"Index offset" specification for cyclic encoder process data (Index group 0x5300 + ID)

0x00000000

Read/Write

every (NC→IO)

{

STRUCT

see encoder interface or see extended encoder interface

ENCODER-OUTPUT-STRUCTURE (NC→IO, 12 bytes)
or
ENCODER-OUTPUT-STRUCTURE (NC→IO, 40 bytes)

Write command only optional!

Consider safety aspects!

INT32

INC

≥ 0

nOutData1

INT32

INC

≥ 0

nOutData2

UINT8

1

≥ 0

nControl1

UINT8

1

≥ 0

nControl2

UINT8

1

≥ 0

nControl3

UINT8

1

≥ 0

nControl4

Optional:

INT32

INC

≥ 0

nOutData3

INT32

INC

≥ 0

nOutData4

INT32

INC

≥ 0

nOutData5

INT32

INC

≥ 0

nOutData6

UINT8

1

≥ 0

nControl5

UINT8

1

≥ 0

nControl6

UINT8

1

≥ 0

nControl7

UINT8

1

≥ 0

nControl8

INT32

≥ 0

reserved

INT32

≥ 0

reserved

}

0x00000001

Write

every (IO→NC)

{

STRUCT

s. encoder interface

Bitwise access to ENCODER-OUTPUT-STRUCT (NC→IO, 40 Byte)
NCENCSTRUCT_OUT2

Write command only optional!

Consider safety aspects!

From TC2.11 R3 B2303

UINT32

1

[0 … 39]

ByteOffset

Relative address offset [0..39] in output structure.

E.G.: To write “nControl1” the ByteOffset must be 8.

UINT32

1

[0x00000000… 0xFFFFFFFF]

BitSelectMask (BSM)

The mask defines write enabled bits in a DWORD. Zero bits are protected and remain unaffected.

UINT32

1

[0x00000000… 0xFFFFFFFF]

Value

Only those bits in value are overwritten where BSM equals 1.

}

0x00000080

Write

every (IO→NC)

{

STRUCT

see encoder interface or see extended encoder interface

ENCODER-INPUT-STRUCTURE (IO→NC, 12 bytes) or optional ENCODER-INPUT-STRUCTURE (IO→NC, 40 bytes)

INT32

INC

≥ 0

nInData1

INT32

INC

≥ 0

nInData2

UINT8

1

≥ 0

nStatus1

UINT8

1

≥ 0

nStatus2

UINT8

1

≥ 0

nStatus3

UINT8

1

≥ 0

nStatus4

Optional:

INT32

INC

≥ 0

nInData3

INT32

INC

≥ 0

nInData4

INT32

INC

≥ 0

nInData5

INT32

INC

≥ 0

nInData6

UINT8

1

≥ 0

nStatus5

UINT8

1

≥ 0

nStatus6

UINT8

1

≥ 0

nStatus7

UINT8

1

≥ 0

nStatus8

INT32

≥ 0

Reserved

INT32

≥ 0

Reserved

}