"Index offset" specification for controller state (Index group 0x6100 + ID)
Index offset ( Hex ) | Access | Controller type | Data type | Phys. unit | Definition range | Description | Note |
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0x00000001 | Read | every | INT32 |
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| Error state controller |
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0x00000002 | Read | every | REAL64 | e.g. mm/s |
| Controller output in absolute units | Base Unit / s Symbolic access possible! |
0x00000003 | Read | every | REAL64 | % |
| Controller output in percent | Cannot be traced by oscilloscope! |
0x00000004 | Read | every | REAL64 | V |
| Controller output in volts | Cannot be traced by oscilloscope! |
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0x0000000D | Read | every | REAL64 | mm |
| Following error position (without dead time compensation) | Base Unit |
0x0000000E | Read | every | REAL64 | mm |
| Following error position (without set position correction) | Base Unit |
0x0000000F | Read | every | REAL64 | mm |
| Following error position (with set position correction and dead time compensation) | Base Unit Symbolic access possible! |
0x00000010 | Read | every | REAL64 | mm |
| Peak hold value for maximum negative following error of the position | Base Unit |
0x00000011 | Read | every | REAL64 | mm |
| Peak hold value for minimum positive following error of the position | Base Unit |
0x00000012 | Read | every | REAL64 | mm/s |
| Following error velocity | Base Unit / s |
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0x00000021 | Read | every | REAL64 | mm |
| Difference (deviation) between the following error from master and slave axis (master error minus slave error) | Base Unit Symbolic access possible via axis! "PosDiffCouple" |
0x00000022 | Read | every | REAL64 | mm |
| PeakHold value for the maximum negative difference between master and slave axis following error of the position | Base Unit |
0x00000023 | Read | every | REAL64 | mm |
| PeakHold value for the maximum positive difference between master and slave axis following error of the position | Base Unit |
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0x00000101 | Read | P/PID (pos.) | REAL64 | e.g. mm/s |
| P-part of the controller in absolute units |
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0x00000102 | Read | PID (pos.) | REAL64 | e.g. mm/s |
| I-part of the controller in absolute units |
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0x00000103 | Read | PID (pos.) | REAL64 | e.g. mm/s |
| D-part of the controller in absolute units |
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0x00000104 | Read | PID (pos.) | UINT16 | 1 | 0/1 | Limitation of the I-part active? |
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0x00000105 | Read | PID (pos.) | UINT16 | 1 | 0/1 | Limitation of the D-part active? |
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0x00000106 | Read | PID (pos.) | UINT16 | 1 | 0/1 | ARW measures for the I-part active? | ARW: Anti Reset Windup |
0x0000010F | Read | P/PP/PID (veloc.) | REAL64 | e.g. mm/s |
| Proportion of automatic offset compensation in absolute units | NEW |
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0x00000110 | Read | 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 |
0x00000111 | Read | PP (Pos.) | REAL64 | mm/s/ mm | ≥0 | Internal interpolated proportional gain kp or kv | PP controller |
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0x0000011A | Read | P (Pos.) | UINT32 | 1 |
| Set velocity filter: InternalPhase | List!Reserved function, |
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0x00000201 | Read | P,PID (velocity) | REAL64 | e.g. mm/s |
| Velocity part of the controller | Base Unit / s |
0x00000202 | Read | P,PID (velocity) | REAL64 | % |
| Velocity part of the controller in percent | Cannot be traced by oscilloscope! |
0x00000203 | Read | P,PID (velocity) | REAL64 | V |
| Velocity part of the controller in volts | Cannot be traced by oscilloscope! |
0x00000201 | Read | P/PID (velocity) | REAL64 | e.g. mm/s |
| P-part of the controller in absolute units |
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0x00000202 | Read | P/PID (velocity) | REAL64 | e.g. mm/s |
| I-part of the controller in absolute units |
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0x00000203 | Read | P/PID (velocity) | REAL64 | e.g. mm/s |
| D-part of the controller in absolute units |
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0x00000204 | Read | P/PID (velocity) | UINT16 | 1 | 0/1 | Limitation of the I-part active? |
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0x00000205 | Read | P/PID (velocity) | UINT16 | 1 | 0/1 | Limitation of the D-part active? |
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0x00000206 | Read | P/PID (velocity) | UINT16 | 1 | 0/1 | ARW measures for the I-part active? | ARW: Anti Reset Windup |
0x0000020A | Read | P/PID (velocity) | REAL64 | e.g. mm/s |
| Total input size of the velocity controller |
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0x00000250 | Read | P/PI (observer) | REAL64 | e.g. mm |
| Observer: position difference (actual position - observer position |
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0x00000251 | Read | P/PI (observer) | REAL64 | e.g. mm |
| Observer: position |
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0x00000252 | Read | P/PI (observer) | REAL64 | e.g. mm/s |
| Observer: velocity 2 |
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0x00000253 | Read | P/PI (observer) | REAL64 | e.g. mm/s |
| Observer: velocity 1 |
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0x00000254 | Read | P/PI (observer) | REAL64 | e.g. mm/s^2 |
| Observer: acceleration |
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0x00000255 | Read | P/PI (observer) | REAL64 | A |
| Observer: motor actual current |
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0x00000256 | Read | P/PI (observer) | UINT16 | 1 | 0/1 | Observer: limitation of the I-part active? |
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0x00000A00 | Read | PID (MW) | REAL64 | % | [-1.0...1.0] | Calculation of the set velocity (pre-control) in percent |
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0x00000A01 | Read | PID (MW) | REAL64 | e.g. mm/s |
| P-part of the controller in absolute units or percent (according to output weight) |
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0x00000A02 | Read | PID (MW) | REAL64 | e.g. mm/s |
| I-part of the controller in absolute units or percent (according to output weight) |
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0x00000A03 | Read | PID (MW) | REAL64 | e.g. mm/s |
| D-part of the controller in absolute units or percent (according to output weight) |
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0x00000A04 | Read | PID (MW) | UINT16 | 1 | 0/1 | Limitation of the I-part active? |
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0x00000A05 | Read | PID (MW) | UINT16 | 1 | 0/1 | Limitation of the D-part active? |
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0x00000A10 | Read | PID (pos.) | REAL64 | e.g. mm/s |
| Acceleration pre-control Yacc of the controller in absolute units | Acceleration pre-control |