Input data
Index 6000 ENC Inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
6000:0 | ENC Inputs Ch.1 | Max. Subindex | UINT8 | RO | 0x16 (22dec) |
6000:02 | Latch extern valid | The counter value was locked via the external latch. The data with the index 0x6000:12 correspond to the latched value with the bit set. In order to re-activate the latch input, index 0x7000:02 or object index 0x7000:04 must first be cancelled and then set again. | BOOLEAN | RO | 0x00 (0dec) |
6000:03 | Set counter done | The counter was set. | BOOLEAN | RO | 0x00 (0dec) |
6000:04 | Counter underflow | Counter underflow. | BOOLEAN | RO | 0x00 (0dec) |
6000:05 | Counter overflow | Counter overflow. Overflow/underflow control is inactive in combination with a reset function (C/external). | BOOLEAN | RO | 0x00 (0dec) |
6000:08 | Extrapolation stall | The extrapolated part of the counter is invalid. | BOOLEAN | RO | 0x00 (0dec) |
6000:09 | Status of input A | Status of input A | BOOLEAN | RO | 0x00 (0dec) |
6000:0A | Status of input B | Status of input B | BOOLEAN | RO | 0x00 (0dec) |
6000:0D | Status of extern latch | Status of the extern latch input | BOOLEAN | RO | 0x00 (0dec) |
6000:0E | Sync error | The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle. This means a SYNC signal was triggered in the terminal, although no new process data were available (0=OK, 1=NOK). | BOOLEAN | RO | 0x00 (0dec) |
6000:10 | TxPDO Toggle | The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. | BOOLEAN | RO | 0x00 (0dec) |
6000:11 | Counter value | Counter value | UINT32 | RO | 0x00000000 (0dec) |
6000:12 | Latch value | Latch value | UINT32 | RO | 0x00000000 (0dec) |
6000:16 | Timestamp | Timestamp of the last counter change | UINT32 | RO | 0x00000000 (0dec) |
Index 6010 ENC Inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
6010:0 | ENC Inputs Ch.2 | Max. Subindex | UINT8 | RO | 0x16 (22dec) |
6010:02 | Latch extern valid | The counter value was locked via the external latch. The data with the index 0x6010:12 correspond to the latched value with the bit set. In order to re-activate the latch input, index 0x7010:02 or object index 0x7010:04 must first be cancelled and then set again. | BOOLEAN | RO | 0x00 (0dec) |
6010:03 | Set counter done | The counter was set. | BOOLEAN | RO | 0x00 (0dec) |
6010:04 | Counter underflow | Counter underflow. | BOOLEAN | RO | 0x00 (0dec) |
6010:05 | Counter overflow | Counter overflow. Overflow/underflow control is inactive in combination with a reset function (C/external). | BOOLEAN | RO | 0x00 (0dec) |
6010:08 | Extrapolation stall | The extrapolated part of the counter is invalid | BOOLEAN | RO | 0x00 (0dec) |
6010:09 | Status of input A | Status of input A | BOOLEAN | RO | 0x00 (0dec) |
6010:0A | Status of input B | Status of input B | BOOLEAN | RO | 0x00 (0dec) |
6010:0D | Status of extern latch | Status of the extern latch input | BOOLEAN | RO | 0x00 (0dec) |
6010:0E | Sync error | The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle. This means a SYNC signal was triggered in the terminal, although no new process data were available (0=OK, 1=NOK). | BOOLEAN | RO | 0x00 (0dec) |
6010:10 | TxPDO Toggle | The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. | BOOLEAN | RO | 0x00 (0dec) |
6010:11 | Counter value | Counter value | UINT32 | RO | 0x00000000 (0dec) |
6010:12 | Latch value | Latch value | UINT32 | RO | 0x00000000 (0dec) |
6010:16 | Timestamp | Timestamp of the last counter change | UINT32 | RO | 0x00000000 (0dec) |
Index 6020 DCM Inputs Ch.1
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
|---|---|---|---|---|---|
|
6020:0 |
DCM Inputs Ch.1 |
Max. Subindex |
UINT8 |
RO |
0x12 (18dec) |
|
6020:01 |
Ready to enable |
Driver stage is ready for enabling |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:02 |
Ready |
Driver stage is ready for operation |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:03 |
Warning |
A warning has occurred (see index 0xA020) |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:04 |
Error |
An error has occurred (see index 0xA020) |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:05 |
Moving positive |
Driver stage is activated in positive direction |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:06 |
Moving negative |
Driver stage is activated in negative direction |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:07 |
Torque reduced |
Reduced torque is active |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:0C |
Digital input 1 |
Digital input 1 |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:0D |
Digital input 2 |
Digital input 2 |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:0E |
Sync error |
The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle. |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:10 |
TxPDO Toggle |
The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. |
BOOLEAN |
RO |
0x00 (0dec) |
|
6020:11 |
Info data 1 |
Synchronous information (selection via subindex 0x8022:11) |
UINT16 |
RO |
0x0000 (0dec) |
|
6020:12 |
Info data 2 |
Synchronous information (selection via subindex 0x8022:19) |
UINT16 |
RO |
0x0000 (0dec) |
Index 6030 DCM Inputs Ch.2
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
|---|---|---|---|---|---|
|
6030:0 |
DCM Inputs Ch.2 |
Max. Subindex |
UINT8 |
RO |
0x12 (18dec) |
|
6030:01 |
Ready to enable |
Driver stage is ready for enabling |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:02 |
Ready |
Driver stage is ready for operation |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:03 |
Warning |
A warning has occurred (see index 0xA030) |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:04 |
Error |
An error has occurred (see index 0xA030) |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:05 |
Moving positive |
Driver stage is activated in positive direction |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:06 |
Moving negative |
Driver stage is activated in negative direction |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:07 |
Torque reduced |
Reduced torque is active |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:0C |
Digital input 1 |
Digital input 1 |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:0D |
Digital input 2 |
Digital input 2 |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:0E |
Sync error |
The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle. |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:10 |
TxPDO Toggle |
The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. |
BOOLEAN |
RO |
0x00 (0dec) |
|
6030:11 |
Info data 1 |
Synchronous information (selection via subindex 0x8032:11) |
UINT16 |
RO |
0x0000 (0dec) |
|
6030:12 |
Info data 2 |
Synchronous information (selection via subindex 0x8032:19) |
UINT16 |
RO |
0x0000 (0dec) |
Index 6040 POS Inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
6040:0 | POS Inputs Ch.1 | Max. Subindex | UINT8 | RO | 0x22 (34dec) |
6040:01 | Busy | A current travel command is active | BOOLEAN | RO | 0x00 (0dec) |
6040:02 | In-Target | Motor has arrived at target | BOOLEAN | RO | 0x00 (0dec) |
6040:03 | Warning | A warning has occurred | BOOLEAN | RO | 0x00 (0dec) |
6040:04 | Error | an error has occurred | BOOLEAN | RO | 0x00 (0dec) |
6040:05 | Calibrated | Motor is calibrated | BOOLEAN | RO | 0x00 (0dec) |
6040:06 | Accelerate | Motor is in the acceleration phase | BOOLEAN | RO | 0x00 (0dec) |
6040:07 | Decelerate | Motor is in the deceleration phase | BOOLEAN | RO | 0x00 (0dec) |
6040:11 | Actual position | Current target position of the travel command generator | UINT32 | RO | 0x00007FFF (32767dec) |
6040:21 | Actual velocity | Current set velocity of the travel command generator | INT16 | RO | 0x0000 (0dec) |
6040:22 | Actual drive time | Travel command time information (see subindex 0x8pp1:11) | UINT32 | RO | 0x00000000 (0dec) |
Index 6050 POS Inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
6050:0 | POS Inputs Ch.2 | Max. Subindex | UINT8 | RO | 0x22 (34dec) |
6050:01 | Busy | A current travel command is active | BOOLEAN | RO | 0x00 (0dec) |
6050:02 | In-Target | Motor has arrived at target | BOOLEAN | RO | 0x00 (0dec) |
6050:03 | Warning | A warning has occurred | BOOLEAN | RO | 0x00 (0dec) |
6050:04 | Error | an error has occurred | BOOLEAN | RO | 0x00 (0dec) |
6050:05 | Calibrated | Motor is calibrated | BOOLEAN | RO | 0x00 (0dec) |
6050:06 | Accelerate | Motor is in the acceleration phase | BOOLEAN | RO | 0x00 (0dec) |
6050:07 | Decelerate | Motor is in the deceleration phase | BOOLEAN | RO | 0x00 (0dec) |
6050:11 | Actual position | Current target position of the travel command generator | UINT32 | RO | 0x00007FFF (32767dec) |
6050:21 | Actual velocity | Current set velocity of the travel command generator | INT16 | RO | 0x0000 (0dec) |
6050:22 | Actual drive time | Travel command time information (see subindex 0x8pp1:11) | UINT32 | RO | 0x00000000 (0dec) |