"Index offset" specification for controller state (Index group 0x6100 + ID)

Index offset (Hex)	Access	Controller type	Data type	Phys. unit	Definition range	Description	Remarks
0x00000001	Read	every	INT32			Error status controller	Symbolic access possible! 'nErrState'
0x00000002	Read	every	REAL64	e.g. mm/s		Controller output in absolute units	Base Unit / s symbolic access possible! 'fOutput'
0x00000003	Read	every	REAL64	%		Controller output in percent	Cannot be traced by oscilloscope!
0x00000004	Read	every	REAL64	V		Controller output in volts	Cannot be traced by oscilloscope!

0x0000000D	Read	every	REAL64	mm		Following error position (without dead time compensation)	Base Unit
0x0000000E	Read	every	REAL64	mm		Following error position (without set position correction)	Base Unit
0x0000000F	Read	every	REAL64	mm		Following error position (with set position correction and with dead time compensation)	Base Unit symbolic access possible! 'fPosDiff'
0x00000010	Read	every	REAL64	mm		Peak hold value for maximum negative following error of the position	Base Unit
0x00000011	Read	every	REAL64	mm		Peak hold value for minimum positive following error of the position	Base Unit
0x00000012	Read	every	REAL64	mm/s		Following error velocity	Base Unit / s

0x00000021	Read	every	REAL64	mm		Difference (deviation) between the following error from master and slave axis (master error minus slave error)	Base Unit Symbolic access possible via axis! 'fPosDiffCouple'
0x00000022	Read	every	REAL64	mm		PeakHold value for the maximum negative difference between master and slave following error of the position	Base Unit
0x00000023	Read	every	REAL64	mm		PeakHold value for the maximum positive difference between master and slave following error of the position	Base Unit

0x00000101	Read	P/PID (pos.)	REAL64	e.g. mm/s		P-part of the controller in absolute units
0x00000102	Read	PID (pos.)	REAL64	e.g. mm/s		I-part of the controller in absolute units
0x00000103	Read	PID (pos.)	REAL64	e.g. mm/s		D-part of the controller in absolute units
0x00000104	Read	PID (pos.)	UINT16	1	0/1	Limitation of the I-part active?
0x00000105	Read	PID (pos.)	UINT16	1	0/1	Limitation of the D-part active?
0x00000106	Read	PID (pos.)	UINT16	1	0/1	ARW measure for the I-part active?	ARW: Anti Reset Windup

0x00000110	Read	PID (pos.)	REAL64	e.g. mm/s		Acceleration pre-control Y_acc of the controller in absolute units Note: Function depends on controller type!	acceleration pre control
0x00000111	Read	PP (Pos.)	REAL64	mm/s/ mm	≥0	Internal interpolated proportional gain kp or kv	PP controller

0x0000011A 0x0000011B 0x0000011C 0x0000011D 0x0000011E 0x0000011F 0x00000120 0x00000121 0x00000122 0x00000123 0x00000124	Read	P (Pos.)	UINT32 REAL64 REAL64 REAL64 REAL64 REAL64 REAL64 REAL64 REAL64 REAL64 REAL64	1 mm mm/s mm/s mm/s^2 mm mm mm/s mm/s^2 mm/s mm/s^2		Set velocity filter: InternalPhase InternalPosSollError! TestVeloSoll InternalLimitedVeloSoll InternalAccSollRel InternalPosSollRel PosSollCorrected! VeloSollCorrected! AccSollCorrected! TestVeloSollCorrected TestAccSollCorrected	Reserved function, no standard!

0x00000201	Read	P,PID (velocity)	REAL64	e.g. mm/s		Velocity part of the controller	Base Unit / s
0x00000202	Read	P,PID (velocity)	REAL64	%		Velocity part of the controller in percent	Cannot be traced by oscilloscope!
0x00000203	Read	P,PID (velocity)	REAL64	V		Velocity part of the controller in volts	Cannot be traced by oscilloscope!
0x00000201	Read	P/PID (velocity)	REAL64	e.g. mm/s		P-part of the controller in absolute units
0x00000202	Read	P/PID (velocity)	REAL64	e.g. mm/s		I-part of the controller in absolute units
0x00000203	Read	P/PID (velocity)	REAL64	e.g. mm/s		D-part of the controller in absolute units
0x00000204	Read	P/PID (velocity)	UINT16	1	0/1	Limitation of the I-part active?
0x00000205	Read	P/PID (velocity)	UINT16	1	0/1	Limitation of the D-part active?
0x00000206	Read	P/PID (velocity)	UINT16	1	0/1	ARW measure for the I-part active?	ARW: Anti Reset Windup
0x0000020A	Read	P/PID (velocity)	REAL64	e.g. mm/s		Total input size of the velocity controller

0x00000250	Read	P/PI (observer)	REAL64	e.g. mm		Observer: position difference (actual position – observer position)
0x00000251	Read	P/PI (observer)	REAL64	e.g. mm		Observer: position
0x00000252	Read	P/PI (observer)	REAL64	e.g. mm/s		Observer: velocity 2 (for P-part)
0x00000253	Read	P/PI (observer)	REAL64	e.g. mm/s		Observer: velocity 1 (for I-part)
0x00000254	Read	P/PI (observer)	REAL64	e.g. mm/s^2		Observer: acceleration
0x00000255	Read	P/PI (observer)	REAL64	A		Observer: actual motor current
0x00000256	Read	P/PI (observer)	UINT16	1	0/1	Observer: Limitation of the I-part active?

0x00000A00	Read	PID (MW)	REAL64	%	[-1.0...1.0]	Calculation of the set speed (pilot control) in percent
0x00000A01	Read	PID (MW)	REAL64	e.g. mm/s		P-part of the controller in absolute units or percent (according to output weight)
0x00000A02	Read	PID (MW)	REAL64	e.g. mm/s		I-part of the controller in absolute units or percent (according to output weight)
0x00000A03	Read	PID (MW)	REAL64	e.g. mm/s		D-part of the controller in absolute units or percent (according to output weight)
0x00000A04	Read	PID (MW)	UINT16	1	0/1	Limitation of the I-part active?
0x00000A05	Read	PID (MW)	UINT16	1	0/1	Limitation of the D-part active?

0x00000A10	Read	PID (pos.)	REAL64	e.g. mm/s		Acceleration pre-control Y_acc of the controller in absolute units	acceleration pre control