"Index offset" specification for table parameter (Index group 0xA000 + ID)

0x00000001

Read

every

UINT32

1

[1 ... 255]

Table ID

0x00000002

Read

every

UINT8[30+1]

1

30 characters

Table name

0x00000003

Read

every

UINT32

1

s. ENUM (>0)

Table sub types

0x00000004

Read

every

UINT32

1

s. ENUM (>0)

Table main types

0x00000010

Read

every

UINT32

1

[0... 16777216]

Number of lines (n)

0x00000011

Read

every

UINT32

1

[0... 16777216]

Number of columns (m)

0x00000012

Read

every

UINT32

1

≥0

Number of total elements (n*m)

0x00000013

Read

equidistant table

REAL64

e.g. mm

≥0.0

Step size (position delta) (equidistant tables)

Base Unit

0x00000014

Read

cyclical table

REAL64

e.g. degrees

≥0.0

Master period (cyclical tables)

Base Unit

0x00000015

Read

cyclical table

REAL64

e.g. degrees

≥0.0

Slave difference per master period (cyclic tables)

Base Unit

0x0000001A

Read/Write

"Motion Function" (laws of motion)

{

Activation type for online changes of table data (MF only)

Modified from TC3

UINT32

ENUM

s. appendix

Activation mode

0: 'instantaneous' (default)

1: 'master cam pos.'

2: 'master' axis pos.'

3: 'next cycle'

4: 'next cycle once'

5: 'as soon as possible'

6: 'off'

7: 'delete queued data'

UINT32

Reserve (TC3)

REAL64

e.g. mm

± ∞

Activation position

UINT32

ENUM

s. appendix

Master scaling type

0: user defined (default)

1: scaling with auto offset

2: off

UINT32

ENUM

s. appendix

Slave scaling type

0: user defined (default)

1: scaling with auto offset

2: off

}

0x00000020

Read/Write

every

{

Write single value [n,m]:

UINT32

1

[0 ... 16777216]

n-th line

UINT32

1

[0 ... 16777216]

m-th column

REAL64

e.g. mm

± ∞

Single value

}

0x00000021

ReadWrite

every

*REAL64

e.g. mm

± ∞

Read slave position for the specified master position (related to the "raw values" in the table)

0x00000022

ReadWrite

"Motion Function" (laws of motion)

Write

Read the "Motion Function" as a "point cloud"

Only possible on a line-by-line basis!
(integer multiple)

Changed in TC3

{

UINT 16

1

0 /1

Prompt consistent data adoption?

UINT16

1

Bit mask (≥0)

Select bit mask (number of columns m is master position plus number of bits):

Bit 0: Pos (Slave)

Bit 1: Velo (Slave)

Bit 2: Acc (Slave)

Bit 3: Jerk (Slave)

UINT32

Reserve (TC3)

REAL64

e.g. mm

± ∞

Startposition (Master)

REAL64

e.g. mm

> 0.0

Step size

}

Read

{

REAL64[x*m]

e.g. mm

± ∞

Read from x lines from the master start position: (x*m) values (one or more lines)

}

0x00000023

ReadWrite

every

Write

Read slave values for the specified master position (related to the "raw values" in the table)

REAL64

e.g. mm

± ∞

Master position

Read

{

REAL64

e.g. mm

± ∞

Slave position

REAL64

mm/s

± ∞

Slave velocity

REAL64

mm/s^2

± ∞

Slave acceleration

}

0x00000024

ReadWrite

every

Write

Calculation of the master position for a given slave position

REAL64

e.g. mm

± ∞

Slave position

REAL64

e.g. mm

Start position of the master

REAL64

e.g. mm

Offset to the slave position of the cam plate

REAL64

1

Scaling of the slave position of the cam plate

REAL64

e.g. mm

Offset to the master position of the cam plate

REAL64

1

Scaling of the master position of the cam plate

REAL64

Position accuracy of the master (default: 1.0E-3)

REAL64[5]

Reserved (40 bytes)

Read

{

UINT32

Lower master position valid

UINT32

Upper master position valid

REAL64

e.g. mm

Lower absolute master axis position

REAL64

e.g. mm

Upper absolute master axis position

REAL64

e.g. mm

Lower master cam plate position

REAL64

e.g. mm

Upper master cam plate position

REAL64

e.g. mm

Lower slave position offset

REAL64

e.g. mm

Upper slave position offset

REAL64[5]

Reserved (40 bytes)

}

0x00000050

Read/Write

every

REAL64 [64]

1

± ∞

Characteristic values in the table

0x00000050

ReadWrite

every

Write

Read the characteristic values in a table in relation to the nominal master velocity

Modified from TC3

REAL64 [64]

...

± ∞

Optional nominal master reference velocity "fMasterVeloNom" (standardized => 1.0 mm/s),
the remaining elements are not evaluated

Read

REAL64 [64]

...

± ∞

Read the characteristic values in a table

0x00000115

Write

monotonic linear, monotonic cyclic,

{

Set/change the table scaling:

REAL64

1

[ ± 1000000.0]

Original weighting of the table

REAL64

e.g. mm

[ ± 1000000.0]

Master column position offset

REAL64

1

[ ± 1000000.0]

Scaling of the master column

REAL64

e.g. mm

[ ± 1000000.0]

Position offset of the slave column

REAL64

1

[ ± 1000000.0]

Scaling of the slave column

REAL64

e.g. mm

[ ± 1000000.0]

Lower range limit (starting position)

REAL64

e.g. mm

[ ± 1000000.0]

Upper range limit (end position)

}

0x01000000 +n-th start line

Read/Write[<=16777216]

every

{
REAL64[x*m] }

e.g. mm

± ∞

Read/write from x lines from the nth line: (x*m) values (one or more lines) Value range n: [0 ... 16777216]

Only possible on a line-by-line basis! (integer multiple)

0x02000000 +m-th start column

Read/Write[<=16777216]

every

{
REAL64[x*n] }

e.g. mm

± ∞

Read/write x columns from the mth column: (x*n) values (one or more columns)Value range m: [0 ... 16777216]

Only possible on a column-by-column basis! (integer multiple)

0x05000000 +n-th start line

Read/Write[<=16777216]

"Motion Function" (motion laws) Data:STRUCT [x*m]

{

Read/write x lines from the nth line: (x*m) structures (one or more lines) Value range n: [0 ... 16777216]

Only possible on a line-by-line basis!
(integer multiple)

Modified from TC3

UINT32

1

Abs. point index
(not evaluated)

UINT16

ENUM

Function type

1: Polynomial 1

15: Polynomial 5

UINT16

ENUM

Point type

0: default

1: ignore

INT32

1

Rel. address index at end point

(Default: 1)

UINT32

Reserve (TC3)

REAL64

mm

Master position

REAL64

mm

Slave position

REAL64

mm/s

Slave speed

REAL64

mm/s^2

Slave acceleration

REAL64

mm/s^3

Slave jerk

}

0x06000000 +m-th start column

Read/Write[<=16777216]

"Motion Function" (motion laws) Data:STRUCT [x* n ]

{

Read/write x columns from the mth column: (x*n) structures (one or more columns) Value range m: [0 ... 16777216]

Only possible on a column-by-column basis!
(integer multiple)

Modified from TC3

UINT32

1

Abs. point index
(not evaluated)

UINT16

ENUM

Function type

1: Polynomial 1

15: Polynomial 5

UINT16

ENUM

Point type

0: default

1: ignore

INT32

1

Rel. address index at end point

(Default: 1)

UINT32

Reserve (TC3)

REAL64

mm

Master position

REAL64

mm

Slave position

REAL64

mm/s

Slave speed

REAL64

mm/s^2

Slave acceleration

REAL64

mm/s^3

Slave jerk

}