Register description

All registers can be read or written via register communication. They are used for parameterizing the terminals.

Registers 0 to 31 always have the same meaning.

The content of registers 32 to 63 is specified via the register page selection register (R4).

In running operation write to the RAM section!

During service operation, registers R37, R38, R39, R40, R47, R48, R49, R50 and R58 should only be written via the RAM section. To this end, the code word in register R31 must not be set (if the code word is set, data are written to the EEPROM section of the terminal)! The EEPROM section should only be used for initialization after a terminal reset (caused by the software or power-off).
Frequent modifications of the EEPROM register could destroy the memory cells in the long term. Although modern EEPROM blocks are designed for many writing cycles, their service life can be reduced by multiple positioning with different velocities and accelerations.
If a motion command is started with the maximum velocity v1, for example, a new max. velocity v2 can be entered in register R39 and a new target position in registers R2 and R3 during the motion. Once the target position is reached and control bit CB.2 and the process output data are both zero, the terminal calculates the new parameters for the next motion command.

Further Information