"Index offset" specification for axis state (Index group 0x4100 + ID)

Index offset (Hex)	Access	Axis type	Data type	Phys. unit	Definition range	Description	Note
0x00n00000	Read	every (online structure for axis data)	{			AXIS ONLINE STRUCTURE (NC/CNC)	Changed from TwinCAT 3, not oscilloscopeable! (NCAXISSTATE_ ONLINESTRUCT)
			INT32	1		Error state
			INT32			Reserved
			REAL64	e.g. mm		Actual position
			REAL64	e.g. degrees		Modulo actual position
			REAL64	e.g. mm		Set position
			REAL64	e.g. degrees		Modulo set position
			REAL64	e.g. mm/s		Optional: Actual velocity
			REAL64	e.g. mm/s		Set velocity
			UINT32	%	0...1000000	Velocity override (1000000 == 100%)
			UINT32			Reserved
			REAL64	e.g. mm		Lag error position
			REAL64	e.g. mm		PeakHold value for max. neg. position lag (pos.)
			REAL64	e.g. mm		Peak hold value for max. pos. position lag (pos.)
			REAL64	%		Controller output in percent
			REAL64	%		Total output in percent
			UINT32	1	≥ 0	Axis state double word
			UINT32	1	≥ 0	Axis control double word
			UINT32	1	≥ 0	Slave coupling state (state)
			UINT32	1	0; 1,2,3...	Axis control loop index
			REAL64	e.g. mm/s^2		Actual acceleration
			REAL64	e.g. mm/s^2		Set acceleration
			REAL64	e.g. mm/s^3		Set jerk (new from TwinCAT 3.1 B4013)
			REAL64	e.g. 100% = 1000		Set torque or set force ("SetTorque")
			REAL64	e.g. 100% = 1000		Actual torque or actual force (new from TwinCAT 3.1 B4013)
			REAL64	e.g. %/s		Set torque change or set force change (time derivative of the set torque or set force) (from TwinCAT 3.1 B4024.2)
			REAL64	e.g. 100% = 1000		Additive set torque or additive set force ("TorqueOffset") (from TwinCAT 3.1 B4024.2)
			. . .
			}			256 bytes
0x00000001	Read	every	UINT32	1		Axis state error code	Symbolic access: "ErrState''

0x00n00009	Read	every	UINT32	1	≥ 0	Set cycle counter (SAF timestamp)
0x00n0000A	Read	every	REAL64	e.g. mm		Set position	Symbolic access: "SetPos''
0x00n0000B	Read	every	REAL64	e.g. DEGREES		Modulo set position	Symbolic access: "SetPosModulo''
0x00n0000C	Read	every	INT32	1		Modulo set rotation
0x00n0000D	Read	every	REAL64	1	[-1.0, 0.0, 1.0]	Set travel direction
0x00n0000E	Read	every	REAL64	e.g. mm/s		Set velocity	Symbolic access: "SetVelo''
0x00n0000F	Read	every	REAL64	e.g. mm/s^2		Set acceleration	Symbolic access: "SetAcc''
0x00n00010	Read	every	REAL64	e.g. mm/s^3		Set jerk (time derivative of the set acceleration)	Symbolic access: "SetJerk''
0x00n00011	Read	every	REAL64	e.g. Nm or N respectively, e.g. 100% = 1000		Set torque (rot. motor) or set force (linear motor) ("SetTorque")	NEW from TwinCAT 3.1 B4022 Symbolic access: "SetTorque''
0x00n00012	Read	every	REAL64	1		Set coupling factor (set gear ratio)
0x00n00013	Read	every	REAL64	e.g. mm		Expected target position
0x00n00014	Read	Servo	{			Remaining travel time and distance (SERVO):	Always to SEC Port 501!
			REAL64	s	≥ 0	Remaining travel time
			REAL64	e.g. mm	≥ 0	Remaining distance
			}
0x00n00015	Read	every	UINT32	1	≥ 0	Set command number	Symbolic access: "CmdNo''
0x00n00016	Read	Servo	REAL64	s	≥ 0	Positioning time of the last motion command (start → target position window)
0x00n00017	Read	Servo	REAL64	%	[0.0…1.0] 1.0=100%	Set override value for velocity Note: initially only implemented for FIFO group	NEW from TwinCAT 3.1 B4020
0x00000018	ReadWrite	Servo	Write			Reading the "Stop information" (stop distance, stop time)	Always to SEC Port 501!
			REAL64	e.g. mm/s^2	≥ 0	Deceleration for axis stop
			REAL64	e.g. mm/s^3	≥ 0	Jerk for axis stop
			Read
			REAL64	e.g. mm	≥ 0	Stop distance
			REAL64	s	≥ 0	Stop time

0x00n0001A	Read	every	REAL64	e.g. mm		Uncorrected set position
0x00n0001D	Read	every	REAL64	1	[-1.0, 0.0, 1.0]	Uncorrected set travel direction
0x00n0001E	Read	every	REAL64	e.g. mm/s		Uncorrected set velocity
0x00n0001F	Read	every	REAL64	e.g. mm/s^2		Uncorrected set acceleration
0x00000020	Read	every	UINT32	1	s. ENUM	Coupling state (state)
0x00000021	Read	every	UINT32	1	≥ 0	Coupling table index
0x00000022	Read	Servo master/slave coupling Type: LINEAR, (&SPECIAL)	{			Reading the coupling parameters (SERVO):
			REAL64	1	[±1000000.0]	Parameter 1: Linear: Gear ratio
			REAL64	1	[±1000000.0]	Parameter 2: Linear: Reserve
			REAL64	1	[±1000000.0]	Parameter 3: Linear: Reserve
			REAL64	1	[±1000000.0]	Parameter 4: Linear: Reserve
			}
0x00000023	Read	Servo master/slave coupling Type: LINEAR, (&SPECIAL)	REAL64	1	[±1000000.0]	Reading the gear ratio (SERVO) Type: LINEAR
0x00000024	Read	Servo	UINT32	1	≥ 0	Number / index of the active axis control circuit (triple of encoder, controller and axis interface)
0x00000025	Read	Servo	UINT16	1	0/1	External setpoint specification via axis interface PCLtoNC active?
0x00000026	Read	Servo master/slave coupling Type: SYNCHRONIZING	REAL64 [64]	1	±∞	Reading of the characteristic values of the slave synchronization profile Type: SYNCHRONIZING	Modified from TwinCAT 3
0x00000027	ReadWrite	Servo master/slave coupling Type: TABULAR, MF	Write			Reading the "table coupling information"	Only port 500! Modified from TwinCAT 3
			VOID or REAL64 or DWORD, DWORD, REAL64	e.g. mm	±∞	- No data for the "current information" - optional for a certain "master axis position" - for a certain table ID and optional “master axis position” (TC 3.1 B4017)
			Read
			REAL64 [32]		±∞	Reading the structure for the table coupling information
0x00000028	ReadWrite	Servo master/slave coupling Type: MULTICAM (CamAddition)	Write			Reading the "multi-table coupling information" (CamAddition)	Only port 500!
			UINT32	1	≥ 0	Table ID to which the query relates
			Read
			96 bytes			Reading the structure for the multi-table coupling information
0x00000029	Read	Servo	UINT32	1		Delayed error code (error pre-warning) in case of a delayed error reaction (see bit ErrorPropagationDelayed)
0x0000002A	Read	Servo	REAL64	e.g. mm	±∞	Position difference while fading from set position to actual position (fading part)
0x0000002B	Read	Servo	REAL64	e.g. mm/s	±∞	Relative velocity while fading from set position to actual position (fading part)
0x0000002C	Read	Servo	REAL64	e.g. mm/s ^2	±∞	Relative acceleration while fading from set position to actual position (fading part)
0x0000002D	Read	Servo	UINT32	1	≥ 0	Counter for initialization command (InitializeCommandCounter)	NEW
0x0000002E	Read	Servo	UINT32	1	≥ 0	Counter for reset command (ResetCommandCounter)	NEW
0x00000030	Read	Servo	REAL64	e.g. Nm/s or N/s	±∞	Set torque change (rot. motor) or set force change (linear motor) (time derivative of the set torque or set force)	NEW from TwinCAT 3.1 B4024
0x00000031	Read/Write	Servo	REAL64	e.g. Nm or N respectively, e.g. 100% = 1000		Additive set torque (rot. motor) or additive set force (linear motor) for pre-control. ("TorqueOffset")	From TwinCAT 3.1 B4024.2 Symbolic access: "TorqueOffset''
0x00000040	Read	Servo	UINT32	1	≥ 0	Counter for correction of the NC setpoints in case of data inconsistency (activation with Idx-Group 0x1000 and Idx-Offset 0x0020)	NEW from TwinCAT 3.1 B4020

0x00000050	Read	every	UINT32	1		Set travel phase (SWGenerator)	Cannot be traced by oscilloscope!
0x00000051	Read	every	UINT16	1		Is the axis disabled?	Cannot be traced by oscilloscope!

0x00n00060	Read/Write	every (online setpoint structure) 40 bytes	{			Simple AXIS SETPOINT STRUCTURE (NC/CNC)	Cannot be traced by oscilloscope! from TC 3.1 B4022.30
			REAL64	e.g. mm		Set position
			REAL64	e.g. mm/s		Set velocity
			REAL64	e.g. mm/s^2		Set acceleration / deceleration
			REAL64	1	[-1.0, 0.0, 1.0]	Set travel direction
			REAL64	e.g. mm/s^3		Set jerk
			}
0x00n00060	Read/Write	every (online setpoint structure) 56 bytes	{			Extended AXIS SETPOINT STRUCTURE (NC/CNC)	Cannot be traced by oscilloscope! from TC 3.1 B4022.29
			REAL64	e.g. mm		Set position
			REAL64	e.g. mm/s		Set velocity
			REAL64	e.g. mm/s^2		Set acceleration / deceleration
			REAL64	1	[-1.0, 0.0, 1.0]	Set travel direction
			REAL64	e.g. mm/s^3		Set jerk
			REAL64	Nm or N or %		Set torque or set force
			REAL64	Nm/s or N/s or %/s		time derivative of the set torque or set force (ramp)
			}
0x00n00061	Read/Write	every (online dynamics setpoint structure) 32 bytes	{			AXIS DYNAMIC SETPOINT STRUCTURE (NC/CNC)	from TC 3.1 B4022.30
			REAL64	e.g. mm/s		Set velocity
			REAL64	e.g. mm/s^2		Set acceleration / deceleration
			REAL64	1	[-1.0, 0.0, 1.0]	Set travel direction
			REAL64	e.g. mm/s^3		Set jerk
			}
0x00n00061	Read/Write	every (online dynamics setpoint structure) 48 bytes	{			AXIS DYNAMIC SETPOINT STRUCTURE (NC/CNC)	from TC 3.1 B4022.29
			REAL64	e.g. mm/s		Set velocity
			REAL64	e.g. mm/s^2		Set acceleration / deceleration
			REAL64	1	[-1.0, 0.0, 1.0]	Set travel direction
			REAL64	e.g. mm/s^3		Set jerk
			REAL64	Nm or N or %		Set torque or set force
			REAL64	Nm/s or N/s or %/s		time derivative of the set torque or set force (ramp)
			}
0x00n00062	Read/Write	every (online TORQUE setpoint structure) 16 bytes	{			TORQUE SETPOINT STRUCTURE (NC/CNC)	from TC 3.1 B4022.30
			REAL64	Nm or N or %		Set torque or set force
			REAL64	Nm/s or N/s or %/s		time derivative of the set torque or set force (ramp)
			}

0x00000063	ReadWrite	only for SERCOS/SoE and CANopen/CoE	Write			Read active "Drive Operation Mode"	NEW from TC 3.1 B4022 (NC 4443) Always to SEC Port 501!
			UINT32	1		Reserve
			UINT32	1		Reserve
			Read
			INT32	ENUM (see appendix)	[0; 1, 2, 3, …] Special cases: ≥ 100: SoE <0: CoE	Currently active "Drive Operation Mode" (generic modes)
			UINT32	1		Reserve

0x00n10002	Read	every (Encoder)	REAL64	e.g. mm		Actual position (charge with actual position compensation value) n = 0: standard encoder of the axes > 0: nth encoder of the axis (optional)	Symbolic access: "ActPos''
0x00n10003	Read	every (Encoder)	REAL64	e.g. DEGREES		Modulo actual position	Symbolic access: "ActPosModulo''
0x00n10004	Read	every (Encoder)	INT32	1		Modulo actual rotation
0x00n10005	Read	every (Encoder)	REAL64	e.g. mm/s		Optional: Actual velocity	Symbolic access: "ActVelo''
0x00n10006	Read	every (Encoder)	REAL64	e.g. mm/s^2		Optional: Actual acceleration	Symbolic access: "ActAcc''
0x00n10007	Read	every (Encoder)	INT32	INC		Encoder actual increments
0x00n10008	Read	every (Encoder)	INT64	INC		Software - actual increment counter
0x00n10009	Read	every (Encoder)	UINT16	1	0/1	Reference flag ("calibrate flag")
0x00n1000A	Read	every (Encoder)	REAL64	e.g. mm		Actual position correction value (measurement system error correction)
0x00n1000B	Read	every (Encoder)	REAL64	e.g. mm		Actual position without actual position compensation value	Cannot be traced by oscilloscope!

0x00n10010	Read	every (Encoder)	REAL64	e.g. mm/s		Actual velocity without actual position compensation value
0x00n10012	Read	every (Encoder)	REAL64	e.g. mm		Unfiltered actual position (charge with actual position compensation value)
0x00n10014	Read	Encoder: SoE, CoE, MDP 742	REAL64	e.g. mm/s		Optional: actual drive velocity (transferred directly from SoE, CoE or MDP 742 drive)	NEW from TwinCAT 3.1 B4020.30
0x00n10015	Read	every (Encoder)	REAL64	e.g. mm/s		Optional: Unfiltered actual velocity

0x00n10017	Read		REAL64	e.g. mm		Reading out the MC_SetPosition offset
0x00n10018	Read	PTP axis Encoder axis	UINT32	0/1	0/1	Returns the status of reinitialization after NC encoder reinitialization has been started (Index Group 0x4200+ID; Index Offset 0x00n0003B). n = 0: Standard encoder of the axis n > 0: n-th encoder of the axis (optional)	Port501

0x00n10101	Read	INC (Encoder)	REAL64	e.g. mm		Read back of the position difference between activation of the internal hardware latch and the time when it becomes valid	Cannot be traced by oscilloscope!

0x00n20001	Read	R: every	INT32	1		Error state of the controller n = 0: standard controller of the axes > 0: nth controller of the axis (optional)
0x00n20002	Read	R: every	REAL64	e.g. mm/s		Controller output in absolute units	Symbolic access: "CtrlOutput''
0x00n20003	Read	R: every	REAL64	%		Controller output in percent	Cannot be traced by oscilloscope!
0x00n20004	Read	R: every	REAL64	V		Controller output in volts	Cannot be traced by oscilloscope!
0x00n2000D	Read	R: every	REAL64	e.g. mm		Lag error position (without dead time compensation)	Base Unit
0x00n2000F	Read	R: every	REAL64	e.g. mm		Lag error position (with dead time compensation)	Symbolic access: "PosDiff''

0x00n20010	Read	R: every	REAL64	e.g. mm		Peak hold value for maximum negative lag error of the position
0x00n20011	Read	R: every	REAL64	e.g. mm		Peak hold value for minimum positive lag error of the position
0x00n20012	Read	R: every	REAL64	e.g. mm/s		Lag error velocity	Not implemented!

0x00n20021	Read	R: every	REAL64	e.g. mm		Difference (deviation) between the lag error position of the master axis and that of the slave axis (master lag error minus slave lag error)	Symbolic access: "PosDiffCouple''
0x00n20022	Read	R: every	REAL64	e.g. mm		PeakHold value for the maximum negative difference between master and slave axis lag error of the position	Base Unit
0x00n20023	Read	R: every	REAL64	e.g. mm		PeakHold value for the maximum positive difference between master and slave axis lag error of the position	Base Unit

0x00n20101	Read	R: P/PID (Pos.)	REAL64	e.g. mm/s		P part of the controller in absolute units
0x00n20102	Read	R: PID (Pos.)	REAL64	e.g. mm/s		I part of the controller in absolute units
0x00n20103	Read	R: PID (Pos.)	REAL64	e.g. mm/s		D part of the controller in absolute units
0x00n20104	Read	R: PID (Pos.)	UINT16	1	0/1	Limitation of the I part active?
0x00n20105	Read	R: PID (Pos.)	UINT16	1	0/1	Limitation of the D part active?
0x00n20106	Read	R: PID (Pos.)	UINT16	1	0/1	ARW measures of the I-part active? ARW: Anti Reset Windup	Not implemented!

0x00n20110	Read	R: PID (Pos.)	REAL64	e.g. mm/s		Acceleration pre-control Yacc of the controller in absolute units Note: function depends on controller type!	Acceleration pre-control
0x00n20111	Read	R: PP (Pos.)	REAL64	mm/s/ mm	≥0	Internal interpolated proportional gain kp or kv	PP controller

0x00n20201	Read	R: P,PID (velocity)	REAL64	e.g. mm/s		Velocity part of the controller
0x00n20202	Read	R: P,PID (velocity)	REAL64	%		Velocity part of the controller in percent	Cannot be traced by oscilloscope!
0x00n20203	Read	R: P,PID (velocity)	REAL64	V		Velocity part of the controller in volts	Cannot be traced by oscilloscope!
0x00n20201	Read	R: P/PID (velocity)	REAL64	e.g. mm/s		P part of the controller in absolute units
0x00n20202	Read	R: P/ PID (veloc.)	REAL64	e.g. mm/s		I part of the controller in absolute units
0x00n20203	Read	R: P/ PID (veloc.)	REAL64	e.g. mm/s		D part of the controller in absolute units
0x00n20204	Read	R: P/ PID (veloc.)	UINT16	1	0/1	Limitation of the I part active?
0x00n20205	Read	R: P/ PID (veloc.)	UINT16	1	0/1	Limitation of the D part active?
0x00n20206	Read	R: P/ PID (veloc.)	UINT16	1	0/1	ARW measures for the I part active? (ARW: Anti Reset Windup)
0x00n2020A	Read	R: P/ PID (veloc.)	REAL64	e.g. mm/s		Total input size of the velocity controller

0x00n20A00	Read	R: PID (MW)	REAL64	%	[-1.0...1.0]	Offsetting of the set velocity (pre-control)	Reserved parameters!
0x00n20A01	Read	R: PID (MW)	REAL64	e.g. mm/s		P part of the controller in absolute units or percent (according to output weight)	Reserved parameters!
0x00n20A02	Read	R: PID (MW)	REAL64	e.g. mm/s		I part of the controller in absolute units or percent (according to output weight)	Reserved parameters!
0x00n20A03	Read	R: PID (MW)	REAL64	e.g. mm/s		D part of the controller in absolute units or percent (according to output weight)	Reserved parameters!
0x00n20A04	Read	R: PID (MW)	UINT16	1	0/1	Limitation of the I part active?	Reserved parameters!
0x00n20A05	Read	R: PID (MW)	UINT16	1	0/1	Limitation of the D part active?	Reserved parameters!
0x00n20A06	Read	R: PID (MW)	UINT16	1	0/1	ARW measures for the I part active? ARW: Anti Reset Windup	Reserved parameters!
0x00n20A10	Read	R: PID (MW)	REAL64	e.g. mm/s		Acceleration pre-control Yacc of the controller in absolute units	Reserved parameters!

0x00n30001	Read	D: every	INT32	1		Error state of the drive
0x00n30002	Read	D: every	REAL64	e.g. mm/s		Total output in absolute units	Symbolic access: "DriveOutput''"
0x00n30003	Read	D: every	REAL64	%		Total output in percent
0x00n30004	Read	D: every	REAL64	V		Total output in volts	Cannot be traced by oscilloscope!
0x00n30005	Read	D: every	REAL64	e.g. mm/s		PeakHold value for maximum negative total output
0x00n30006	Read	D: every	REAL64	e.g. mm/s		PeakHold value for maximum positive total output
0x00n30007	Read	D: every	REAL64	e.g. 100% = 1000, e.g. Nm or N		Actual torque or actual force respectively (typically 100% = 1000)	from TwinCAT 3.1 B4022 Symbolic access: "ActTorque''
0x00n30008	Read	D: every	REAL64	e.g. Nm/s or N/s	±∞	Actual torque change or actual force change respectively (time derivative of the actual torque or actual force respectively)	from TwinCAT 3.1 B4024

0x00n30013	Read	D: every	REAL64	%		Total output in percent (based on non-linear characteristic curve!)
0x00n30014	Read	D: every	REAL64	V		Total output in volt (based on non-linear characteristic curve!)	Cannot be traced by oscilloscope!

0x00n3011A	Read	D: Servo (Sercos, CANopen)	REAL64	e.g. mm		Optional output filtering: Filtered set position	NEW For Sercos, CANopen
0x00n3011E	Read	D: Servo (Sercos, CANopen)	REAL64	e.g. mm/s		Optional output filtering: Filtered set velocity	NEW For Sercos, CANopen
0x00n3011F	Read	D: Servo (Sercos, CANopen)	REAL64	e.g. mm/s^2		Optional output filtering: Filtered set acceleration / set deceleration	NEW For Sercos, CANopen