Input data, output data

0

Inputs Ch.x

USINT

RO

0x6 (6_dec)

01

Info data 1

Synchronous information

Selection via subindex 2n02:55

UINT

RO

-

02

Info data 2

Synchronous information

Selection via subindex 2n02:56

UINT

RO

-

03

Info data 3

Synchronous information

Selection via subindex 2n02:58

UINT

RO

-

04

Dyninput cycle counter

-

USINT

RO

-

06

Velocity resulting from differentiation

-

DINT

RO

-

0

Remote Outputs Ch.x

USINT

RO

0xF (15_dec)

04

Dynoutput cycle counter

-

USINT

RO

-

06

Target velocity

Configured target velocity

2³²/16000 increments correspond to one motor revolution per second

DINT

RO

-

09

Target torque

Configured target torque

The value is specified in thousandths (1/1000) of parameter 6075 "Motor rated current".

Calculation formula:
M = ((Torque actual value / 1000) × rated current)) × torque constant (0x2003:16)

INT

RO

-

0A

Torque offset

External torque feedforward

The value is specified in thousandths (1/1000) of parameter 6075 "Motor rated current".

Calculation formula:
M = ((Torque actual value / 1000) × rated current)) × torque constant (0x2003:16)

INT

RO

-

0E

Commutation angle

Commutation angle for CSTCA mode.

Unit: 2¹⁶ / 360°

UINT

RO

-

0F

Velocity offset

External velocity feedforward

DINT

RO

-

0

DMC Inputs Ch.x

USINT

RO

0x3C (60_dec)

02

DMC__FeedbackStatus__Latch extern valid

An edge was detected on the external input and latched.

BOOL

RO

-

03

DMC__FeedbackStatus__Set counter done

The setting of the feedback position was successful.

This bit remains present until “Set counter” is released again

BOOL

RO

-

0D

DMC__FeedbackStatus__Status of extern latch

Status of the external latch input.

BOOL

RO

-

11

DMC__DriveStatus__Ready to enable

The drive hardware is ready for activation.

BOOL

RO

-

12

DMC__DriveStatus__Ready

The drive hardware is activated.

BOOL

RO

-

13

DMC__DriveStatus__Warning

A warning is pending in the drive.

BOOL

RO

-

14

DMC__DriveStatus__Error

An error is pending in the drive.

The “Ready to enable” bit and the “Ready” bit are set to FALSE.

BOOL

RO

-

15

DMC__DriveStatus__Moving positive

The axis moves in positive direction.

BOOL

RO

-

16

DMC__DriveStatus__Moving negative

The axis moves in negative direction.

BOOL

RO

-

1C

DMC__DriveStatus__Digital input 1

Status of the first digital input.

BOOL

RO

-

1D

DMC__DriveStatus__Digital input 2

Status of the second digital input.

BOOL

RO

-

21

DMC__PositioningStatus__Busy

The positioning task is running.

BOOL

RO

-

22

DMC__PositioningStatus__In-Target

The axis is at the target position.

BOOL

RO

-

23

DMC__PositioningStatus__Warning

Warning.

BOOL

RO

-

24

DMC__PositioningStatus__Error

Error.

BOOL

RO

-

25

DMC__PositioningStatus__Calibrated

The axis is calibrated.

BOOL

RO

-

26

DMC__PositioningStatus__Accelerate

The axis accelerates.

BOOL

RO

-

27

DMC__PositioningStatus__Decelerate

The axis is decelerating.

BOOL

RO

-

28

DMC__PositioningStatus__Ready to execute

The drive motion control is ready to accept a command.

This bit is FALSE …

• ... if the drive has a fault
• ... if the drive is not activated

... as long as the “PositioningControl__Execute” is pending.

BOOL

RO

-

31

DMC__Set position

Current target position specified by the ramp generator in feedback increments.

LINT

RO

-

32

DMC__Set velocity

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

INT

RO

-

33

DMC__Actual drive time

The time since the start of the travel command in ms.

Stops when the target position is reached.

UDINT

RO

-

34

DMC__Actual position lag

Following error.

LINT

RO

-

35

DMC__Actual velocity

Current velocity in 10000ths of the rated motor speed.

INT

RO

-

36

DMC__Actual position

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

LINT

RO

-

37

DMC__Error id

Error Id (Identical to Diag History).

UDINT

RO

-

38

DMC__Input cycle counter

Incremented with each process data cycle.

USINT

RO

-

39

DMC__Channel id

USINT

RO

-

3A

DMC__Latch value

Feedback position at latch time.

LINT

RO

-

3B

DMC__Cyclic info data 1

Synchronous info data

INT

RO

-

3C

DMC__Cyclic info data 2

Synchronous info data

INT

RO

-

0

DMC Outputs Ch.x

USINT

RO

0x36 (54_dec)

02

DMC__FeedbackControl__Enable latch extern on positive edge

Latches to the positive edge of the external input

BOOL

RO

-

03

DMC__FeedbackControl__Set counter

With a rising edge, “Actual position” is set to the value of “Set counter value”.

BOOL

RO

-

04

DMC__FeedbackControl__Enable latch extern on negative edge

Latches to the negative edge of the external input

BOOL

RO

-

11

DMC__DriveControl__Enable

Activate drive

BOOL

RO

-

12

DMC__DriveControl__Reset

Perform a reset of the drive hardware

BOOL

RO

-

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.

BOOL

RO

-

22

DMC__PositioningControl__Emergency stop

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

BOOL

RO

-

31

DMC__Set counter value

s. 0x2n04:03

LINT

RO

-

32

DMC__Target position

Position specification in feedback increments

LINT

RO

-

33

DMC__Target velocity

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

INT

RO

-

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

UINT

RO

-

35

DMC__Target acceleration

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

UINT

RO

-

36

DMC__Target deceleration

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

UINT

RO

-

0

TxPDO Data Invalid Ch.1

USINT

RO

0x2 (2_dec)

02

Position actual value

-

BOOL

RO

-

0

Error code Ch.x

-

UINT

RO

-

0

Controlword Ch.x

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

UINT

RO

-

0

Statusword Ch.x

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

UINT

RO

-

0

Fault reaction option code Ch.x

Possible values:

• 0: Disable drive function, motor is free to rotate
• 1: Slow down on slow down ramp

UINT

RO

0x0001 (1_dec)

0

Modes of operation Ch.x

Possible values:

• -125_dec: Drive Motion Control (DMC)
• -9_dec: Cyclic synchronous velocity mode remote (CSVr)
• 8_dec: Cyclic synchronous position mode (CSP)
• 9_dec: Cyclic synchronous velocity mode (CSV)
• 11_dec: Cyclic synchronous torque mode with commutation angle (CSTCA)

SINT

RO

0x08 (8_dec)

0

Modes of operation display Ch.x

Possible values:

• -125_dec: Drive Motion Control (DMC)
• -9_dec: Cyclic synchronous velocity mode remote (CSVr)
• 8_dec: Cyclic synchronous position mode (CSP)
• 9_dec: Cyclic synchronous velocity mode (CSV)
• 11_dec: Cyclic synchronous torque mode with commutation angle (CSTCA)

USINT

RO

-

0

Position actual value Ch.x

Actual position

2²⁰ increments correspond to one motor revolution

DINT

RO

-

0

Following error window Ch.x

Following error window

The specified value must be multiplied by the corresponding scaling factor

• 0xFFFFFFFF (-1_dec) = Following error monitoring off.
• Any other value = following error monitoring on

UDINT

RO

0xFFFFFFFF (-1_dec)

0

Following error time out Ch.x

Following error monitoring timeout

Unit: [ms]

If the following error exceeds the following‑error window for longer than the timeout set here, the system triggers an error response.

UINT

RO

-

0

Velocity actual value Ch.x

Actual velocity

2³²/16000 increments correspond to one motor revolution per second

DINT

RO

-

0

Position range limit Ch.x

USINT

RO

0x2 (2_dec)

01

Min position range limit

Minimum value for the position display of setpoints and actual values. If the value falls below this limit, it underflows to "Max position range limit"

"Min position range limit" must always be lower than "Max position range limit"

DINT

RW

0x80000000 (-2147483648_dec)

02

Max position range limit

Maximum value for the position display of setpoints and actual values. If this limit is exceeded, the value overflows to "Min position range limit"

"Max position range limit" must always be greater than "Min position range limit"

DINT

RW

0x7FFFFFFF (2147483647_dec)

0

Target torque Ch.x

Configured target torque

The value is specified in thousandths (1/1000) of parameter 6075 "Motor rated current"

Calculation formula:
M = ((Torque actual value / 1000) × rated current)) × torque constant (0x2003:16)

INT

RO

-

0

Max torque Ch.x

Maximum torque

UINT

RO

-

0

Motor rated current Ch.x

Nominal current of the motor

Unit: [mA]

UDINT

RO

-

0

Torque actual value Ch.x

Actual torque

The value is specified in thousandths (1/1000) of parameter 6075 "Motor rated current"

Calculation formula:
M = ((Torque actual value / 1000) × rated current)) × torque constant (0x2003:16)

INT

RO

-

0

DC link circuit voltage Ch.x

Measured value of the DC link voltage

Unit: [mV]

UDINT

RO

-

0

Target position Ch.x

Configured actual position

2²⁰ increments correspond to one motor revolution

DINT

RO

-

0

Polarity Ch.x

Possible values:

• 0: global polarity inversion disabled
• 1: global polarity inversion

USINT

RO

0

0

Max motor speed Ch.x

Maximum velocity of the motor

Unit: [1/min]

UDINT

RO

0x000186A0 (100000_dec)

0

Gear ratio Ch.x

USINT

RO

0x2 (2_dec)

01

Motor shaft revolutions

These parameters are used to scale all positions and velocities from the motor side to the load side of a gear unit.

“Motor shaft revolutions” describes the number of motor revolutions required to achieve the number of load revolutions configured in “Driving shaft revolutions”.

Example: For a reduction gear in which 5 motor revolutions result in 2 load revolutions, set the parameters as follows:

• Motor shaft revolutions = 5
• Driving shaft revolutions = 2

UDINT

RW

0x1 (1_dec)

02

Driving shaft revolutions

UDINT

RW

0x1 (1_dec)

0

Velocity offset Ch.x

External velocity feedforward

DINT

RO

-

0

Torque offset Ch.x

External torque feedforward

The value is specified in thousandths (1/1000) of parameter 6075 "Motor rated current"

Calculation formula:
M = ((Torque actual value / 1000) × rated current)) × torque constant (0x2003:16)

INT

RO

-

0

Touch probe function Ch.x

• Bit 0: TP1 enable
• Bit 1: TP1 Continous
• Bit 2: TP1 Trigger mode
• Bit 3: -
• Bit 4: TP1 Enable pos. Edge
• Bit 5: TP1 Enable neg. edge
• Bit 6: -
• Bit 7: -
• Bit 8: TP2 Enable
• Bit 9: TP2 Continous
• Bit 10: TP2 Trigger mode
• Bit 11: -
• Bit 12: TP2 Enable pos. Edge
• Bit 13: TP2 Enable neg. edge
• Bit 14: -
• Bit 15: -

UINT

RO

-

0

Touch probe status Ch.x

• Bit 0: TP1 Enable
• Bit 1: TP1 Pos. value stored
• Bit 2: TP1 Input
• Bit 7: TP1 Input
• Bit 8: TP2 Enable
• Bit 9: TP2 Pos. value stored
• Bit 10: TP2 Neg. value stored
• Bit 15: TP2 Input

UINT

RO

-

0

Touch probe 1 positive edge Ch.x

Position value at the last detected rising edge of TP1.

2²⁰ increments correspond to one motor revolution

DINT

RO

-

0

Touch probe 1 negative edge Ch.x

Position value at the last detected rising edge of TP1.

2²⁰ increments correspond to one motor revolution

DINT

RO

-

0

Touch probe 2 positive edge Ch.x

Position value at the last detected rising edge of TP2.

2²⁰ increments correspond to one motor revolution

DINT

RO

-

0

Touch probe 2 negative edge Ch.x

Position value at the last detected falling edge of TP2.

2²⁰ increments correspond to one motor revolution

DINT

RO

-

0

Touch probe source Ch.x

USINT

RO

0x2 (2_dec)

01

Touch probe 1 source

Possible values:

• 1_dec: Touch probe input 1

INT

RW

0x1 (1_dec)

02

Touch probe 2 source

Possible values:

• 2_dec: Touch probe input 2

INT

RW

0x2 (2_dec)

0

Touch probe time stamp 1 positive value Ch.x

Position value at the last detected rising edge of TP1

UDINT

RO

-

0

Touch probe time stamp 1 negative value Ch.x

Position value at the last detected falling edge of TP1

UDINT

RO

-

0

Touch probe time stamp 2 positive value Ch.x

Position value at the last detected rising edge of TP2

UDINT

RO

-

0

Touch probe time stamp 2 negative value Ch.x

Position value at the last detected falling edge of TP2

UDINT

RO

-

0

Supported synchronization functions Ch.x

UDINT

RO

0x0000003 (3_dec)

0

Synchronization function settings Ch.x

-

UDINT

RO

-

0

Positive torque limit value Ch.x

Torque limit in the positive direction of rotation

UINT

RO

0x7FFF (32767_dec)

0

Negative torque limit value Ch.1

Torque limit in the negative direction of rotation

UINT

RO

0x7FFF (32767_dec)

0

Commutation angle Ch.x

Commutation angle for the CSTCA operating mode

Unit: 2¹⁶ / 360°

UINT

RO

-

0

Following error actual value Ch.x

Current following error

DINT

RO

-

0

Digital Inputs Ch.x

-

UDINT

RO

-

0

Digital Outputs Ch.x

USINT

RO

0x1 (1_dec)

01

Digital Outputs

Controls the digital outputs of the digital combination channels:

• DIO1: Bit 16 (0x00010000)
• DIO2: Bit 17 (0x00020000)

UDINT

RW

0x0 (0_dec)

0

Target velocity Ch.x

Configured actual velocity

2³²/16000 increments correspond to one motor revolution per second

DINT

RO

-

0

Supported drive modes Ch.x

Specification of the supported operating modes:

• Bit 0: PP
• Bit 1: VL
• Bit 2: PV
• Bit 3: TQ
• Bit 4: R
• Bit 5: HM
• Bit 6: IP
• Bit 7: CSP
• Bit 8: CSV
• Bit 9: CST
• Bit 10: CSTCA
• Bit 11…15: reserved
• Bit 16…31: Manufacturer-specific

UDINT

RO

0x00000580 (1408_dec)