"Index offset" specification for axis functions (Index group 0x4200 + ID)

Index offset (Hex)	Access			Axis type			Data type			Phys. unit			Definition range	Description	Note
0x00000001	Write			every			VOID							Reset axis	For FIFO axes too!
0x00000002	Write			every			VOID							Stop axis	For FIFO axes too!
0x00000003	Write			every			VOID							Clear axis (task)	For FIFO axes too!
0x00000004	Write			every			{							Emergency Stop (Emergency stop with regulated ramp)	Only for PTP axes!
							REAL64			e.g. mm/s^2			> 0.0	Deceleration (must be greater than or equal to the original deceleration)
							REAL64			e.g. mm/s^3			> 0.0	Jerk (must be greater than or equal to the original jerk)
							}
0x00000005	Write			PTP axis			{							Parametrized stop (with regulated ramp)	Only for PTP axes! Reserved function, no standard!
							REAL64			e.g. mm/s^2			> 0.0	Deceleration
							REAL64			e.g. mm/s^3			> 0.0	Jerk
							}
0x00000009	Write			PTP axis			{							Oriented stop (oriented end position)	Only for PTP axes!
							REAL64			e.g. degree			≥ 0.0	Modulo end position (modulo target position)
							REAL64			e.g. mm/s^2			> 0.0	Deceleration (not yet implemented)
							REAL64			e.g. mm/s^3			> 0.0	Jerk (not yet implemented)
							}

0x00000010	Write			every			VOID							Reference axis ("calibration")
0x00000011	Write			every			{							New end position axis
							UINT32			ENUM			s. appendix	End position type (see appendix)
							REAL64			e.g. mm			±∞	New end position (target position)
							}
0x00000012	Write			every			{							New end position and new velocity axis
							UINT32			ENUM			s. appendix	Command type (s. appendix)
							UINT32			ENUM			s. appendix	End position type (s. appendix)
							REAL64			e.g. mm			±∞	new end position (target position)
							REAL64			e.g. mm/s			≥ 0.0	New end velocity (requested travelling speed)
							REAL64			e.g. mm			±∞	Optional: Switching position from which the new travel profile is activated
							}
0x00000015	Write			every			{							New dynamic parameters for active positioning
							REAL64			e.g. mm/s^2			> 0.0	Acceleration
							REAL64			e.g. mm/s^2			> 0.0	Deceleration
							REAL64			e.g. mm/s^3			> 0.0	Optional: Jerk (not yet implemented)
							}
0x00000016	ReadWrite			every SERVO			Write (76 bytes)							Universal axis start (UAS): merge of single commands, such as axis start, and online changes in combination with "Buffer Mode" (see TcMc2.lib)	Always to SAF Port 501!
							{
							UINT32			ENUM			s. appendix	Start type (s. appendix)
							UINT32			1			≥ 0	Bit mask for checks and operation modes (Default value: 0)
							REAL64			e.g. mm			±∞	End position (target position)
							REAL64			e.g. mm/s			≥ 0.0	Required velocity Vrequ
							REAL64			e.g. mm/s^2			≥ 0.0	Optional: Acceleration
							REAL64			e.g. mm/s^2			≥ 0.0	Optional: Deceleration
							REAL64			e.g. mm/s^3			≥ 0.0	Optional: Jerk
							UINT32			ENUM			s. appendix	Buffer mode (command buffer)
							REAL64			e.g. mm			±∞	Optional: Blending position (command blending position)
							REAL64			e.g. mm/s			≥ 0.0	Optional: Segment start velocity Vi (0 ≤ Vi ≤ Vrequ)
							REAL64			e.g. mm/s			≥ 0.0	Optional: Segment end velocity Vf (0 ≤ Vf ≤ Vrequ)
							}
							Read
							{
							UINT16			1			≥ 0	Command number (job number)
							UINT16			1			≥ 0	Command status
							}
0x00000017	ReadWrite			SERVO			Write (76 bytes)							"Master/slave decoupling" and "Universal axis start (UAS)": Merge of decoupling command of a slave axis (IdxOffset: 0x00000041) and the subsequent universal axis start (UAS) (IdxOffset: 0x00000016)	Not yet released!
							{
							UINT32			ENUM			s. appendix	Start type (s. appendix)
							UINT32			1			≥ 0	Bit mask for checks and operation modes (Default value: 0)
							REAL64			e.g. mm			±∞	End position (target position)
							REAL64			e.g. mm/s			≥ 0.0	Required velocity Vrequ
							REAL64			e.g. mm/s^2			≥ 0.0	Acceleration
							REAL64			e.g. mm/s^2			≥ 0.0	Deceleration
							REAL64			e.g. mm/s^3			≥ 0.0	Jerk
							UINT32			ENUM			s. appendix	Buffer mode (command buffer)
							REAL64			e.g. mm			±∞	Optional: Blending position (command blending position)
							REAL64			e.g. mm/s			≥ 0.0	Optional: Segment start velocity Vi (0 ≤ Vi ≤ Vrequ)
							REAL64			e.g. mm/s			≥ 0.0	Optional: Segment end velocity Vf (0 ≤ Vf ≤ Vrequ)
							}
							Read
							{
							UINT16			1			≥ 0	Command number (job number)
							UINT16			1			≥ 0	Command status
							}
0x00000018	Write			every			VOID							Release axis lock for motion commands (TcMc2)
0x00000019	Write			every			UINT32			1			> 0	Set external axis error (runtime error)	Caution by using!
0x00n0001A	Write			every			{							Set actual axis position	Caution by using! For FIFO axes too! Always to SAF Port 501!
							UINT32			ENUM			s. appendix	Actual position type (s. appendix)
							REAL64			e.g. mm			±∞	Actual position for axis n = 0: standard encoder of the axis n > 0: n-th encoder for the axis (optional)
							}
0x00n0001B	Write			every			UINT32			1			0/1	Set reference flag ("calibrate flag") n = 0: standard encoder of the axis n > 0: n-th encoder for the axis (optional)	Caution by using! For FIFO axes too!
0x00n0001C	Write			SERVO			{							Set only actual axis position without manipulating the set position (also for slave and with active process)	Caution by using!
							UINT32			ENUM			s. appendix	Actual position type (s. appendix)
							REAL64			e.g. mm			±∞	Actual position for axis n = 0: standard encoder of the axis n > 0: n-th encoder for the axis (optional) Take care when using!
							}
0x00n0001D	Write			every			{							Set actual value of the axis on the drive side (Position interface and encoder offset of null required!) n = 0: standard encoder of the axis n > 0: n-th encoder for the axis (optional)	Caution by using! Only for CANopen
							UINT32			ENUM			s. appendix	Actual position type (s. appendix)
							REAL64			e.g. mm			±∞	Actual position for axis
							}
0x00n0001E	Write			every			{							Set a new encoder scaling factor on the fly (also when axis is in motion)	Caution by using! Always to SAF Port 501!
							UINT32			ENUM			1	Encoder scaling factor type 1: Absolute 2: Relative
							REAL64			e.g. mm/INC			[1.0E-8 ... 100.0]	New encoder scaling factor n = 0: standard encoder of the axis n > 0: n-th encoder for the axis (optional)
							}
0x00n0001F	Write			every			{							Set actual axis position on the fly (also when axis is in motion)	Caution by using! Always to SAF Port 501!
							UINT32			ENUM				Position type for setting actual value on the fly 1: Absolute 2: Relative
							UINT32			1				Control DWord, e.g. for "clearing the position lag"
							REAL64							Reserve
							REAL64			e.g. mm			±∞	New actual axis position
							UINT32							Reserve
							UINT32							Reserve
							}

0x00000020	Write			every 1D start			{							Standard axis start:
							UINT32			ENUM			s. appendix	Start type (s. appendix)
							REAL64			e.g. mm			±∞	End position (target position)
							REAL64			e.g. mm/s			≥0.0	Required velocity
							}
0x00000021	Write			every 1D start			{							Extended axis start (SERVO):
							UINT32			ENUM			s. appendix	Start type (s. appendix)
							REAL64			e.g. mm			±∞	End position (target position)
							REAL64			e.g. mm/s			≥ 0.0	Required velocity
							UINT32			0/1			0/1	Standard acceleration?
							REAL64			e.g. mm/s^2			≥ 0.0	Acceleration
							UINT32			0/1			0/1	Standard deceleration?
							REAL64			e.g. mm/s^2			≥ 0.0	Deceleration
							UINT32			0/1			0/1	Standard jerk?
							REAL64			e.g. mm/s^3			≥ 0.0	Jerk
							}
0x00000022	Write			SERVO(MW)			{							Special axis start (SERVO):	Reserved start function, no standard!
							UINT32			ENUM			s. appendix	Start type (s. appendix)
							REAL64			e.g. mm			±∞	End position (target position)
							REAL64			mm/s			≥ 0.0	Required start velocity
							REAL64			e.g. mm			±∞	Position for a new velocity level
							REAL64			e.g. mm/s			≥ 0.0	New end velocity level
							UINT32			0/1			0/1	Standard acceleration?
							REAL64			e.g. mm/s^2			≥ 0.0	Acceleration
							UINT32			0/1			0/1	Standard deceleration?
							REAL64			e.g. mm/s^2			≥ 0.0	Deceleration
							UINT32			0/1			0/1	Standard Jerk?
							REAL64			e.g. mm/s^3			≥ 0.0	Jerk
							}
0x00000023	Write			SERVO			{							Start external set value setting (setting by cyclic axis interface PLCtoNC)
							UINT32			ENUM			1: Absolute 2: Relative	Start type
							REAL64			e.g. mm			±∞	New end position (target position) optional!
							}
0x00000024	Write			SERVO			VOID							Stop/disable external set value setting (cyclic axis interface PLCtoNC)
0x00000025	Write			SERVO			{							Start reversing operation for positioning (SERVO):
							UINT32			ENUM			1	Start type (default: 1)
							REAL64			e.g. mm			±∞	End position 1 (target position)
							REAL64			e.g. mm			±∞	End position 2 (target position)
							REAL64			0/1			0/1	Required velocity
							REAL64			s			≥ 0.0	Idle time
							}
0x00000026	Write			every			{							Start drive output:
							UINT32			ENUM			s. appendix	Output type (s. appendix)
							REAL64			e.g. %			±∞	Required output value (e.g. %)
							}
0x00000027	Write			every			VOID							Start drive output
0x00000028	Write			every			{							Change the drive output:
							UINT32			ENUM			s. appendix	Output type (s. appendix)
							REAL64			e.g. %			±∞	Required output value (e.g. %)
							}
0x00000029	Write			every			VOID							Instantaneously adopt current override value and freeze until next override change!	Reserved function, no standard!
0x0000002A	Write			every			{ 32 bytes }							Calculate and set encoder offset	Reserved function, no standard!
0x0000002B	ReadWrite			every			WriteData: s. 'UAS' ReadData: s. 'UAS'							Stop external setpoint generator and continuous endless motion ('UAS': Universal axis start)	Reserved function, no standard!

0x00000030	Write			SERVO			{							Start section compensation (SERVO)
							UINT32			ENUM			s. appendix	Compensation type (s. appendix)
							REAL64			e.g. mm/s^2			≥ 0.0	Max. acceleration increase
							REAL64			e.g. mm/s^2			≥ 0.0	Max. deceleration increase
							REAL64			e.g. mm/s			> 0.0	Max. increase velocity
							REAL64			e.g. mm/s			> 0.0	Base velocity for the process
							REAL64			e.g. mm			±∞	Path difference to be compensated
							REAL64			e.g. mm			> 0.0	Path distance for compensation
							}
0x00000030	ReadWrite			SERVO returns the real active values			{ READ+WRITE:							Start section compensation (SERVO) Note: contained only in "TcMc2.lib"
							UINT32			ENUM			s. appendix	Compensation type (s. appendix)
							REAL64			e.g. mm/s^2			≥ 0.0	=> Max. acceleration increase <= Returns the implemented acceleration increase (new in "TcMc2.lib")
							REAL64			e.g. mm/s^2			≥ 0.0	=> Max. Deceleration increase <= Returns the implemented deceleration increase (new in "TcMc2.lib")
							REAL64			e.g. mm/s			> 0.0	=> Requested max. velocity of increase <= Returns the implemented velocity of increase
							REAL64			e.g. mm/s			> 0.0	Base velocity for the process
							REAL64			e.g. mm			±∞	=> Requested distance difference to be compensate <= Returns the implemented distance difference
							REAL64			e.g. mm			> 0.0	=> Requested max. distance for compensation <= Returns implemented distance
							UINT32			1			≥ 0	<= Returns Warning ID (e.g. 0x4243)
							}
0x00000031	Write			SERVO			VOID							Stop section compensation (SERVO)
0x00000032	Write			SERVO			{							Start reversing operation with velocity steps (SERVO): (can be used to determine the velocity step response)
							UINT32			ENUM			1	Start type (default: 1)
							REAL64			e.g. mm/s			±∞	Required velocity 1 (negative values also allowed)
							REAL64			e.g. mm/s			±∞	Required velocity 2 (negative values also allowed)
							REAL64			s			> 0.0	Travel time for velocity 1 and 2
							REAL64			s			≥ 0.0	Idle time
							UINT32			1			0, 1, 2, 3...	Optional: number of repetitions, Default "0": unlimited in time
							}
0x00000033	Write			SERVO			{							Sinus Oscillation Sequence - used as single sinus oscillation (sinus generator) - used as sinus oscillation sequence (e.g. for bode plot)
							UINT32			ENUM			1	Start type (fixed to start type 1 yet)
							REAL64			e.g. mm/s			> 0.0	Base amplitude (e.g. 2.5 mm/s)
							REAL64			Hz			[0.0 .... 10.0]	Base frequency (e.g. 1.953125 Hz)
							REAL64			e.g. mm/s			≥ 0.0	Start amplitude at begin (e.g. 0.0 mm/s)
							REAL64			e.g. mm/REV			> 0.0	Feed constant motor (per motor turn) (e.g. 10.0 mm/REV)
							REAL64			Hz			≥ 1.0	Frequency range: start frequency (e.g. 20.0 Hz)
							REAL64			Hz			≤ 1/(2*dT)	Frequency range: stop frequency (e.g. 500.0 Hz)
							REAL64			s			> 0.0	Step duration (e.g. 2.048s)
							UINT32			1			[1 ... 200]	Number of measurements (step cycles) (e.g. 20)
							UINT32			1				Number of parallel measurements (e.g. 1) not used yet!
							}
0x00000034			Write			SERVO			{					Phasing - Start Phasing - Stop Phasing
									UINT32			ENUM	1	Phasing Type: 1: ABSOLUTE 2: RELATIVE 4096: STOP
									UINT32			1	≥ 0	Control Mask
									UINT32			1	≥ 0	Master axis ID (multi master)
									UINT32					Reserve
									REAL64			e.g. mm	> 0.0	Phase shift
									REAL64			e.g. mm/s	> 0.0	Velocity
									REAL64			e.g. mm/s^2	≥ 0.0	Acceleration
									REAL64			e.g. mm/s^2	≥ 0.0	Deceleration
									REAL64			e.g. mm/s^3	≥ 0.0	Jerk
									REAL64[4]					Reserve
									UINT32					Reserve
									UINT32			1	ENUM	Buffer mode (NOT IMPLEMENTED)
									REAL64			e.g. mm	±∞	Blending position (NOT IMPLEMENTED)
									}
0x00000040 (0x00n00040)		Write			Master/Slave coupling: (SERVO)			{						Master/slave coupling (SERVO):	Extension for "flying saw"!
								UINT32			ENUM		s. appendix	Slave type/coupling type (see appendix)
								UINT32			1		[1...255]	Axis ID of the master axis/group
								UINT32			1		[0...8]	Sub-index n of the master axis (default: value: 0)
								UINT32			1		[0...8]	Sub-index n of the slave axis (default: value: 0)
								REAL64			1		[±1000000.0]	Parameter 1: Linear: gearing factor FlySawVelo: Reserve FlySaw: abs. synchron position master [mm]
								REAL64			1		[±1000000.0]	Parameter 2: Linear: Reserve FlySawVelo: Reserve FlySawPos: abs. synchron position slave [mm]
								REAL64			1		[±1000000.0]	Parameter 3: Linear: Reserve FlySawVelo: angle of inclination in [DEGREE] FlySawPos: angle of inclination in [DEGREE]	Angle > 0.0 and £ 90.0 degree (parallel saw: 90.0 degree)
								REAL64			1		[±1000000.0]	Parameter 4: Linear: Reserve FlySawVelo: gearing factor FlySawPos: gearing factor
								}

0x00000041		Write			Master/slave decoupling (SERVO)			VOID						Master/slave decoupling (SERVO)
0x00000041		Write			Master/slave decoupling with configurable follow-up function (SERVO)			{						Master/slave decoupling with configurable follow-up function (e.g. new end position, new velocity, stop, E-stop) (SERVO)	Not yet released!
								UINT32			ENUM		s. appendix	Decoupling type (see appendix)
								REAL64			e.g. mm		±∞	Optional: New end position
								REAL64			e.g. mm/s		> 0.0	Optional: New requested velocity
								REAL64			e.g. mm/s^2		≥ 0.0 (0: Default)	Optional: Acceleration for new end position, new velocity and emergency stop (E-stop)
								REAL64			e.g. mm/s^2		≥ 0.0 (0: Default)	Optional: Deceleration for new end position, new velocity and emergency stop (E-stop)
								REAL64			e.g. mm/s^3		≥ 0.0 (0: Default)	Optional: Jerk for new end position, new velocity and emergency stop (E-stop)
								}
0x00000042		Write			Master/Slave coupling Type: LINEAR (&SPECIAL)			{						Change of the coupling parameters (SERVO):
								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
								}
0x00000043		Write			Master/slave table coupling Type: TABULAR			{						Change of the table coupling parameters (SERVO):
								REAL64			mm		±∞	Slave position offset
								REAL64			mm		±∞	Master position offset
								}
0x00000043		Write			Master/slave table coupling Type: TABULAR and "Motion Function"			{						Change of the table coupling parameters (SERVO):	Also for "Motion Function"
								REAL64			mm		±∞	Slave position offset
								REAL64			mm		±∞	Master position offset
								REAL64			1		±∞ (<> 0.0)	Slave position scaling
								REAL64			1		±∞ (<> 0.0)	Master position scaling
								}
0x00000043		Write			Master/slave table coupling Type: TABULAR			{						Change of the table coupling parameters (SERVO):
								REAL64			mm		±∞	Slave position offset
								REAL64			mm		±∞	Master position offset
								REAL64			1		±∞ (<> 0.0)	Slave position scaling
								REAL64			1		±∞ (<> 0.0)	Master position scaling
								REAL64			e.g. mm		±∞	Absolute master activation position
								}
0x00000044		Write			Slave-Stop (SERVO)			VOID						Stop the "flying saw" (SERVO)	Only for "flying saw"
0x00000045 (0x00n00045)		Write			Master/slave table coupling (SERVO)			{						Master/slave table coupling (SERVO):
								UINT32			ENUM		s. appendix	Slave type/coupling type (s. appendix)
								UINT32			1		[1...255]	Axis ID of the master axis
								UINT32			1		[0...8]	Subindex n of the master axis (default: value: 0)
								UINT32			1		[0...8]	Subindex n of the slave axis (default: value: 0)
														SOLO TABLE SECTION
								REAL64			mm		±∞	Slave position offset (type: TABULAR)
								REAL64			mm		±∞	Master position offset (type: TABULAR)
								UINT32			1		[0,1]	Slave position absolute (type: TABULAR)
								UINT32			1		[0,1]	Master position absolute (type: TABULAR)
								UINT32			1		[1...255]	Table ID of the coupling table (type: TABULAR)
														MULTI-TABLE SECTION
								UINT16			1		[0...8]	Number of tables (type: MULTITAB) Note: misused as interpolation type for solo tables
								UNIT16			1		[0...8]	Number of profile tables (type: MULTITAB)
								UNIT32[8]			1		[1...255]	Table IDs of the coupling tables (type: MULTITAB)
								}
0x00000046		Write			Master / slave multi-tables			UINT32			1		[1...255]	Activation of correction table correction table ID
0x00000046		Write			Master / slave multi-tables			{						Activation of correction table
								UINT32			1		[1...255]	Correction table ID
								REAL64			e.g. mm		±∞	Absolute master activation position
								}
0x00000047		Write			Master/Slave Multi-tables			UINT32			1		[1..255]	Deactivation of profile table at end of cycle Table ID of the current monocyclic profile table
0x00000048		ReadWrite			Master/Slave Multi-tables			Write: UINT32			1		[1..255]	Read the last correction offset:+ Table ID of the correction table
0x00000048		ReadWrite			Master/Slave Multi-tables			Read: REAL32			e.g. mm		±∞	Offset by departing the correction table with the according table ID
0x00000049		Write			Master/slave table coupling Type: TABULAR			REAL64			1		±∞	Change the slave table scaling Scaling factor of the slave table column (Default value: 1.0)
0x0000004A (0x00n0004A)		Write			Master/slave universal table coupling (SERVO)			{						Master/slave solo table coupling (SERVO):
								UINT32			ENUM		s. appendix	Slave type/coupling type (see appendix)
								UINT32			1		[1...255]	Axis ID of the master axis
								UINT32			1		[0...8]	Subindex n of the master axis (default: value: 0)
								UINT32			1		[0...8]	Subindex n of the slave axis (default: value: 0)
								UINT32			1		1...255]	Table ID of the coupling table (type: TABULAR)
								UINT32			1			Tabular interpolation type
								REAL64			mm		±∞	Slave position offset (type: TABULAR)
								REAL64			mm		±∞	Master position offset (type: TABULAR)
								REAL64			mm		±∞	Slave position scaling (type: TABULAR)
								REAL64			mm		±∞	Master position scaling (Type: TABULAR)
								UINT32			1		[0,1]	Slave position absolute? (Type: TABULAR)
								UINT32			1		[0,1]	Master position absolute? (Type: TABULAR)
								UINT32			ENUM		s. appendix	Activation type of the change (NEW) 0: 'instantaneous' (default) 1: 'at master cam position' 2: 'at master axis position' 3: 'next cycle'
								REAL64			mm		±∞	Activation position (NEW)
								UINT32			ENUM		s. appendix	Master scaling type (NEW) 0: user defined (default) 1: scaling with auto offset 2: off
								UINT32			ENUM		s. appendix	Slave scaling type (NEW) 0: user defined (default) 1: scaling with auto offset 2: off
								}
0x0000004B (0x00n0004B)		Write			Master / slave universal flying saw (SERVO)			{						Master/slave synchronizing coupling (SERVO):
								UINT32			ENUM		s. appendix	Slave type/coupling type (s. appendix)
								UINT32			1		[1...255]	Axis ID of the master axis
								UINT32			1		[0...8]	Subindex n of the master axis (default: value: 0)
								UINT32			1		[0...8]	Subindex n of the slave axis (default: value: 0)
								REAL64			1		±∞ (<> 0.0)	Gearing factor
								REAL64			mm		±∞	Master synchron position
								REAL64			mm		±∞	Slave synchron position
								REAL64			mm/s		≥ 0.0	Slave velocity (optional)
								REAL64			mm/s^2		≥ 0.0	Slave acceleration (optional)
								REAL64			mm/s^2		≥ 0.0	Slave deceleration (optional)
								REAL64			mm/s^3		≥ 0.0	Slave jerk (optional)
								UINT32			1		≥ 0	Bit mask for checks and operation modes (Default value: 0)
								}

0x0000004D (0x00n0004D)		Write			Master/slave table coupling Type: TABULAR and MF			{						Change of the table scaling (SERVO):	Also for MF Reserved function, no standard!
								UINT32			ENUM		s. appendix	Activation type of the change 0: 'instantaneous' (default) 1: 'at master cam position' 2: 'at master axis position' 3: 'next cycle'
								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
								REAL64			e.g. mm		±∞	Master position offset
								REAL64			e.g. mm		±∞	Slave position offset
								REAL64			1		±∞ (<> 0.0)	Master position scaling
								REAL64			1		±∞	Slave position scaling
								}

0x00000050		Write			every			VOID						Deactivate complete axis (disable)
0x00000051		Write			every			VOID						Activate complete axis (enable)
0x00000052		Write			SERVO			{						Change of the active axis control loop (triple from encoder, controller and axis interfaces) with/without external set value setting:
								UINT32			1		≥ 0	Number/index of the axis control loop (Default value: 0)
								UINT32			ENUM		see appendix (>0)	Switch type for synchronization behavior 1: 'Standard'
								REAL64			1		±∞	Synchronization value for switching (optional)
								UINT32			0/ 1		0/1	External set value setting by means of axis interface? Note: not used so far!
								}

0x00000060		Write			every			VOID						Deactivate drive output (disable)
0x00000061		Write			every			VOID						Activate drive output (enable)
0x00000062		Write			high/low			UINT16			1		0/1	Release parking brake? 0: automatic activation (default) 1: mandatorily always released! Note: reset to '0' when resetting the axis!

0x00000070		Write			every			VOID						Return of the axis from, e.g. a 3D group to its own PTP group