"Index offset" specification for encoder state (Index group 0x5100 + ID)

Index offset (Hex)	Access	Group type	Data type	Phys. unit	Definition range	Description	Note
0x00000001	Read	every	INT32			Error state encoder
0x00000002	Read	every	REAL64			Actual position (charge with actual position compensation value)	Symbolic access possible! 'fPosIst'
0x00000003	Read	every	REAL64			Modulo actual position	Symbolic access possible! 'FModuloPosIst'
0x00000004	Read	every	INT32			Modulo actual rotation	Symbolic access possible! 'nModuloTurns'
0x00000005	Read	every	REAL64			Optional: Actual velocity	Base Unit / s Symbolic access possible! 'fVeloIst'
0x00000006	Read	every	REAL64			Optional: Actual acceleration	Base Unit / s^2 Symbolic access possible! 'fAccIst'
0x00000007	Read	every	INT32			Encoder actual increments	Symbolic access possible! 'nHardIncs'
0x00000008	Read	every	INT64			Software - actual increment counter	Symbolic access possible! 'nSoftIncs'
0x00000009	Read/Write	every	UINT16			Reference flag ("calibrate flag")
0x0000000A	Read	every	REAL64			Actual position correction value (measurement system error correction)
0x0000000B	Read	every	REAL64			Actual position without actual position compensation value
0x0000000C	Read	every	REAL64	e.g. mm		Actual position compensation value due to the dead time compensation
0x0000000D	Read	every	REAL64	s		Sum of the time shifts for encoder dead time compensation (parameterized and variable dead time) Note: A dead time is specified in the system as a positive value.
0x0000000E	Read	every	REAL64	e.g. mm		Internal position offset as a correction value for a value reduction to the base period (modulo range)
0x00000010	Read	every	REAL64	e.g. mm/s		Actual velocity without actual position compensation value
0x00000012	Read	every	REAL64	e.g. mm		Unfiltered actual position (charge with actual position compensation value)
0x00000015	Read	every	REAL64	e.g. mm/s		Optional: Unfiltered actual velocity	Base Unit / s
0x00000016	Read	every	READ (16 bytes * N)			Read the actual position buffer	from TC 2.11 R3
			{
			UINT32	ns	≥0	DcTimeStamp with 32 bits
			UINT32			Reserve
			REAL64	e.g. mm	±∞	Actual position for the associated DC timestamp
			} [N]

0x00000101	Read	INC	REAL64	e.g. mm		Read back the position difference between the hardware latch being activated and becoming valid	Cannot be traced by oscilloscope!

0x00000200	Read Write	Function group "TouchProbeV2": - SERCOS (SoE), - EtherCAT (CANopen DS402) - SoftDrive (TCom)	WRITE (24 bytes)			Read "Touch Probe" state (state of external latch)	TC 2.11 Build 1547 only for SEC-port 501
			{
			UINT32	1	[1,2,3,4]	Probe unit (probe 1, 2, 3, 4)
			UINT32[5]			Reserved
			}
			READ (64 bytes)
			{
			UINT32	1	[0/1]	Touch probe rising edge active?
			UINT32	1	[0/1]	Touch probe rising edge became valid?
			REAL64	e.g. mm		Touch probe rising edge position value
			UINT32	1	≥0	Touch probe rising edge counter (continuous mode)
			UINT32			Reserved
			UINT32	1	[0/1]	Touch probe falling edge active?
			UINT32	1	[0/1]	Touch probe falling edge became valid?
			REAL64	e.g. mm		Touch probe falling edge position value
			UINT32	1	≥0	Touch probe falling edge counter (continuous mode)
			UINT32[5]			Reserved
			}
0x00000201	Read	KL5101, SERCOS, AX2xxx, ProviDrive	UINT16	1	[0,1]	"External latch function" active? or "Touch probe function" active ? (edge-independent)	Cannot be traced by oscilloscope!
0x00000201	Read	CANopen	UINT32[4]	1	[0,1]	"External latch functions 1 to 4" active? or "Touch probe functions 1 to 4" active ?	Cannot be traced by oscilloscope!
0x00000202	Read	KL5101, SERCOS, AX2xxx, ProviDrive	UINT16	1	[0,1]	External latch value became valid? or touch probe latched? (edge-independent)	cf. Axis interface NcToPlc (state double word)
0x00000202	Read	CANopen	UINT32[4]	1	[0,1]	External latch values 1 to 4 became valid? or touch probes 1 to 4 latched?	cf. Axis interface NcToPlc (state double word)
0x00000203	Read	KL5101, SERCOS, AX2xxx, ProiDrive	UINT32	INC		External / touch probe hardware incremental latch value
0x00000204	Read	KL5101, SERCOS, AX2xxx, ProviDrive	UINT64	INC		External / touch probe software incremental latch value
0x00000205	Read	KL5101, SERCOS, AX2xxx, ProviDrive	REAL64	e.g. mm		External / touch probe position latch value	Base Unit
0x00000205	Read	CANopen	REAL64[4]	e.g. mm		External touch probe values / position latch values	Base Unit
0x00000206	Read	KL5101, SERCOS, AX2xxx, ProviDrive	UINT32	INC		Difference hardware incremental latch values (NewLatch - LastLatch)	Cannot be traced by oscilloscope!
0x00000207	Read	KL5101, SERCOS, AX2xxx, ProviDrive	UINT64	INC		Difference software incremental latch values (NewLatch - LastLatch)	Cannot be traced by oscilloscope!
0x00000208	Read	KL5101, SERCOS, AX2xxx, ProviDrive	REAL64	e.g. mm		Difference position latch values (NewLatch - LastLatch)	Cannot be traced by oscilloscope! Base Unit

0x00000210	Read	KL5101, AX2xxx, ProviDrive	UINT16	1	[0,1]	"External latch function" for rising edge active? or "Touch probe function" for rising edge active?	Extension for KL5101 (3E), AX2xxx (3.51) and ProviDrive (3.1) Cannot be traced by oscilloscope!
0x00000210	Read	CANopen	UINT16[4]	1	[0,1]	"External latch function" for rising edge active? or "Touch probe function" for rising edge active?	Cannot be traced by oscilloscope!
0x00000211	Read	KL5101, AX2xxx, ProviDrive	UINT16	1	[0,1]	"External latch function" for falling edge active? or "Touch probe function" for falling edge active?	Extension for KL5101 (3E), AX2xxx (3.51) and ProviDrive (3.1) Cannot be traced by oscilloscope!
0x00000211	Read	CANopen	UINT16[4]	1	[0,1]	"External latch function" for falling edge active? or "Touch probe function" for falling edge active?	Cannot be traced by oscilloscope!