"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 symbol

Table name

0x00000003

Read

every

UINT32

1

s. ENUM (>0)

Table sub type

0x00000004

Read

every

UINT32

1

s. ENUM (>0)

Table main type

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 Tab.

REAL64

e.g. mm

≥0.0

Step width (position delta) (equidistant table )

Base unit

0x00000014

Read

cyclic Tab.

REAL64

e.g. degree

≥0.0

Master period (cyclic table )

Base unit

0x00000015

Read

cyclic Tab.

REAL64

e.g. degree

≥0.0

Slave difference per master period (cyclic table )

Base unit

0x0000001A

Read /Write

"Motion Function"

{

Activation mode for online change from table data (only MF)

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'

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

Base unit

}

0x00000021

ReadWrite

every

*REAL64

e.g. mm

±∞

Read slave position to the given master position (relates only to the "row values" of the table)

0x00000022

ReadWrite

"Motion Function"

Write

Read the "Motion Function" as fixed values ("scatter plot")

Only line by line possible!(multiple integer)

{

UINT16

1

0/1

Initialization of data (copy of actual data)?

UINT16

1

Bitmask (≥0)

Select bit mask (number of columns is one column for the master position plus number of bits):

Bit 0: Pos (Slave)

Bit 1: Velo (Slave)

Bit 2: Acc (Slave)

Bit 3: Jerk (Slave)

REAL64

e.g. mm

±∞

Startposition (Master)

REAL64

e.g. mm

> 0.0

Inkrement

}

Read

{

REAL64[x*m]

e.g. mm

±∞

Generating the values of x rows beginning with the master start position: (x*m)-values (one or more rows)

}

0x00000023

ReadWrite

every

Write

Read slave values to given master position (relates only to the "row values" of 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

}

0x00000050

Read /Write

every

REAL64 [64]

1

±∞

Characteristic table values

0x00000050

ReadWrite

every

Write

Read the characteristic table values in dependency to the nominal master velocity

REAL64 [64]

...

±∞

Optional nominal master velocity "fMasterVeloNom" (normed => 1.0 mm/s),
the other values are not used

Read

REAL64 [64]

...

±∞

Read the characteristic table values

0x00000115

Write

monoton linear, monoton zykl.,

{

Set/change the table scaling:

REAL64

1

[±1000000.0]

Original wightning of the table

REAL64

e.g. mm

[±1000000.0]

Position offset of the master column

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 area boundary (start position)

REAL64

e.g. mm

[±1000000.0]

Upper area boundary (end position)

}

0x01000000 +n-te start line

Read/Write[<=16777216]

every

{
REAL64[x*m] }

e.g. mm

±∞

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

Only line by line possible! (multiple integer)

0x02000000 +m-te Startspold

Read/Write[<=16777216]

every

{
REAL64[x*n] }

e.g. mm

∞

Read/write x columns from m-th column: (x*n)-values (one or more columns )value range m: [0 ... 16777216]

Only column by column possible! (multiple integer)

0x05000000 +n-te start line

Read/Write[<=16777216]

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

{

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

Only line by line possible! (multiple integer)

UINT32

1

Absolute point index

(not checked)

UINT16

ENUM

Function type

1: Polynom 1

15: Polynom 5

UINT16

ENUM

Point type

0: default

1: ignore

INT32

1

Relative address index to target point
(default: 1)

REAL64

mm

Master position

REAL64

mm

Slave position

REAL64

mm/s

Slave velocity

REAL64

mm/s^2

Slave acceleration

REAL64

mm/s^3

Slave jerk

}

0x06000000 +m-te Startspold

Read/Write[<=16777216]

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

{

Read/write x columns from m-th column: (x*n)-values (one or more columns )value range m: [0 ... 16777216]

Only column by column possible! (multiple integer)

UINT32

1

Absolute point index
(not checked)

UINT16

ENUM

Function type

1: Polynom 1

15: Polynom 5

UINT16

ENUM

Point type

0: default

1: ignore

INT32

1

Relative address index to target point
(default: 1)

REAL64

mm

Master position

REAL64

mm

Slave position

REAL64

mm/s

Slave velocity

REAL64

mm/s^2

Slave acceleration

REAL64

mm/s^3

Slave jerk

}