"Index offset" specification for encoder state (Index group 0x5100 + ID)
Index offset (Hex) | Access | Group type | Data type | Phys. unit | Definition range | Description | Note |
|---|---|---|---|---|---|---|---|
0x00000001 | Read | every | INT32 |
|
| Error state encoder |
|
0x00000002 | Read | every | REAL64 |
|
| Actual position (charge with actual position compensation value) | Symbolic access possible! 'ActPos' |
0x00000003 | Read | every | REAL64 |
|
| Modulo actual position | Symbolic access possible! 'ActPosModulo' |
0x00000004 | Read | every | INT32 |
|
| Modulo actual rotation |
|
0x00000005 | Read | every | REAL64 |
|
| Optional: Actual velocity | Base unit / s |
0x00000006 | Read | every | REAL64 |
|
| Optional: Actual acceleration | Base unit / s^2 Symbolic access possible! 'ActAcc‘ |
0x00000007 | Read | every | INT32 |
|
| Encoder actual increments |
|
0x00000008 | Read | every | INT64 |
|
| Software - actual increment counter |
|
0x00000009 | Read/Write | every | UINT16 |
|
| Reference flag ("calibrate flag") |
|
0x0000000A | Read | every | REAL64 |
|
| Actual position correction value (measuring system error correction) |
|
0x0000000B | Read | every | REAL64 |
|
| Actual position without actual position compensation value |
|
0x0000000C | Read | every | REAL64 | e.g. mm |
| Actual position compensation value due to the dead time compensation |
|
0x0000000D | Read | every | REAL64 | s |
| Sum of time shift for encoder dead time compensation |
|
0x0000000E | Read | every | REAL64 | e.g. mm |
| Internal position offset as a correction value for a value reduction to the base period (modulo range) |
|
0x00000010 | Read | every | REAL64 | e.g. mm/s |
| Actual velocity without actual position compensation value |
|
0x00000012 | Read | every | REAL64 | e.g. mm |
| Unfiltered actual position (charge with actual position compensation value) |
|
0x00000013 | Read | every | REAL64 | e.g. mm |
| Filtered actual position (offset with actual position correction value, without dead time compensation) |
|
0x00000014 | Read | Type: SoE, CoE, MDP 742 | REAL64 | e.g. mm/s |
| Optional: actual drive velocity (transferred directly from SoE, CoE or MDP 742 drive) | Base Unit / s NEW from TC3.1 B4020.30 |
0x00000015 | Read | every | REAL64 | e.g. mm/s |
| Optional: Unfiltered actual velocity | Base Unit / s |
0x00000016 | Read | every | READ(16 bytes * N) |
|
| Read the actual position buffer |
|
{ |
|
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| ||||
UINT32 | ns | ≥0 | DcTimeStamp with 32 bits | ||||
UINT32 |
|
| Reserve | ||||
REAL64 | e.g. mm | ±∞ | Actual position for the associated timestamp | ||||
} [N] |
|
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| ||||
0x00000017 | Read |
| REAL64 | e.g. mm |
| Reading out the MC_SetPosition offset |
|
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|
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0x00000101 | Read | INC | REAL64 | e.g. mm |
| Read back the position difference between the hardware latch being activated and becoming valid | Cannot be traced by oscilloscope! |
|
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0x00000200 | Read Write | Function group "TouchProbeV2": - SERCOS/SoE - EtherCAT/CoE (CANopen DS402) | WRITE(24 bytes) |
|
| Read "Touch Probe" state (state of external latch) | Only for SAF-port 501 |
{ |
|
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| ||||
UINT32 | 1 | [1,2,3,4] | Probe unit (probe 1, 2, 3, 4) | ||||
UINT32[5] |
|
| Reserved | ||||
} |
|
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READ(64 bytes) |
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{ |
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| ||||
UINT32 | 1 | [0/1] | Touch probe rising edge active? | ||||
UINT32 | 1 | [0/1] | Touch probe rising edge became valid? | ||||
REAL64 | e.g. mm |
| Touch probe rising edge position value | ||||
UINT32 | 1 | ≥0 | Touch probe rising edge counter (continuous mode) | ||||
UINT32 |
|
| Reserved | ||||
UINT32 | 1 | [0/1] | Touch probe falling edge active? | ||||
UINT32 | 1 | [0/1] | Touch probe falling edge became valid? | ||||
REAL64 | e.g. mm |
| Touch probe falling edge position value | ||||
UINT32 | 1 | ≥0 | Touch probe falling edge counter (continuous mode) | ||||
UINT32[5] |
|
| Reserved | ||||
} |
|
|
| ||||
0x00000201 | Read | KL5101, | UINT16 | 1 | [0,1] | "External latch function" active? "Touch probe function" active ? (edge-independent) | Cannot be traced by oscilloscope! |
0x00000201 | Read | CANopen | UINT32[4] | 1 | [0,1] | "External latch functions 1 to 4" active? or "Touch probe functions 1 to 4" active? | Cannot be traced by oscilloscope! |
0x00000202 | Read | KL5101, | UINT16 | 1 | [0,1] | External latch value became valid? or touch probe latched? (edge-independent) | see also Axis interface NcToPlc (state double word) |
0x00000202 | Read | CANopen | UINT32[4] | 1 | [0,1] | External latch values 1 to 4 became valid? or touch probes 1 to 4 latched? | see also Axis interface NcToPlc (state double word) |
0x00000203 | Read | KL5101, | UINT32 | INC |
| External / touch probe hardware incremental latch value |
|
0x00000204 | Read | KL5101, | UINT64 | INC |
| External / touch probe Software incremental latch value |
|
0x00000205 | Read | KL5101, | REAL64 | e.g. mm |
| External / touch probe position latch value | Base Unit |
0x00000205 | Read | CANopen | REAL64[4] | e.g. mm |
| External touch probe values / position latch values | Base Unit |
0x00000206 | Read | KL5101, | UINT32 | INC |
| Difference hardware incremental latch values (NewLatch - LastLatch) | Cannot be traced by oscilloscope! |
0x00000207 | Read | KL5101, | UINT64 | INC |
| Difference software incremental latch values (NewLatch - LastLatch) | Cannot be traced by oscilloscope! |
0x00000208 | Read | KL5101, | REAL64 | e.g. mm |
| Difference position latch values (NewLatch - LastLatch) | Cannot be traced by oscilloscope! Base Unit |
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0x00000210 | Read | KL5101, | UINT16 | 1 | [0,1] | "External latch function" for rising edge active? or "Touch probe function" for rising edge active? | Cannot be traced by oscilloscope! |
0x00000210 | Read | CANopen | UINT16[4] | 1 | [0,1] | "External latch function" for rising edge active? or "Touch probe function" for rising edge active? | Cannot be traced by oscilloscope! |
0x00000211 | Read | KL5101, | UINT16 | 1 | [0,1] | "External latch function" for falling edge active? or "Touch probe function" for falling edge active? | Cannot be traced by oscilloscope! |
0x00000211 | Read | CANopen | UINT16[4] | 1 | [0,1] | "External latch function" for falling edge active? or "Touch probe function" for falling edge active? | Cannot be traced by oscilloscope! |
0x00000212 | Read | CANopen | UINT16 | 1 | [0,1] | Status of "Touch Probe 1" input signal | Cannot be traced by oscilloscope! From TC3.1 B4024.11 |
0x00000213 | Read | CANopen | UINT16 | 1 | [0,1] | Status of "Touch Probe 2" input signal | Cannot be traced by oscilloscope! From TC3.1 B4024.11 |