"Index offset" specification for group functions (Index group 0x3200 + ID)

0x00000001

Write

every

VOID

Reset group

0x00000002

Write

every

VOID

Stop group

0x00000003

Write

every

VOID

Clear group (buffer/task)

0x00000004

Write

PTP group, 3D group

{

Emergency stop (E-stop) (emergency stop with controlled ramp)

REAL64

e.g. mm/s^2

≥ 0.0

Deceleration (must be greater than or equal to the original deceleration)

REAL64

e.g. mm/s^3

≥ 0.0

Jerk (must greater than or equal to the original jerk)

}

0x00000005

Write

PTP group

{

Parameterizable stop (with controlled ramp)

Reserved function,
no standard!

REAL64

e.g. mm/s^2

≥ 0.0

Deceleration

REAL64

e.g. mm/s^3

≥ 0.0

Jerk

}

0x00000006

Write

PTP group, 3D group

VOID

"Step on" after Emergency Stop (E-Stop)

0x00000050

Write

PTP group, 3D group

{

Axis allocation of the 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

}

0x00000051

Write

PTP group, 3D group
FIFO group

{

axis allocation of the group:

UINT32

1

[1...255]

Axis ID

UINT32

1

[0 ... (m-1)]

Place index of the axis in the group m: group dimension (PTP: 1;DXD: 3, FIFO: 16)

}

0x00000052

Write

3D group FIFO group

{ UINT32[m]
}

1

[0, 1...255]

Axis allocation of the group:

First axis ID, ... , m. axis ID

m: dimension of the 3D group (X, Y, Z, Q1, Q2, Q3, Q4, Q5) resp. FIFO group

0x00000053

Write

3D group
FIFO group
Kinematic group

VOID

Delete the 3D axis allocation, FIFO axis allocation or Kinematic axis allocation and return of the axes to their own PTP groups

0x00000054

Write

Kinematic group

{

Axis allocation of 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

Reserved

UINT32

1

≥ 0

Reserved (NEW)

}

0x00000060

ReadWrite

3D group

1

Internal "feed group" command ("Feeder")

Execute command!

0x00000061

ReadWrite

3D group

1

Internal "feed group" command ("Feeder")

Execute command!

0x00000110

Write

1D group

VOID

Reference 1D group ("calibration")

0x00000111

Write

1D group

{

New end position 1D group

UINT32

ENUM

s. appendix

End position type (s. appendix)

REAL64

e.g. mm

±∞

New end position (target position)

}

0x0000011A

Write

1D group

{

Set actual position 1D group

Caution by using! Always to SAF Port 501!

UINT32

ENUM

s. appendix

Actual position type (s. appendix)

REAL64

e.g. mm

±∞

Actual position for axis

}

0x0000011B

Write

1D group

UINT32

1

0/1

Set reference flag ("calibrate flag")  

Caution by using!

0x00000120

Write

1D group

{

Start 1D group (standard start):

UINT32

ENUM

s. appendix

Start type (s. appendix)

REAL64

e.g. mm

±∞

End position (target position)

REAL64

mm/s

≥ 0.0

Required velocity

}

0x00000121

Write

1D group (SERVO)

{

Start 1D group (extended start):

UINT32

ENUM

s. appendix

Start type (s. appendix)

REAL64

e.g.mm

±∞

End position (target position)

REAL64

mm/s

≥0.0

Required velocity

UINT32

1

0/1

Standard acceleration?

REAL64

mm/s^2

≥ 0.0

Acceleration

UINT32

1

0/1

Standard deceleration?

REAL64

mm/s^2

≥ 0.0

Deceleration

UINT32

1

0/1

Standard jerk?

REAL64

mm/s^3

≥ 0.0

Jerk

}

0x00000122

Write

1D group (MW servo)

{

Start 1D group (special start):

Reserved start function, no standard!

UINT32

ENUM

s. appendix

Start type (s. appendix)

REAL64

e.g. mm

±∞

End position (target position)

REAL64

mm/s

≥0.0

required start velocity

REAL64

e.g. mm

±∞

Position for a new velocity level

REAL64

mm/s

≥0.0

new end velocity level

UINT32

1

0/1

Standard acceleration?

REAL64

mm/s^2

≥0.0

Acceleration

UINT32

1

0/1

Standard deceleration?

REAL64

mm/s^2

≥0.0

deceleration

UINT32

1

0/1

Standard jerk?

REAL64

mm/s^3

≥0.0

Jerk

}

0x00000126

Write

1D group

{

Start drive output:

UINT32

ENUM

s. appendix

Output type (s. appendix)

REAL64

e.g. %

±∞

Required output value (e.g. %)

}

0x00000127

Write

1D group

VOID

Stop drive output

0x00000128

Write

1D group

{

Change the drive output:

UINT32

ENUM

s. appendix

Output type (s. appendix)

REAL64

e.g. %

±∞

Required output value (e.g. %)

}

0x00000130

Write

1D group (SERVO)

{

1D section compensation (SERVO):

UINT32

ENUM

s. appendix

Compensation type (s. appendix)

REAL64

mm/s/s

≥ 0.0

Max. acceleration increase

REAL64

mm/s/s

≥ 0.0

Max. deceleration increase

REAL64

mm/s

≥ 0.0

Max. increase velocity

REAL64

mm/s

≥ 0.0

Base velocity for the process

REAL64

e.g. mm

±∞

Path difference to be compensated

REAL64

e.g. mm

≥ 0.0

Path distance for compensation

}

0x00000131

Write

1D group SERVO

VOID

Stop section compensation (SERVO)

0x00000140 (0x00n00140)

Write

Master/Slave coupling: 1D group(SERVO)

{

Master/slave coupling (SERVO):

Extension for "flying saw"!angle >0.0 and <= 90.0 degrees(parallel saw: 90.0 degrees)

UINT32

ENUM

s. appendix

Slave type/coupling type (s. appendix)

UINT32

1

[1...255]

Axis ID of the master axis/group

UINT32

1

[0...8]

Subindex n of the master axis (default value: 0)

UINT32

1

[0...8]

Subindex n of the slave axis (default value: 0)

REAL64

1

[±1000000.0]

Parameter 1: linear: Gearing factor

FlySawVelo: Reserve

FlySaw: Abs. synchronous position master [mm]

REAL64

1

[±1000000.0]

Parameter 2: linear: Reserve

FlySawVelo: Reserve

FlySawPos: Abs. synchronous position slave [mm]

REAL64

1

[±1000000.0]

Parameter 3: linear: Reserve

FlySawVelo: Angle of inclination in [DEGREE]

FlySawPos: angle of inclination in [DEGREE]

REAL64

1

[±1000000.0]

Parameter 4: linear: Reserve

FlySawVelo: Gearing factor

FlySawPos: Gearing factor

}

0x00000141

Write

Master/Slave decoupling: 1D group(SERVO)

VOID

Master/slave decoupling (SERVO)

0x00000142

Write

Master / slave parameter 1D group(servo)

{

Change of the coupling parameters (SERVO):

REAL64

1

[±1000000.0]

Parameter 1: linear: Gearing factor

REAL64

1

[±1000000.0]

Parameter 2: Linear: Reserve

REAL64

1

[±1000000.0]

Parameter 3: Linear: Reserve

REAL64

1

[±1000000.0]

Parameter 4: Linear: Reserve

}

0x00000144

Write

Slave stop 1D group (SERVO)

VOID

Stop the "flying saw" (SERVO)

Only for "flying saw"

0x00000149

Write

Slave tables 1D group (SERVO)

REAL64

1

±∞

set the slave table scaling of a solo table coupling (SERVO)

Only for Solo table slave

0x00000150

Write

1D group

VOID

Deactivate complete 1D group/axis (disable)

0x00000151

Write

1D group

VOID

Activate complete 1D group / axis (enable)

0x00000160

Write

1D group

VOID

Deactivate drive output of the 1D group (disable)

0x00000161

Write

1D group

VOID

Activate drive output of the 1D group (enable)

0x00000362

Write

High/low speed group

UINT16

1

0/1

Release parking brake?

0: automatic activation (default)

1: mandatorily always released!

0x00000701

Write

FIFO group

VOID

Start FIFO group (FIFO table must have been filled in advance)

(n*m)-FIFO

0x00000710

Write

FIFO group

{ REAL64[x*m]}

e.g. mm

±∞

Write x FIFO entries (lines):

(x*m)-values (one or more lines)

n: FIFO length (number of lines)

m: FIFO dimension (number of columns)

range of values x: [1 ... n]

Only possible on a line-by-line basis! (integer multiple)

0x00000711

Write

FIFO group

{ REAL64[x*m]}

e.g. mm

±∞

Overwrite the last x FIFO entries (lines):

(x*m)-values (one or more lines)

n: FIFO length (number of lines)

m: FIFO dimension (number of columns)

range of values x: [1 ... n]

Only possible on a line-by-line basis! (integer multiple)

0x00000801

Write

Kinematic group

VOID

Start kinematic group

Reserved function, no standard!