 | DMC__DriveStatus__Ready | The drive hardware is activated. | BOOLEAN | RO | 0x00 (0dec) |
6120:13 | DMC__DriveStatus__Warning | A warning is pending in the drive. | BOOLEAN | RO | 0x00 (0dec) |
6120:14 | DMC__DriveStatus__Error | An error is pending in the drive. The "Ready to enable" bit and the "Ready" bit are set to FALSE. | BOOLEAN | RO | 0x00 (0dec) |
6120:15 | DMC__DriveStatus__Moving positive | The axis moves in positive direction. | BOOLEAN | RO | 0x00 (0dec) |
6120:16 | DMC__DriveStatus__Moving negative | The axis moves in negative direction. | BOOLEAN | RO | 0x00 (0dec) |
6120:1C | DMC__DriveStatus__Digital input 1 | Status of the first digital input. | BOOLEAN | RO | 0x00 (0dec) |
6120:1D | DMC__DriveStatus__Digital input 2 | Status of the second digital input. | BOOLEAN | RO | 0x00 (0dec) |
6120:21 | DMC__PositioningStatus__Busy | The positioning task is running. | BOOLEAN | RO | 0x00 (0dec) |
6120:22 | DMC__PositioningStatus__In-Target | The axis is at the target position. | BOOLEAN | RO | 0x00 (0dec) |
6120:23 | DMC__PositioningStatus__Warning | Warning. | BOOLEAN | RO | 0x00 (0dec) |
6120:24 | DMC__PositioningStatus__Error | Error. | BOOLEAN | RO | 0x00 (0dec) |
6120:25 | DMC__PositioningStatus__Calibrated | The axis is calibrated. | BOOLEAN | RO | 0x00 (0dec) |
6120:26 | DMC__PositioningStatus__Accelerate | The axis accelerates. | BOOLEAN | RO | 0x00 (0dec) |
6120:27 | DMC__PositioningStatus__Decelerate | The axis is decelerating. | BOOLEAN | RO | 0x00 (0dec) |
6120:28 | DMC__PositioningStatus__Ready to execute | The path control is ready to accept a command. This bit is FALSE …
| BOOLEAN | RO | 0x00 (0dec) |
6120:31 | DMC__Set position | Current target position specified by the ramp generator in feedback increments. | INT64 | RO |
|
6120:32 | DMC__Set velocity | Current velocity specified by the ramp generator in 10000ths of the nominal motor speed | INT16 | RO | 0x0000 (0dec) |
6120:33 | DMC__Actual drive time | The time since the start of the travel command in ms. Stops when the target position is reached. | UINT32 | RO | 0x00000000 (0dec) |
6120:34 | DMC__Actual position lag | Following error. | INT64 | RO |
|
6120:35 | DMC__Actual velocity | Current velocity in 10000ths of the nominal motor speed. | INT16 | RO | 0x0000 (0dec) |
6120:36 | DMC__Actual position | Current position from the feedback (incl. possible offsets due to homing, ...). | INT64 | RO |
|
6120:37 | DMC__Error id | Error Id (identical to Diag History). | UINT32 | RO | 0x00000000 (0dec) |
6120:38 | DMC__Input cycle counter | Incremented with each process data cycle. | UINT8 | RO | 0x00 (0dec) |
6120:39 | DMC__Channel id |
| UINT8 | RO | 0x00 (0dec) |
6120:3A | DMC__Latch value | Feedback position at latch time. | INT64 | RO |
|
6120:3B | DMC__Cyclic info data 1 | Synchronous info data | INT16 | RO | 0x0000 (0dec) |
6120:3C | DMC__Cyclic info data 2 | Synchronous info data | INT16 | RO | 0x0000 (0dec) |
Index F600 DRV Brake Chopper Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F600:0 | DRV Brake Chopper Inputs |
| UINT8 | RO | 0x12 (18dec) |
F600:03 | Brake chopper I2T warning | I2T model at least "Brake resistor power warning threshold" utilized | BOOLEAN | RO | 0x00 (0dec) |
F600:06 | Brake chopper on | Braking resistor was switched on at least once in the last process data cycle | BOOLEAN | RO | 0x00 (0dec) |
F600:11 | Brake chopper dutycycle | Proportion of the time of the last process data cycle in which the braking resistor was active (without further filters). Unit: percent | UINT8 | RO | 0x00 (0dec) |
F600:12 | Brake chopper I2T utilisation | Utilization of the I2T model of the brake chopper. Unit: percent | UINT8 | RO | 0x00 (0dec) |