BECKHOFF EL7037 - Manual (Page 161)

Configuration by means of the TwinCAT System Manager
Input data
Index 6000 ENC Inputs Ch.1
Index Name Meaning Data type Flags Default value
6000:0 ENC Inputs Ch.1 Maximum subindex UINT8 RO 0x16 (22
dec
)
6000:01 Latch C valid The counter value was latched with the C track. BOOLEAN RO 0x00 (0
dec
)
6000:02 Latch extern valid The counter value was stored via the external latch. BOOLEAN RO 0x00 (0
dec
)
6000:03 Set counter done The counter was set. BOOLEAN RO 0x00 (0
dec
)
6000:04 Counter underflow Counter underflow. BOOLEAN RO 0x00 (0
dec
)
6000:05 Counter overflow Counter overflow. BOOLEAN RO 0x00 (0
dec
)
6000:08 Extrapolation stall The extrapolated part of the counter is invalid BOOLEAN RO 0x00 (0
dec
)
6000:09 Status of input A Status of the A-input. BOOLEAN RO 0x00 (0
dec
)
6000:0A Status of input B Status of the B-input. BOOLEAN RO 0x00 (0
dec
)
6000:0B Status of input C Status of the C-input. BOOLEAN RO 0x00 (0
dec
)
6000:0D Status of extern
latch Status of the ext. latch input. BOOLEAN RO 0x00 (0
dec
)
6000:0E Sync error The Sync error bit is only required for DC mode. It indi-
cates whether a synchronization error has occurred dur-
ing the previous cycle. BOOLEAN RO 0x00 (0
dec
)
6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data
of the associated TxPDO is updated. BOOLEAN RO 0x00 (0
dec
)
6000:11 Counter value The counter value. UINT32 RO 0x00000000 (0
dec
)
6000:12 Latch value The latch value. UINT32 RO 0x00000000 (0
dec
)
6000:16 Timestamp Time stamp of the last counter change. UINT32 RO 0x00000000 (0
dec
)
Index 6010 STM Inputs Ch.1
Index Name Meaning Data type Flags Default value
6010:0 STM Inputs Ch.1 Maximum subindex UINT8 RO 0x15 (21
dec
)
6010:01 Ready to enable Driver stage is ready for enabling BOOLEAN RO 0x00 (0
dec
)
6010:02 Ready Driver stage is ready for operation BOOLEAN RO 0x00 (0
dec
)
6010:03 Warning a warning has occurred (see index A010 [ } 164] BOOLEAN RO 0x00 (0
dec
)
6010:04 Error an error has occurred (see index A010 [ } 164])) BOOLEAN RO 0x00 (0
dec
)
6010:05 Moving positive Driver stage is activated in positive direction BOOLEAN RO 0x00 (0
dec
)
6010:06 Moving negative Driver stage is activated in negative direction BOOLEAN RO 0x00 (0
dec
)
6010:07 Torque reduced Reduced torque is active BOOLEAN RO 0x00 (0
dec
)
6010:08 Motor stall A loss of step has occurred BOOLEAN RO 0x00 (0
dec
)
6010:0C Digital input 1 Digital input 1 BOOLEAN RO 0x00 (0
dec
)
6010:0D Digital input 2 Digital input 2 BOOLEAN RO 0x00 (0
dec
)
6010:0E Sync error The Sync error bit is only required for DC mode. It indi-
cates whether a synchronization error has occurred dur-
ing the previous cycle. BOOLEAN RO 0x00 (0
dec
)
6010:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data
of the associated TxPDO is updated. BOOLEAN RO 0x00 (0
dec
)
6010:11 Info data 1 Synchronous information (selection via subindex 8012:11
[
} 157])
UINT16 RO 0x0000 (0
dec
)
6010:12 Info data 2 Synchronous information (selection via subindex 8012:19
[
} 157])
UINT16 RO 0x0000 (0
dec
)
6010:13 Motor load Current motor load
Unit: 0.01° INT16 RO 0x0000 (0
dec
)
6010:14 Internal position Internal microstep position UINT32 RO 0x00000000 (0
dec
)
6010:15 External position Encoder position UINT32 RO 0x00000000 (0
dec
)
EL70x7 161 Version 1.0