Output data

7001:0

FB Touch probe outputs Ch.1

UINT8

RO

0x0E (14_dec)

7001:01

TP1 Enable

Switch on Touch probe 1

BOOLEAN

RO

0x00 (0_dec)

7001:02

TP1 Continous

Possible values:

• 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 Touch probe 2

BOOLEAN

RO

0x00 (0_dec)

7001:0A

TP2 Continous

Possible values:

• 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)

7010:0

DRV Outputs Ch.1

UINT8

RO

0x13 (19_dec)

7010:01

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

permitted values:

• 8: Cyclic synchronous position mode (CSP)
• 9: Cyclic synchronous velocity mode (CSV)
• 10: Cyclic synchronous torque mode (CST)
• 11: Cyclic synchronous torque mode with commutation angle (CSTCA)
• 131: Drive Motion Control (DMC)

UINT8

RW

0x08 (8_dec)

7010:05

Target position

Configured target position.

Unit: the value must be multiplied by the corresponding scaling factor.

UINT32

RO

0x00000000 (0_dec)

7010:06

Target velocity

Configured target velocity
The velocity scaling can be taken from the index 0x9010:14 ("Velocity encoder resolution").

INT32

RO

0x00000000 (0_dec)

7010:09

Target torque

Configured target torque.

The value is specified in 1000ths of 0x8011:12 "rated current".

Calculation formula:
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8011:16)

INT16

RO

0x0000 (0_dec)

7010:0A

Torque offset

Offset of the torque value
The value is specified in 1000ths of the parameter 0x8011:12 "rated current"

Calculation formula:
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8011:16)

INT16

RO

0x0000 (0_dec)

7010:0B

Torque limitation

Limit value of the torque for torque monitoring (Bipolar Limit)
The value is given in 1000ths of the parameter 0x8011:12 "rated current".

Calculation formula:
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 the CSTCA mode.

Unit: 2¹⁶ / 360°

UINT16

RO

0x0000 (0_dec)

7010:0F

Velocity offset

external speed pre-control.

INT32

RO

0x00000000 (0_dec)

7010:10

Positive torque limit value

Torque limitation in positive direction of rotation.

Scaling/unit: see 7010:0B

UINT16

RW

0x7FFF (32767_dec)

7010:11

Negative torque limit value

Torque limitation in negative direction of rotation.

Scaling/unit: see 7010:0B

UINT16

RW

0x7FFF (32767_dec)

7010:12

Low velocity limit value

Lower velocity limit, if in CST mode the 'Torque limitation option code' parameter [8010:70] has been set to a value unequal to VeloLimitHasNoEffect (0).

INT32

RW

0x00000000 (0_dec)

7010:13

High velocity limit value

Upper velocity limit, if in CST mode the 'Torque limitation option code' parameter [8010:70] has been set to a value unequal to VeloLimitHasNoEffect (0).

INT32

RW

0x00000000 (0_dec)

7020:0

DMC Outputs Ch.1

UINT8

RO

0x36 (54_dec)

7020:02

DMC__FeedbackControl__Enable latch extern on positive edge

Latches to the positive edge of the external input

BOOLEAN

RO

0x00 (0_dec)

7020:03

DMC__FeedbackControl__Set counter

With a rising edge "Actual position" is set to the value of "Set counter value".

BOOLEAN

RO

0x00 (0_dec)

7020:04

DMC__FeedbackControl__Enable latch extern on negative edge

Latches to the negative edge of the external input

BOOLEAN

RO

0x00 (0_dec)

7020:11

DMC__DriveControl__Enable

Activate drive

BOOLEAN

RO

0x00 (0_dec)

7020:12

DMC__DriveControl__Reset

Perform a reset of the drive hardware

BOOLEAN

RO

0x00 (0_dec)

7020:21

DMC__PositioningControl__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)

7020:22

DMC__PositioningControl__Emergency stop

In the event of a rising edge, decelerate to a standstill with the emergency stop ramp

BOOLEAN

RO

0x00 (0_dec)

7020:31

DMC__Set counter value

s. 0x7020:03

INT64

RO

7020:32

DMC__Target position

Position specification in feedback increments

INT64

RO

7020:33

DMC__Target velocity

Maximum velocity during the motion command in 10000ths of the motor nominal speed

INT16

RO

0x0000 (0_dec)

7020:34

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)

7020:35

DMC__Target acceleration

Acceleration: time in ms from standstill to reaching the motor nominal speed

UINT16

RO

0x0000 (0_dec)

7020:36

DMC__Target deceleration

Deceleration: time in ms for the deceleration from the motor nominal speed to standstill

UINT16

RO

0x0000 (0_dec)

7101:0

FB Touch probe outputs Ch.2

UINT8

RO

0x0E (14_dec)

7101:01

TP1 Enable

Switch on Touch probe 1

BOOLEAN

RO

0x00 (0_dec)

7101:02

TP1 Continous

Possible values:

• 0: triggered only on the first event.
• 1: triggered on every event.

BOOLEAN

RO

0x00 (0_dec)

7101:03

TP1 Trigger mode

Input 1 is triggered (not changeable).

BIT2

RO

0x00 (0_dec)

7101:05

TP1 Enable pos edge

Trigger on positive edge

BOOLEAN

RO

0x00 (0_dec)

7101:06

TP1 Enable neg edge

Trigger on negative edge

BOOLEAN

RO

0x00 (0_dec)

7101:09

TP2 Enable

Switch on Touch probe 2

BOOLEAN

RO

0x00 (0_dec)

7101:0A

TP2 Continous

Possible values:

• 0: triggered only on the first event.
• 1: triggered on every event.

BOOLEAN

RO

0x00 (0_dec)

7101:0B

TP2 Trigger mode

Input 2 is triggered (not changeable).

BIT2

RO

0x00 (0_dec)

7101:0D

TP2 Enable pos edge

Trigger on positive edge

BOOLEAN

RO

0x00 (0_dec)

7101:0E

TP2 Enable neg edge

Trigger on negative edge

BOOLEAN

RO

0x00 (0_dec)

7110:0

DRV Outputs Ch.2

UINT8

RO

0x13 (19_dec)

7110:01

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)

7110:03

Modes of operation

permitted values:

• 8: Cyclic synchronous position mode (CSP)
• 9: Cyclic synchronous velocity mode (CSV)
• 10: Cyclic synchronous torque mode (CST)
• 11: Cyclic synchronous torque mode with commutation angle (CSTCA)
• 131: Drive Motion Control (DMC)

UINT8

RW

0x08 (8_dec)

7110:05

Target position

Configured target position.

Unit: the value must be multiplied by the corresponding scaling factor.

UINT32

RO

0x00000000 (0_dec)

7110:06

Target velocity

Configured target velocity.

The velocity scaling can be found in index 0x9110:14 ("Velocity encoder resolution").

INT32

RO

0x00000000 (0_dec)

7110:09

Target torque

Configured target torque.

The value is specified in 1000ths of 0x8111:12 "rated current".

Calculation formula:
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8111:16)

INT16

RO

0x0000 (0_dec)

7110:0A

Torque offset

Torque value offset.

The value is specified in 1000ths of 0x8111:12 "rated current"

Calculation formula:
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8111:16)

INT16

RO

0x0000 (0_dec)

7110:0B

Torque limitation

Limit value of the torque for torque monitoring (Bipolar Limit).
The value is given in 1000ths of the parameter 0x8111:12 "rated current".

Calculation formula:
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x8111:16)

UINT16

RW

0x7FFF (32767_dec)

7110:0E

Commutation angle

Commutation angle for the CSTCA mode.

Unit: 2¹⁶ / 360°

UINT16

RO

0x0000 (0_dec)

7110:0F

Velocity offset

external speed pre-control.

INT32

RO

0x00000000 (0_dec)

7110:10

Positive torque limit value

Torque limitation in positive direction of rotation.

Scaling/unit: see 7010:0B

UINT16

RW

0x7FFF (32767_dec)

7110:11

Negative torque limit value

Torque limitation in negative direction of rotation.

Scaling/unit: see 7010:0B

UINT16

RW

0x7FFF (32767_dec)

7110:12

Low velocity limit value

Lower velocity limit, if in CST mode the 'Torque limitation option code' parameter [8010:70] has been set to a value unequal to VeloLimitHasNoEffect (0).

INT32

RW

0x00000000 (0_dec)

7110:13

High velocity limit value

Upper velocity limit, if in CST mode the 'Torque limitation option code' parameter [8010:70] has been set to a value unequal to VeloLimitHasNoEffect (0).

INT32

RW

0x00000000 (0_dec)

7120:0

DMC Outputs Ch.2

UINT8

RO

0x36 (54_dec)

7120:02

DMC__FeedbackControl__Enable latch extern on positive edge

Latches to the positive edge of the external input

BOOLEAN

RO

0x00 (0_dec)

7120:03

DMC__FeedbackControl__Set counter

With a rising edge "Actual position" is set to the value of "Set counter value".

BOOLEAN

RO

0x00 (0_dec)

7120:04

DMC__FeedbackControl__Enable latch extern on negative edge

Latches to the negative edge of the external input

BOOLEAN

RO

0x00 (0_dec)

7120:11

DMC__DriveControl__Enable

Activate drive

BOOLEAN

RO

0x00 (0_dec)

7120:12

DMC__DriveControl__Reset

Perform a reset of the drive hardware

BOOLEAN

RO

0x00 (0_dec)

7120:21

DMC__PositioningControl__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)

7120:22

DMC__PositioningControl__Emergency stop

In the event of a rising edge, decelerate to a standstill with the emergency stop ramp

BOOLEAN

RO

0x00 (0_dec)

7120:31

DMC__Set counter value

s. 0x7020:03

INT64

RO

7120:32

DMC__Target position

Position specification in feedback increments

INT64

RO

7120:33

DMC__Target velocity

Maximum velocity during the motion command in 10000ths of the motor nominal speed

INT16

RO

0x0000 (0_dec)

7120:34

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)

7120:35

DMC__Target acceleration

Acceleration: time in ms from standstill to reaching the motor nominal speed

UINT16

RO

0x0000 (0_dec)

7120:36

DMC__Target deceleration

Deceleration: time in ms for the deceleration from the motor nominal speed to standstill

UINT16

RO

0x0000 (0_dec)