"Index offset" specification for axis state (Index group 0x4100 + ID)
Index offset (Hex) | Access | Axis type | Data type | Phys. unit | Definition range | Description | Note |
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0x00n00000 | Read | every (online structure for axis data) | { |
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| AXIS ONLINE STRUCTURE (NC/CNC) | Cannot be traced by oscilloscope! (NCAXISSTATE_ ONLINESTRUCT) |
INT32 | 1 |
| Error state | ||||
REAL64 | e.g. mm |
| Actual position | ||||
REAL64 | e.g. degree |
| Modulo actual position | ||||
REAL64 | e.g. mm |
| Set position | ||||
REAL64 | e.g. degree |
| Modulo set position | ||||
REAL64 | e.g. mm/s |
| Optional: actual velocity | ||||
REAL64 | e.g. mm/s |
| Set velocity | ||||
UINT32 | % | 0...1000000 | Speed override (1000000 == 100%) | ||||
REAL64 | e.g. mm |
| Following error position | ||||
REAL64 | e.g. mm |
| PeakHold value for max. negative following error (pos.) | ||||
REAL64 | e.g. mm |
| PeakHold value for max. positive following error (pos.) | ||||
REAL64 | % |
| Controller output in percent | ||||
REAL64 | % |
| Total output in percent | ||||
UINT32 | 1 | ≥ 0 | Axis-Status-DWord | ||||
UINT32 | 1 | ≥ 0 | Axis-Control-DWord | ||||
UINT32 | 1 | ≥ 0 | Slave coupling state (state) | ||||
UINT32 | 1 | 0; 1,2,3... | Axis control loop index | ||||
} |
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| 112 bytes | ||||
0x00000001 | Read | every | UINT32 | 1 |
| Error code axis state | Symbolic access: 'ErrState'' |
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0x00n00009 | Read | every | UINT32 | 1 | ≥ 0 | Set cycle counter (SAF-Timestamp) |
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0x00n0000A | Read | every | REAL64 | e.g. mm |
| Set position | Symbolic access: 'SetPos'' |
0x00n0000B | Read | every | REAL64 | e.g. degree |
| Modulo set position | Symbolic access: 'SetPosModulo'' |
0x00n0000C | Read | every | INT32 | 1 |
| Modulo set rotation |
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0x00n0000D | Read | every | REAL64 | 1 | [-1.0, 0.0, 1.0] | Set direction |
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0x00n0000E | Read | every | REAL64 | e.g. mm/s |
| Set velocity | Symbolic access: 'SetVelo'' |
0x00n0000F | Read | every | REAL64 | e.g. mm/s^2 |
| Set acceleration | Symbolic access: 'SetAcc'' |
0x00n00010 | Read | every | REAL64 | e.g. mm/s^3 |
| Set jerk (time derivation of the set acceleration) |
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0x00n00011 | Read | every | REAL64 | Nm resp. N |
| Set torque (rotary motor) resp. |
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0x00n00012 | Read | every | REAL64 | 1 |
| Set coupling factor (set gear ratio) |
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0x00n00013 | Read | every | REAL64 | e.g. mm |
| Expected target position |
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0x00n00014 | Read | Servo | { |
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| Remaining travel time and distance (SERVO): | Always to SAF Port 501! |
REAL64 | s | ≥ 0 | Remaining travel time | ||||
REAL64 | e.g. mm | ≥ 0 | Remaining distance | ||||
} |
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0x00n00015 | Read | every | UINT32 | 1 | ≥ 0 | Set command number |
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0x00n00016 | Read | Servo | REAL64 | s | ≥ 0 | Positioning time of the last motion command (Start → target position window) |
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0x00000018 | ReadWrite | Servo | Write |
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| Read the "Stop information" (stop distance, stop time) | From TC 2.11 R2 Only port 500! |
REAL64 | e.g. mm/s^2 | ≥ 0 | Deceleration for axis stop | ||||
REAL64 | e.g. mm/s^3 | ≥ 0 | Jerk for axis stop | ||||
Read |
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REAL64 | e.g. mm | ≥ 0 | Stop distance | ||||
REAL64 | s | ≥ 0 | Stop time | ||||
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0x00n0001A | Read | every | REAL64 | e.g. mm |
| Uncorrected set position |
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0x00n0001D | Read | every | REAL64 | 1 | [-1.0, 0.0, 1.0] | Uncorrected set direction |
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0x00n0001E | Read | every | REAL64 | e.g. mm/s |
| Uncorrected set velocity |
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0x00n0001F | Read | every | REAL64 | e.g. mm/s^2 |
| Uncorrected set acceleration |
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0x00000020 | Read | every | UINT32 | 1 | s. ENUM | Coupling state (state) |
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0x00000021 | Read | every | UINT32 | 1 | ≥ 0 | Coupling table index |
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0x00000022 | Read | Servo Master/Slave coupling Type: LINEAR, (&SPECIAL) | { |
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| Reading the coupling parameters (SERVO): |
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REAL64 | 1 | [±1000000.0] | Parameter 1: Linear: Gearing factor | ||||
REAL64 | 1 | [±1000000.0] | Parameter 2: Linear: Reserve | ||||
REAL64 | 1 | [±1000000.0] | Parameter 3: Linear: Reserve | ||||
REAL64 | 1 | [±1000000.0] | Parameter 4: Linear: Reserve | ||||
} |
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0x00000023 | Read | Servo Master/Slave coupling Type: LINEAR, (&SPECIAL) | REAL64 | 1 | [±1000000.0] | reading the gearing factor (SERVO): Type: LINEAR |
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0x00000024 | Read | Servo | UINT32 | 1 | ≥ 0 | Number/index of the active axis control loop (triple of encoder, controller and axis interfaces) |
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0x00000025 | Read | Servo | UINT16 | 1 | 0/1 | External set value setting via axis interface PCLtoNC active? |
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0x00000026 | Read | Servo Master/Slave coupling Type: SYNCHRONIZING | REAL64 [64] | 1 | ±∞ | Read the characteristic values from the profile for synchronizing the slave axis Type: SYNCHRONIZING |
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0x00000027 | ReadWrite | Servo Master/Slave coupling Type: TABULAR, MF | Write |
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| Read the "Tabular coupling information" | Only port 500! |
VOID or |
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| - No data for the "current information", | ||||
Read |
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REAL64 [32] |
| ±∞ | Read the tabular coupling information structure | ||||
0x00000028 | ReadWrite | Servo Master/Slave coupling Type: MULTICAM (CamAddition) | Write |
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| Read the "multi tabular (CamAddition) coupling information" | Only port 500! |
UINT32 | 1 | ≥ 0 | Table ID to which the query relates | ||||
Read |
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96 bytes |
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| Read the multi tabular coupling information structure | ||||
0x00000029 | Read | Servo | UINT32 | 1 |
| Delayed error code (error pre-warning) in case of a delayed error reaction (see bit ErrorPropagationDelayed) | From TC 2.11 R3 B2229 |
0x0000002A | Read | Servo | REAL64 | e.g. mm | ±∞ | Position difference while fading from set position to actual position (fading part) | From TC 2.11 R2 |
0x0000002B | Read | Servo | REAL64 | e.g. mm/s | ±∞ | Relative velocity while fading from set position to actual position (fading part) | From TC 2.11 R2 |
0x0000002C | Read | Servo | REAL64 | e.g. mm/s ^2 | ±∞ | Relative acceleration while fading from set position to actual position (fading part) | From TC 2.11 R2 |
0x0000002D | Read | Servo | UINT32 | 1 | ≥ 0 | Counter for initialization command |
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0x0000002E | Read | Servo | UINT32 | 1 | ≥ 0 | Counter for reset command |
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0x00000050 | Read | every | UINT32 | 1 |
| Set drive phase (SWGenerator) | Cannot be traced by oscilloscope! |
0x00000051 | Read | every | UINT16 | 1 |
| Is the axis deactivated? | Cannot be traced by oscilloscope! |
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0x00n00060 | Read/Write | every (online set value structure) | { |
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| AXIS SET VALUE STRUCTURE (NC/CNC) | Cannot be traced by oscilloscope! |
REAL64 | e.g. mm |
| Set position | ||||
REAL64 | e.g. mm/s |
| Set velocity | ||||
REAL64 | e.g. mm/s^2 |
| Set acceleration/deceleration | ||||
REAL64 | 1 | [-1.0, 0.0, 1.0] | Set travel direction | ||||
REAL64 | e.g. mm/s^3 |
| Set jerk | ||||
REAL64 | Nm resp. N |
| Set torque resp. set force (new from TC V2.11 B1514) | ||||
} |
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0x00n00061 | Read/Write | every (online dynamic set value structure) | { |
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| AXIS DYNAMIC SET VALUE STRUCTURE (NC/CNC) |
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REAL64 | e.g. mm/s |
| Set velocity | ||||
REAL64 | e.g. mm/s^2 |
| Set acceleration/deceleration | ||||
REAL64 | 1 | [-1.0, 0.0, 1.0] | Set travel direction | ||||
REAL64 | e.g. mm/s^3 |
| Set jerk | ||||
REAL64 | Nm resp. N |
| Set torque resp. set force (new from TC V2.11 B1514) | ||||
} |
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0x00n10002 | Read | every (Encoder) | REAL64 | e.g. mm |
| Actual position (charge with actual position compensation value) n = 0: standard encoder of the axis n > 0: n-th encoder for the axis (optional) | symbolic access: 'ActPos'' |
0x00n10003 | Read | every (Encoder) | REAL64 | e.g. degree |
| Modulo actual position | symbolic access: 'ActPosModulo' |
0x00n10004 | Read | every (Encoder) | INT32 | 1 |
| Modulo actual rotation |
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0x00n10005 | Read | every (Encoder) | REAL64 | e.g. mm/s |
| Optional: actual velocity | symbolic access: 'ActVelo'' |
0x00n10006 | Read | every (Encoder) | REAL64 | e.g. mm/s^2 |
| Optional: actual acceleration | symbolic access: 'ActAcc'' |
0x00n10007 | Read | every (Encoder) | INT32 | INC |
| Encoder actual increments |
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0x00n10008 | Read | every (Encoder) | INT64 | INC |
| Software - actual increment counter |
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0x00n10009 | Read | every (Encoder) | UINT16 | 1 | 0/1 | Reference flag ("calibrate flag") |
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0x00n1000A | Read | every (Encoder) | REAL64 | e.g. mm |
| Actual position correction value (measurement system error correction) |
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0x00n1000B | Read | every (Encoder) | REAL64 | e.g. mm |
| Actual position without actual position compensation value | Cannot be traced by oscilloscope! |
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0x00n10010 | Read | every (Encoder) | REAL64 | e.g. mm/s |
| Actual velocity without actual position compensation value |
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0x00n10012 | Read | every (Encoder) | REAL64 | e.g. mm |
| Unfiltered actual position (charge with actual position compensation value) |
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0x00n10015 | Read | every (Encoder) | REAL64 | e.g. mm/s |
| Optional: Unfiltered actual velocity | Base Unit / s |
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0x00n10101 | Read | INC (Encoder) | REAL64 | e.g. mm |
| Read back of the position difference between activation of the internal hardware latch and the time when it becomes valid | Cannot be traced by oscilloscope! |
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0x00n20001 | Read | R: every | INT32 | 1 |
| Error state of the controller n = 0: standard controller of the axis n > 0: n-th controller of the axis (optional) |
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0x00n20002 | Read | R: every | REAL64 | e.g. mm/s |
| Controller output in absolute units | symbolic access: 'CtrlOutput'' |
0x00n20003 | Read | R: every | REAL64 | % |
| Controller output in percent | Cannot be traced by oscilloscope! |
0x00n20004 | Read | R: every | REAL64 | V |
| Controller output in volts | Cannot be traced by oscilloscope! |
0x00n2000D | Read | R: every | REAL64 | e.g. mm |
| Following error position (without dead time compensation) | Base Unit |
0x00n2000F | Read | R: every | REAL64 | e.g. mm |
| Following error position (with dead time compensation) | symbolic access: 'PosDiff'' |
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0x00n20010 | Read | R: every | REAL64 | e.g. mm |
| Peak hold value for maximum negative following error of the position |
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0x00n20011 | Read | R: every | REAL64 | e.g. mm |
| Peak hold value for minimum positive following error of the position |
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0x00n20012 | Read | R: every | REAL64 | e.g. mm/s |
| Following error velocity | Not implemented! |
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0x00n20021 | Read | R: every | REAL64 | e.g. mm |
| Difference (deviation) between the following error from master and slave axis (master error minus slave error) | symbolic access: 'PosDiffCouple' |
0x00n20022 | Read | R: every | REAL64 | e.g. mm |
| PeakHold value for the maximum negative difference between master and slave following error of the position | Base Unit |
0x00n20023 | Read | R: every | REAL64 | e.g. mm |
| PeakHold value for the maximum positive difference between master and slave following error of the position | Base Unit |
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0x00n20101 | Read | R: P/PID (pos.) | REAL64 | e.g. mm/s |
| P-part of the controller in absolute units |
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0x00n20102 | Read | R: PID (pos.) | REAL64 | e.g. mm/s |
| I-part of the controller in absolute units |
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0x00n20103 | Read | R: PID (pos.) | REAL64 | e.g. mm/s |
| D-part of the controller in absolute units |
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0x00n20104 | Read | R: PID (pos.) | UINT16 | 1 | 0/1 | Limitation of the I-part active? |
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0x00n20105 | Read | R: PID (pos.) | UINT16 | 1 | 0/1 | Limitation of the D-part active? |
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0x00n20106 | Read | R: PID (pos.) | UINT16 | 1 | 0/1 | ARW measure for the I-part active? ARW: Anti Reset Windup | Not implemented! |
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0x00n20110 | Read | R: 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 |
0x00n20111 | Read | R: PP (Pos.) | REAL64 | mm/s/ mm | ≥0 | Internal interpolated proportional gain kp or kv | PP controller |
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0x00n20201 | Read | R: P,PID (velocity) | REAL64 | e.g. mm/s |
| Velocity part of the controller | Base Unit / s |
0x00n20202 | Read | R: P,PID (velocity) | REAL64 | % |
| Velocity part of the controller in percent | Cannot be traced by oscilloscope! |
0x00n20203 | Read | R: P,PID (velocity) | REAL64 | V |
| Velocity part of the controller in volts | Cannot be traced by oscilloscope! |
0x00n20201 | Read | R: P/PID (velocity) | REAL64 | e.g. mm/s |
| P-part of the controller in absolute units |
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0x00n20202 | Read | R: P/PID (velocity) | REAL64 | e.g. mm/s |
| I-part of the controller in absolute units |
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0x00n20203 | Read | R: P/PID (velocity) | REAL64 | e.g. mm/s |
| D-part of the controller in absolute units |
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0x00n20204 | Read | R: P/PID (velocity) | UINT16 | 1 | 0/1 | Limitation of the I-part active? |
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0x00n20205 | Read | R: P/PID (velocity) | UINT16 | 1 | 0/1 | Limitation of the D-part active? |
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0x00n20206 | Read | R: P/PID (velocity) | UINT16 | 1 | 0/1 | ARW measure for the I-part active? | ARW: Anti Reset Windup |
0x00n2020A | Read | R: P/PID (velocity) | REAL64 | e.g. mm/s |
| Total input size of the velocity controller |
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0x00n20A00 | Read | R: PID (MW) | REAL64 | % | [-1.0...1.0] | Offsetting of the set velocity (pre-control) | Reserved parameters ! |
0x00n20A01 | Read | R: PID (MW) | REAL64 | e.g. mm/s |
| P-part of the controller in absolute units or percent (according to output weight) | Reserved parameters ! |
0x00n20A02 | Read | R: PID (MW) | REAL64 | e.g. mm/s |
| I-part of the controller in absolute units or percent (according to output weight) | Reserved parameters ! |
0x00n20A03 | Read | R: PID (MW) | REAL64 | e.g. mm/s |
| D-part of the controller in absolute units or percent (according to output weight) | Reserved parameters ! |
0x00n20A04 | Read | R: PID (MW) | UINT16 | 1 | 0/1 | Limitation of the I-part active? | Reserved parameters ! |
0x00n20A05 | Read | R: PID (MW) | UINT16 | 1 | 0/1 | Limitation of the D-part active? | Reserved parameters ! |
0x00n20A06 | Read | R: PID (MW) | UINT16 | 1 | 0/1 | ARW measure for the I-part active? ARW: Anti Reset Windup | Reserved parameters ! |
0x00n20A10 | Read | R: PID (MW) | REAL64 | e.g. mm/s |
| Acceleration pre-control Yacc of the controller in absolute units | Reserved parameters ! |
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0x00n30001 | Read | D: every | INT32 | 1 |
| Error state of the drive |
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0x00n30002 | Read | D: every | REAL64 | e.g. mm/s |
| Total output in absolute units | Symbolic access: 'DriveOutput' |
0x00n30003 | Read | D: every | REAL64 | % |
| Total output in percent |
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0x00n30004 | Read | D: every | REAL64 | V |
| Total output in volts | Cannot be traced by oscilloscope! |
0x00n30005 | Read | D: every | REAL64 | e.g. mm/s |
| PeakHold value for maximum negative total output | Base Unit / s |
0x00n30006 | Read | D: every | REAL64 | e.g. mm/s |
| PeakHold value for maximum positive total output | Base Unit / s |
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0x00n30013 | Read | D: every | REAL64 | % |
| Total output in percent (according to non-linear characteristic !) |
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0x00n30014 | Read | D: every | REAL64 | V |
| Total output in volts (according to non-linear characteristic !) | Cannot be traced by oscilloscope! |
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0x00n3011A | Read | D: Servo (Sercos, CANopen) | REAL64 | e. g. mm |
| Optional Smoothingfilter: Filtered set position | NEW |
0x00n3011E | Read | D: Servo (Sercos, CANopen) | REAL64 | e. g. mm/s |
| Optional Smoothingfilter: Filtered set velocity | NEW |
0x00n3011F | Read | D: Servo (Sercos, CANopen) | REAL64 | e. g. mm/s^2 |
| Optional Smoothingfilter: Filtered set acceleration/deceleration | NEW |