"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
Symbolic access possible! 'ActVelo‘

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
(parameterized and variable dead time)Note: A dead time is specified in the system as a positive value.

 

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

 

{

 

 

 

UINT32

ns

≥0

DcTimeStamp with 32 bits

UINT32

 

 

Reserve

REAL64

e.g. mm

±∞

Actual position for the associated timestamp

} [N]

 

 

 

0x00000017

Read

 

REAL64

e.g. mm

 

Reading out the MC_SetPosition offset

 

 

 

 

 

 

 

 

 

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!

 

 

 

 

 

 

 

 

0x00000200

Read Write

Function group "TouchProbeV2": - SERCOS/SoE

- EtherCAT/CoE (CANopen DS402)
- SoftDrive (TCom),
- MDP 511 (EL5101, EL5151, EL5021, EL7041, EL7342)

WRITE(24 bytes)

 

 

Read "Touch Probe" state (state of external latch)

Only for SAF-port 501

{

 

 

 

UINT32

1

[1,2,3,4]

Probe unit (probe 1, 2, 3, 4)

UINT32[5]

 

 

Reserved

}

 

 

 

READ(64 bytes)

 

 

 

{

 

 

 

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,
SERCOS,
AX2xxx,
ProviDrive

UINT16

1

[0,1]

"External latch function" active?
or

"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,
SERCOS,
AX2xxx,
ProviDrive

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,
SERCOS,
AX2xxx,
ProviDrive

UINT32

INC

 

External / touch probe hardware incremental latch value

 

0x00000204

Read

KL5101,
SERCOS,
AX2xxx,
ProviDrive

UINT64

INC

 

External / touch probe Software incremental latch value

 

0x00000205

Read

KL5101,
SERCOS,
AX2xxx,
ProviDrive

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,
SERCOS,
AX2xxx,
ProviDrive

UINT32

INC

 

Difference hardware incremental latch values (NewLatch - LastLatch)

Cannot be traced by oscilloscope!

0x00000207

Read

KL5101,
SERCOS,
AX2xxx,
ProviDrive

UINT64

INC

 

Difference software incremental latch values (NewLatch - LastLatch)

Cannot be traced by oscilloscope!

0x00000208

Read

KL5101,
SERCOS,
AX2xxx,
ProviDrive

REAL64

e.g. mm

 

Difference position latch values (NewLatch - LastLatch)

Cannot be traced by oscilloscope! Base Unit

 

 

 

 

 

 

 

 

0x00000210

Read

KL5101,
AX2xxx,
ProviDrive

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,
AX2xxx,
ProviDrive

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