"Index offset" specification for drive state (Index group 0x7100 + ID)
Index offset ( Hex ) | Access | Drive type | Data type | Phys. unit | Definition range | Description | Note |
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0x00000001 | Read | every | INT32 |
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| Error state drive |
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0x00000002 | Read | every | REAL64 | e.g. mm/s |
| Total output in absolute units | Base unit / s Symbolic access possible! "DriveOutput" |
0x00000003 | Read | every | REAL64 | % |
| Total output in percent |
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0x00000004 | Read | every | REAL64 | V |
| Total output in volts | Cannot be traced by oscilloscope! |
0x00000005 | Read | every | REAL64 | e.g. mm/s |
| PeakHold value for maximum negative total output | Base Unit / s |
0x00000006 | Read | every | REAL64 | e.g. mm/s |
| PeakHold value for maximum positive total output | Base Unit / s |
0x00000007 | Read | every | REAL64 | e.g. 100% = 1000, |
| Actual torque or actual force respectively (typically 100% = 1000) | from TC3.1 B4022 Symbolic access possible! "ActTorque" |
0x00000008 | Read | 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 TC3.1 B4024 |
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0x0000000C | Read | every | REAL64 | e.g. mm |
| Set position correction value for drive output on account of dead time compensation |
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0x0000000D | Read | every | REAL64 | s |
| Sum of the time shifts for drive dead time compensation (parameterized and variable dead time) Note: a dead time is specified in the system as a positive value. |
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0x00000013 | Read | every | REAL64 | % |
| Total output in percent (based on non-linear characteristic curve!) |
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0x00000014 | Read | every | REAL64 | V |
| Total output in volt (based on non-linear characteristic curve!) | Cannot be traced by oscilloscope! |
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0x0000011A | Read | Servo (Sercos, CANopen) | REAL64 | e.g. mm |
| Optional output filtering: | NEW |
0x0000011E | Read | Servo (Sercos, CANopen) | REAL64 | e.g. mm/s |
| Optional output filtering: | NEW |
0x0000011F | Read | Servo (Sercos, CANopen) | REAL64 | e.g. mm/s^2 |
| Optional output filtering: | NEW |
0x00000200 | ReadWrite |
| READ: |
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| Reading the state of the digital inputs 1 to 8 | from TC3.1 B4024.12 Only for SAF-Port 501! |
UINT32 | 1 | 0/1 | State of the selected input | ||||
WRITE: |
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UINT32 | 1 | [1…8] | Selection of input 1 to 8 |