Input data

6000:0

FB Inputs

Maximum subindex

UINT8

RO

0x11 (17_dec)

6000:11

Position

Position

UINT32

RO

0x00000000 (0_dec)

6001:0

FB Touch probe inputs

Maximum subindex

UINT8

RO

0x14 (20_dec)

6001:01

TP1 Enable

Touchprobe 1 switched on

BOOLEAN

RO

0x00 (0_dec)

6001:02

TP1 pos value stored

Positive value of Touchprobe 1 saved

BOOLEAN

RO

0x00 (0_dec)

6001:03

TP1 Neg value stored

Negative value of Touchprobe 1 saved

BOOLEAN

RO

0x00 (0_dec)

6001:09

TP2 Enable

Touchprobe 2 switched on

BOOLEAN

RO

0x00 (0_dec)

6001:0A

TP2 pos value stored

Positive value of Touchprobe 2 saved

BOOLEAN

RO

0x00 (0_dec)

6001:0B

TP2 neg value stored

Negative value of Touchprobe 2 saved

BOOLEAN

RO

0x00 (0_dec)

6001:11

TP1 pos position

Positive value of Touchprobe 1
Unit: the given value must be multiplied by the corresponding scaling factor

UINT32

RO

0x00000000 (0_dec)

6001:12

TP1 neg position

Negative value of Touchprobe 1
Unit: the given value must be multiplied by the corresponding scaling factor

UINT32

RO

0x00000000 (0_dec)

6001:13

TP2 pos position

Positive value of Touchprobe 2
Unit: the given value must be multiplied by the corresponding scaling factor

UINT32

RO

0x00000000 (0_dec)

6001:14

TP2 neg position

Negative value of Touchprobe 2
Unit: the given value must be multiplied by the corresponding scaling factor

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: Quick stop (inverse)
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

Modes of operation display.

Permitted values:
9: Cyclic synchronous velocity mode (CSV)
10: Cyclic synchronous torque mode (CST)
11: Cyclic synchronous torque mode with commutation angle (CSTCA)

UINT8

RO

0x00 (0_dec)

6010:06

Following error actual value

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

INT32

RO

0x00000000 (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

Position actual value

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

Equation for index 8010:54 = 0 :
M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (8011:16)

Equation for index 8010:54 = 1 :
M = ((Torque actual value / 1000) x rated current)) x torque constant (8011:16)

INT16

RO

0x0000 (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)

6030:0

DMC inputs

Maximum subindex

UINT8

RO

0x3C (60_dec)

6030:02

DMC_FeedbackStatus__Latch extern valid

An edge was detected on the external input and latched

BOOLEAN

RO

0x00 (0_dec)

6030:03

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 (0_dec)

6030:0D

DMC_FeedbackStatus__Status of extern Latch

Status of the external latch input

BOOLEAN

RO

0x00 (0_dec)

6030:11

DMC_DriveStatus__Ready to enable

The drive hardware is ready for activation.

BOOLEAN

RO

0x00 (0_dec)

6030:12

DMC_DriveStatus__Ready

The drive hardware is activated.

BOOLEAN

RO

0x00 (0_dec)

6030:13

DMC_DriveStatus__Warning

A warning is pending in the drive.

BOOLEAN

RO

0x00 (0_dec)

6030:14

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 (0_dec)

6030:15

DMC_DriveStatus__Moving positive

The axis moves in positive direction.

BOOLEAN

RO

0x00 (0_dec)

6030:16

DMC_DriveStatus__Moving negative

The axis moves in negative direction

BOOLEAN

RO

0x00 (0_dec)

6030:1C

DMC_DriveStatus__Digital Input 1

Status of the first digital input

BOOLEAN

RO

0x00 (0_dec)

6030:1D

DMC_DriveStatus__Digital Input 2

Status of the second digital input

BOOLEAN

RO

0x00 (0_dec)

6030:21

DMC_PositioningStatus__Busy

The positioning task is running.

BOOLEAN

RO

0x00 (0_dec)

6030:22

DMC_PositioningStatus__In-Target

The axis is at the target position.

BOOLEAN

RO

0x00 (0_dec)

6030:23

DMC_PositoningStatus__Warning

Warning

BOOLEAN

RO

0x00 (0_dec)

6030:24

DMC_PositoningStatus__Error

error

BOOLEAN

RO

0x00 (0_dec)

6030:25

DMC_PositoningStatus__Calibrated

The axis is calibrated.

BOOLEAN

RO

0x00 (0_dec)

6030:26

DMC_PositioningStatus__Accelerate

The axis accelerates.

BOOLEAN

RO

0x00 (0_dec)

6030:27

DMC_PositioningStatus__Decelerate

The axis is decelerating.

BOOLEAN

RO

0x00 (0_dec)

6030:28

DMC_PositoningStatus__Ready to execute

The path control is ready to accept a command.

This bit is FALSE if:

• The drive has a fault
• The drive is not activated
• As long as "PositioningControl__Execute" is pending.

BOOLEAN

RO

0x00 (0_dec)

6030:31

DMC__Set position

Current target position specified by the ramp generator in feedback increments

INT64

RO

0x0000000000000000 (0_dec)

6030:32

DMC__Set velocity

Current velocity specified by the ramp generator in 10000ths of the rated motor speed

INT16

RO

0x0000 (0_dec)

6030:33

DMC__Actual drive time

Time since the start of the motion command in ms.
Stops when the target position is reached

UINT32

RO

0x00000000 (0_dec)

6030:34

DMC__Actual position lag

Following error

INT64

RO

0x0000000000000000 (0_dec)

6030:35

DMC__Actual velocity

Current velocity in 10000ths of the rated motor speed

INT16

RO

0x0000 (0_dec)

6030:36

DMC__Actual position

Current position from the feedback (incl. possible offsets due to homing, ...)

INT64

RO

0x0000000000000000 (0_dec)

6030:37

DMC__Error id

Error Id (identical to Diag History)

UINT32

RO

0x00000000 (0_dec)

6030:38

DMC__Input cycle counter

Incremented with each process data cycle

UINT8

RO

0x00 (0_dec)

6030:3A

DMC__Latch value

Feedback position at latch time

INT64

RO

0x0000000000000000 (0_dec)

6030:3B

DMC__Cyclic info data 1

Synchronous info data

INT16

RO

0x0000 (0_dec)

6030:3C

DMC__Cyclic info data 2

Synchronous info data

INT16

RO

0x0000 (0_dec)