"Index offset" specification for controller state (Index group 0x6100 + ID)
Access | Controller type | Data type | Phys. unit | Definition range | Description | Note | Access |
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0x00000001 | Read | every | INT32 |
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| Error state 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! |
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0x0000000D | Read | every | REAL64 | mm |
| Lag error position (without dead time compensation) | Base Unit |
0x0000000E | Read | every | REAL64 | mm |
| Lag error position (without set position correction) | Base Unit |
0x0000000F | Read | every | REAL64 | mm |
| Lag 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 lag error of the position | Base Unit |
0x00000011 | Read | every | REAL64 | mm |
| Peak hold value for minimum positive lag error of the position | Base Unit |
0x00000012 | Read | every | REAL64 | mm/s |
| Lag error velocity | Base Unit / s |
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0x00000021 | Read | every | REAL64 | mm |
| Difference (deviation) between the lag error from master and slave axis (master error minus slave error) | Base Unit Symbolic access possible via axis! |
0x00000022 | Read | every | REAL64 | mm |
| PeakHold value for the maximum negative difference between master and slave axis lag error of the position | Base Unit |
0x00000023 | Read | every | REAL64 | mm |
| PeakHold value for the maximum positive difference between master and slave axis lag error of the position | Base Unit |
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0x00000101 | Read | P/PID (pos.) | REAL64 | e.g. mm/s |
| P part of the controller in absolute units |
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0x00000102 | Read | PID (pos.) | REAL64 | e.g. mm/s |
| I part of the controller in absolute units |
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0x00000103 | Read | PID (pos.) | REAL64 | e.g. mm/s |
| D part of the controller in absolute units |
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0x00000104 | Read | PID (pos.) | UINT16 | 1 | 0/1 | Limitation of the I part active? |
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0x00000105 | Read | PID (pos.) | UINT16 | 1 | 0/1 | Limitation of the D part active? |
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0x00000106 | Read | PID (pos.) | UINT16 | 1 | 0/1 | ARW measure for the I part active? | ARW: Anti Reset Windup |
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0x00000110 | Read | PID (pos.) | REAL64 | e.g. mm/s |
| Acceleration pre-control Yacc of the controller in absolute units 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 |
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0x0000011A | Read | P (Pos.) |
UINT32 |
1 |
| Set velocity filter: InternalPhase | Reserved function, no standard! |
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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 |
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0x00000202 | Read | P/PID (velocity) | REAL64 | e.g. mm/s |
| I part of the controller in absolute units |
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0x00000203 | Read | P/PID (velocity) | REAL64 | e.g. mm/s |
| D part of the controller in absolute units |
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0x00000204 | Read | P/PID (velocity) | UINT16 | 1 | 0/1 | Limitation of the I part active? |
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0x00000205 | Read | P/PID (velocity) | UINT16 | 1 | 0/1 | Limitation of the D part active? |
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0x00000206 | Read | P/PID (velocity) | UINT16 | 1 | 0/1 | ARW measures 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 |
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0x00000250 | Read | P/PI (observer) | REAL64 | e.g. mm |
| Observer: Position difference (Actual position - Observer position |
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0x00000251 | Read | P/PI (observer) | REAL64 | e.g. mm |
| Observer: Position |
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0x00000252 | Read | P/PI (observer) | REAL64 | e.g. mm/s |
| Observer: Velocity 2 (for P part) |
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0x00000253 | Read | P/PI (observer) | REAL64 | e.g. mm/s |
| Observer: Velocity 1 |
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0x00000254 | Read | P/PI (observer) | REAL64 | e.g. mm/s^2 |
| Observer: Acceleration |
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0x00000255 | Read | P/PI (observer) | REAL64 | A |
| Observer: Actual motor current |
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0x00000256 | Read | P/PI (observer) | UINT16 | 1 | 0/1 | Observer: Limitation of the I part active? |
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0x00000A00 | Read | PID (MW) | REAL64 | % | [-1.0...1.0] | Calculation of the set velocity (pre-control) in percent |
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0x00000A01 | Read | PID (MW) | REAL64 | e.g. mm/s |
| P part of the controller in absolute units or percent (according to output weight) |
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0x00000A02 | Read | PID (MW) | REAL64 | e.g. mm/s |
| I part of the controller in absolute units or percent (according to output weight) |
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0x00000A03 | Read | PID (MW) | REAL64 | e.g. mm/s |
| D part of the controller in absolute units or percent (according to output weight) |
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0x00000A04 | Read | PID (MW) | UINT16 | 1 | 0/1 | Limitation of the I part active? |
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0x00000A05 | Read | PID (MW) | UINT16 | 1 | 0/1 | Limitation of the D part active? |
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0x00000A10 | Read | PID (pos.) | REAL64 | e.g. mm/s |
| Acceleration pre-control Yacc of the controller in absolute units | Acceleration pre-control |