"Index offset" specification for group state (Index group 0x3100 + ID)

Index offset ( Hex )	Access	Group type	Data type	Phys. unit	Definition range	Description	Note
0x00000001	Read	every	INT32	1	ENUM	Error code group
0x00000002	Read	every	UINT32	1		Number of master axes
0x00000003	Read	every	UINT32	1		Number of slave axes
0x00000004	Read	every	UINT32	1	s. ENUM	SVB group state (state)
0x00000005	Read	every	UINT32	1	s. ENUM	SAF group state (main state)
0x00000006	Read	every	UINT32	1	s. ENUM	Moving state (state)
0x00000007	Read	every	UINT32	1	s. ENUM	SAF sub-group state (sub state)
0x00000008	Read	every	UINT32	1	s. ENUM	Referencing state (state)
0x00000009	Read	every	UINT32	1	s. ENUM	Coupling state (state)	Cannot be traced by oscilloscope!
0x0000000A	Read	every	UINT32	1	≥0	Coupling table index	Cannot be traced by oscilloscope!
0x0000000B	Read	every	UINT32	1	≥0	current number of SVB entries/tasks	Symbolic access: 'SvbEntries' (DXD)
0x0000000C	Read	every	UINT32	1	≥0	Current number of SAF entries/tasks	Symbolic access: 'SafEntries' (DXD)
0x0000000D	Read	every	UINT32	1		Current block number (only active for interpolation group)	Symbolic access: 'BlockNumber' (DXD)
0x0000000E	Read	every	UINT32	1	≥0	current number of free SVB entries/tasks	Cannot be traced by oscilloscope!
0x0000000F	Read	every	UINT32	1	≥0	Current number of free SAF entries/tasks	Cannot be traced by oscilloscope!
0x00000011	Read	every	UINT16	1	0/1	Emergency Stop (E-Stop) active?	Cannot be traced by oscilloscope!

0x00000110	Read	PTP group	{			Internal NC information (resolutions)	Reserved!
			REAL64	e.g. mm	± ∞	ExternalEndPosition
			REAL64	e.g. mm/s	>0	ExternalTargetVelocity
			REAL64	e.g. mm/s^2	>0	ExternalAcceleration
			REAL64	e.g. mm/s^2	>0	ExternalDeceleration
			REAL64	e.g. mm/s^3	>0	ExternalJerk
			UINT32	1	>0	ExternalOverrideType
			REAL64	e.g. mm	± ∞	InternalEndPosition
			REAL64	e.g. mm/s	>0	InternalTargetVelocity (refers to 100 %)
			REAL64	%	[0 ... 100]	InternalActualOverride
			REAL64	e.g. mm/s^2	>0	InternalAcceleration
			REAL64	e.g. mm/s^2	>0	InternalDeceleration
			REAL64	e.g. mm/s^3	>0	InternalJerk
			REAL64	e.g. mm	>0	PositionResolution
			REAL64	e.g. mm/s	≥0	VelocityResolution
			REAL64	e.g. mm/s^2	≥0	AccelerationResolution
			REAL64	e.g. mm/s	≥0	VelocityResolutionAtAccelerationZero
			}

0x00000500	Read	DXD group	REAL64	e.g. mm	≥ 0	Path rest way (remaining arc length) on the current path segment	Symbolic access: 'SetPathRemLength'
0x00000501	Read	DXD group	REAL64	e.g. mm	≥ 0	Racked out arc length on the current path segment	Symbolic access: 'SetPathLength'
0x00000502	Read	DXD group	REAL64	e.g. mm/s	≥ 0	Current path set velocity	Symbolic access: 'SetPathVelo'
0x00000503	Read	DXD group	REAL64	e.g. mm/s^2	± ∞	Current path set acceleration	Symbolic access: 'SetPathAcc'
0x00000504	Read	DXD group	REAL64	e.g. mm/s^2	≥ 0	Amount of the current vectorial set acceleration	Symbolic access: 'SetPathAbsAcc'
0x00000505	Read	DXD group	REAL64	e.g. mm/s	≥ 0	Maximum segment end path set velocity	Symbolic access: 'SetPathVeloEnd'
0x00000506	Read	DXD group	REAL64	e.g. mm/s	≥ 0	Segment maximum path set velocity	Symbolic access: 'SetPathVeloMax'
0x00000507	Read	DXD group	REAL64	e.g. mm	≥ 0	Current relative braking distance based on the current arc length	Symbolic access: 'SetPathStopDist'
0x00000508	Read	DXD group	REAL64	e.g. mm	± ∞	Safety distance = segment arc length - current arc length - relative braking distance	Symbolic access: 'SetPathSecurityDist'
0x00000509	Read	DXD group	REAL64	1	0/1	Segment transition	Symbolic access: 'SetPathSegmentChange'
0x0000050A	Read	DXD group	REAL64	%	[0 ... 100]	Path velocity override	Symbolic access: 'SetPathOverride'

0x00000511	Read	DXD group	REAL64	e.g. mm/s	≥ 0	Component of the actual path velocity	Symbolic access: 'ActPathAbsVelo'
0x00000512	Read	DXD group	REAL64	e.g. mm/s^2	± ∞	Actual path acceleration on the current segment	Symbolic access: 'ActPathAcc'
0x00000513	Read	DXD group	REAL64	e.g. mm/s^2	≥ 0	Component of the actual path acceleration on the current segment	Symbolic access: 'ActPathAbsAcc'
0x00000514	Read	DXD group	REAL64	e.g. mm	± ∞	Position error on the path in tangential direction (signed to indicate leading and lagging)	Symbolic access: 'PathDiffTangential'
0x00000515	Read	DXD group	REAL64	e.g. mm	≥ 0	Position error on the path in orthogonal direction	Symbolic access:'PathDiffOrthogonal'
0x00000520	Read	DXD group	REAL64	1	≥ 0	Covered arc length of the current segment, normalized to 1.0
0x00000521	Read	DXD group	REAL64	1	0/1	Change of partial segment (radius of tolerance ball)
0x00000522	Read	DXD group	REAL64	1	≥ 0	Total remaining path length to the last geometry entry or the next accurate stop. Refers to group parameter 0x508.
0x00000523	Read	DXD group	REAL64	1	≥ 0	Programmed velocity of the current segment
0x00000524	Read	DXD group	REAL64	e.g. mm	≥ 0	Path distance (arc length) travelled since the program start	from TC 3.1 B4022.31 from TC 3.1 B4024.0
0x00000530	Read	DXD group	{			Current or last MCS-target position of the main axes X, Y and Z
			REAL64	e.g. mm	± ∞	Target position X-axis
			REAL64	e.g. mm	± ∞	Target position Y-axis
			REAL64	e.g. mm	± ∞	Target position Z-axis
			}
0x00000531	Read	DXD group	{			Current or last MCS-target position of the auxiliary axes Q1 to Q5
			REAL64[5]	e.g. mm	± ∞	Target position of axis Q1 to Q5
			}
0x00000532	Read	DXD group	{			Reads path length, H parameter and Entry ID of the next 11 segments in relation to the current DC time	not generally released
			UINT32			DC Time
			UINT32			Reserved
			PreViewTab[11]			11*24 Bytes
			}
			PreViewTab
			{
			REAL64	e.g. mm		Segment length
			UINT32	1		block number
			UINT32	1		H-Parmeter
			UINT32	1		Entry ID
			UINT32	1		Reserved
			}
0x0000054n	Read	DXD group	REAL64	1	0/1	Within the tolerance ball of the auxiliary axis n = 1..5 Number of the auxiliary axis (not axis ID)
0x00000546	Read	DXD group	REAL64[8]	e.g. mm	± ∞	Set position array of the (3+5) axes of the 3D group	from TC3.1 B4022.17
0x00000547	Read	DXD group	REAL64[8]	e.g. mm	± ∞	Actual position array of the (3+5) axes of the 3D group	from TC3.1 B4022.17
0x00000548	Read	DXD group	REAL64[8]	e.g. mm	± ∞	Position difference (set/actual) or lag error as array of the (3+5) axes of the 3D group	from TC3.1 B4022.17

0x00000550	Read	DXD group	{			Reads the axis IDs within a 3D group:
			UINT32	1	[0, 1...255]	X axis ID
			UINT32	1	[0, 1...255]	Y axis ID
			UINT32	1	[0, 1...255]	Z axis ID
			}
0x00000552	Read	DXD group FIFO group Kinematic group	{ UINT32[m] }	1	[0, 1...255]	Axis allocation of the group: 1st axis ID – mth axis ID m: Dimension of the 3D group with main and auxiliary axes (X, Y, Z, Q1, Q2, Q3, Q4, Q5) or the FIFO group or the ACS axes of the kinematic group
0x00000553	Read	Kinematic group	{			Reading the axis allocation (ID's) inside the kinematic group:
			UINT32[8]	1	[0, 1...255]	MCS axis IDs (machine coordinate system)
			UINT32[8]	1	[0, 1...255]	ACS axis IDs (axis coordinate system)
			UINT32	1	≥ 0	Reserve
			UINT32	1	≥ 0	Reserve (NEW)
			}

0x0000056n	Read	DXD group	REAL64	1	± ∞	Current position error of the auxiliary axis within the tolerance ball (set value side only) Only for auxiliary axes n = 1..5 Number of the auxiliary axis (not axis ID)