"Index offset" specification for table parameter (Index group 0xA000 + ID)

0x00000001

read

every

UINT32

1

[1 ... 255]

Table ID

0x00000002

read

every

UINT8[30+1]

1

30 characters

Table name

0x00000003

read

every

UINT32

1

s. ENUM (>0)

Table sub types

0x00000004

read

every

UINT32

1

s. ENUM (>0)

Table main types

0x00000010

read

every

UINT32

1

[0... 16777216]

Number of lines (n)

0x00000011

read

every

UINT32

1

[0... 16777216]

Number of columns (m)

0x00000012

read

every

UINT32

1

≥0

Number of total elements (n*m)

0x00000013

read

equidistant table

REAL64

e.g. mm

≥0.0

Step size (position delta) (equidistant tables)

Base Unit

0x00000014

read

cyclical table

REAL64

e.g. degrees

≥0.0

Master period (cyclical tables)

Base Unit

0x00000015

read

cyclical table

REAL64

e.g. degrees

≥0.0

Slave difference per master period (cyclic tables)

Base Unit

0x0000001A

Read/Write

"Motion Function"

(motion laws)

{

Activation type for online changes of table data (MF only)

UINT32

ENUM

s. appendix

Activation mode

0: 'instantaneous' (default)

1: 'master cam pos.'

2: 'master' axis pos.'

3: 'next cycle'

4: 'next cycle once'

5: 'as soon as possible'

6: 'off'

7: 'delete queued data'

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

}

0x00000020

Read/Write

every

{

Write single value [n,m]:

UINT32

1

[0 ... 16777216]

n-th line

UINT32

1

[0 ... 16777216]

m-th column

REAL64

e.g. mm

±∞

Single value

}

0x00000021

ReadWrite

every

*REAL64

e.g. mm

±∞

Read slave position for the specified master position (related to the "raw values" in the table)

0x00000022

ReadWrite

"Motion Function"

(motion laws)

Write

Read the "Motion Function" as a "point cloud"

Only possible on a line-by-line basis!

(integer multiple)

{

UINT16

1

0/1

Prompt consistent data adoption?

UINT16

1

Bitmask (≥0)

Select bit mask (number of columns m is master position plus number of bits):

Bit 0: Pos (Slave)

Bit 1: Velo (Slave)

Bit 2: Acc (Slave)

Bit 3: Jerk (Slave)

REAL64

e.g. mm

±∞

Startposition (Master)

REAL64

e.g. mm

> 0.0

Step size

}

Read

{

REAL64[x*m]

e.g. mm

±∞

Read x rows starting from the master start position:

(x*m)-values (one or more lines)

}

0x00000023

ReadWrite

every

Write

Read slave values for the specified master position (related to the "raw values" in the table)

REAL64

e.g. mm

±∞

Master position

Read

{

REAL64

e.g. mm

±∞

Slave position

REAL64

mm/s

±∞

Slave velocity

REAL64

mm/s^2

±∞

Slave acceleration

}

0x00000050

Read/Write

every

REAL64 [64]

1

±∞

Characteristic values in the table

0x00000050

ReadWrite

every

Write

Read the characteristic values in a table in relation to the nominal master velocity

REAL64 [64]

...

±∞

Optional nominal master reference velocity "fMasterVeloNom"

(normalized => 1.0 mm/s), the remaining elements are not evaluated

Read

REAL64 [64]

...

±∞

Read the characteristic values in a table

0x00000115

Write

monotonic linear

monotonic cycl.

{

Set/change the table scaling:

REAL64

1

[±1000000.0]

Original weighting of the table

REAL64

e.g. mm

[±1000000.0]

Master column position offset

REAL64

1

[±1000000.0]

Scaling of the master column

REAL64

e.g. mm

[±1000000.0]

Position offset of the slave column

REAL64

1

[±1000000.0]

Scaling of the slave column

REAL64

e.g. mm

[±1000000.0]

Lower range limit (starting position)

REAL64

e.g. mm

[±1000000.0]

Upper range limit (end position)

}

0x01000000 +n-th start line

Read/Write[<=16777216]

every

{

REAL64[x*m]

}

e.g. mm

±∞

Read/write x lines starting from the n-th line:

(x*m)-values (one or more lines)

Value range n: [0 ... 16777216]

Only possible on a line-by-line basis!

(integer multiple)

0x02000000 +m-th start column

Read/Write[<=16777216]

every

{ REAL64[x*n]

}

e.g. mm

±∞

Read/write x columns starting from the m-th column:

(x*n)-values (one or more lines)

Value range m: [0 ... 16777216]

Only possible on a column-by-column basis!

(integer multiple)

0x05000000 +n-th start line

Read/Write[<=16777216]

"Motion Function"

(Motion laws)

Data:

STRUCT[x*m]

{

Read/write x lines starting from the n-th line:

(x*m)-structures (one or more lines)

Value range n: [0 ... 16777216]

Only possible line by line!
(integer multiple)

UINT32

1

Abs. point index

(not evaluated)

UINT16

ENUM

Function type

1: Polynomial 1
15: Polynomial 5

UINT16

ENUM

Point type

0: default

1: ignore

INT32

1

Rel. address index at end point
(Default: 1)

REAL64

mm

Master position

REAL64

mm

Slave position

REAL64

mm/s

Slave velocity

REAL64

mm/s^2

Slave acceleration

REAL64

mm/s^3

Slave jerk

}

0x06000000 +m-th start column

Read/Write[<=16777216]

"Motion Function"

(Motion laws)

Data:

STRUCT[x*n]

{

Read/write x columns starting from the m-th column:

(x*n)-structures (one or more lines)

Value range m: [0 ... 16777216]

Only possible on a column-by-column basis! (integer multiple)

UINT32

1

Abs. point index

(not evaluated)

UINT16

ENUM

Function type

1: Polynomial 1

15: Polynomial 5

UINT16

ENUM

Point type

0: default

1: ignore

INT32

1

Rel. address index at end point

(Default: 1)

REAL64

mm

Master position

REAL64

mm

Slave position

REAL64

mm/s

Slave velocity

REAL64

mm/s^2

Slave acceleration.

REAL64

mm/s^3

Slave jerk

}