"Index offset" specification for cyclic encoder process data (Index group 0x5300 + ID)

0x00000000

Read/Write

every (NC→IO)

{

STRUCT s. encoder interface

ENCODER-OUTPUT-STRUCTURE (NC→IO, 40 Byte)
NCENCODERSTRUCT_OUT2

Write command only optional!

Consider safety aspects!

INT32

INC

≥ 0

nDataOut1

INT32

INC

≥ 0

nDataOut2

UINT8

1

≥ 0

nCtrl1

UINT8

1

≥ 0

nCtrl2

UINT8

1

≥ 0

nCtrl3

UINT8

1

≥ 0

nCtrl4

INT32

INC

≥ 0

nDataOut3

INT32

INC

≥ 0

nDataOut4

INT32

INC

≥ 0

nDataOut5

INT32

INC

≥ 0

nDataOut6

UINT8

1

≥ 0

nCtrl5

UINT8

1

≥ 0

nCtrl6

UINT8

1

≥ 0

nCtrl7

UINT8

1

≥ 0

nCtrl8

INT32

1

≥ 0

Reserved

INT32

1

≥ 0

Reserved

} 40 bytes

0x00000000

Read/Write

every (NC→IO), optional 64 bit encoder interface
(e.g. MDP513 with 64Bit)

{

STRUCT

s. encoder interface

Optional ENCODER-OUTPUT-STRUCTURE (NC→IO, 80 Byte)
NCENCODERSTRUCT_OUT3

Write command only optional!

Consider safety aspects!

NEW from TC3

UINT64

INC

≥ 0

nDataOut1

UINT64

INC

≥ 0

nDataOut2

UINT64

INC

≥ 0

nDataOut3

UINT64

INC

≥ 0

nDataOut4

UINT64

INC

≥ 0

nDataOut5

UINT64

INC

≥ 0

nDataOut6

UINT64

INC

≥ 0

nDataOut7

UINT64

INC

≥ 0

nDataOut8

UINT16

1

≥ 0

nCtrl1

UINT16

1

≥ 0

nCtrl2

UINT16

1

≥ 0

nCtrl3

UINT16

1

≥ 0

nCtrl4

UINT16

1

≥ 0

nCtrl5

UINT16

1

≥ 0

nComCtrl

INT32

1

≥ 0

reserved

} 80 bytes

0x00000001

Write

Every
(NC→IO)

{

STRUCT s. encoder interface

Bitwise access to

ENCODER-OUTPUT-STRUCTURE (NC→IO, 40 Byte)
NCENCODERSTRUCT_OUT2

Write command only optional!

Consider safety aspects!

UINT32

1

[0 … 39]

ByteOffset

Relative address offset [0..39] in output structure.

E.G.: To write “nControl1” the ByteOffset must be 8.

UINT32

1

[0x00000000… 0xFFFFFFFF]

BitSelectMask (BSM)

The mask defines write enabled bits in a DWORD. Zero bits are protected and remain unaffected.

UINT32

1

[0x00000000… 0xFFFFFFFF]

Value

Only those bits in value are overwritten where BSM equals 1.

}

0x00000080

Read

every (IO→NC)

{

STRUCT s. encoder interface

ENCODER-INPUT-STRUCTURE (IO→NC, 40 Byte)
NCENCODERSTRUCT_IN2

INT32

INC

≥ 0

nDataIn1

INT32

INC

≥ 0

nDataIn2

UINT8

1

≥ 0

nState1

UINT8

1

≥ 0

nState2

UINT8

1

≥ 0

nState3

UINT8

1

≥ 0

nState4 (Bit0: WcState, Bit1: InputToggle)

INT32

INC

≥ 0

nDataIn3

INT32

INC

≥ 0

nDataIn4

INT32

INC

≥ 0

nDataIn5

INT32

INC

≥ 0

nDataIn6

UINT8

1

≥ 0

nState5

UINT8

1

≥ 0

nState6

UINT8

1

≥ 0

nState7

UINT8

1

≥ 0

nState8

INT32

[ns]

≥ 0

nDcInputTime (absolute/relative DcInputShift for deadtime compensation)

INT32

1

≥ 0

Reserved

} 40 bytes

0x00000080

Read

every (NC→IO), optional 64 bit encoder interface

(e.g. MDP513 with 64Bit)

{

STRUCT s. encoder interface

optional ENCODER-INPUT-STRUCTURE (IO→NC, 80 Byte)
NCENCODERSTRUCT_IN3

NEW from TC3

UINT64

INC

≥ 0

nDataIn1

UINT64

INC

≥ 0

nDataIn2

UINT64

INC

≥ 0

nDataIn3

UINT64

INC

≥ 0

nDataIn4

UINT64

INC

≥ 0

nDataIn5

UINT64

INC

≥ 0

nDataIn6

UINT64

INC

≥ 0

nDataIn7

UINT64

INC

≥ 0

nDataIn8

UINT16

1

≥ 0

nState1

UINT16

1

≥ 0

nState2

UINT16

1

≥ 0

nState3

UINT16

1

≥ 0

nState4

UINT16

1

≥ 0

nState5

UINT16

1

≥ 0

nComState (Bit0: WcState, Bit1: InputToggle)

INT32

[ns]

≥ 0

nDcInputTime (absolute/relative DcInputShift for deadtime compensation)

} 80 bytes