BECKHOFF EL7037 - Manual (Page 163)

Configuration by means of the TwinCAT System Manager
Index 7020 POS Outputs Ch.1 (part 2)
Index Name Meaning Data type Flags Default value
7020:22 Start type
0x0000 Idle: No travel command is being executed UINT16 RO 0x0000 (0
dec
)
0x0001 Absolute: Absolute target position UINT16 RO 0x0000 (0
dec
)
0x1001 Absolute (Change): Change during an active travel command UINT16 RO 0x0000 (0
dec
)
0x0002 Relative: Target position relative to the current position UINT16 RO 0x0000 (0
dec
)
0x1002 Relative (Change): Change during an active travel command UINT16 RO 0x0000 (0
dec
)
0x0003 Endless plus: Endless driving in positive direction of rotation UINT16 RO 0x0000 (0
dec
)
0x0004 Endless minus: Endless driving in negative direction of rotation UINT16 RO 0x0000 (0
dec
)
0x0105 Modulo short: Shortest distance to the next modulo position UINT16 RO 0x0000 (0
dec
)
0x0115 Modulo short extended: Shortest distance to the next modulo posi-
tion (without modulo window) UINT16 RO 0x0000 (0
dec
)
0x0205 Modulo plus: Drive in positive direction of rotation to the next modulo
position UINT16 RO 0x0000 (0
dec
)
0x0215 Modulo plus extended: Drive in positive direction of rotation to the
next modulo position (without modulo window) UINT16 RO 0x0000 (0
dec
)
0x0305 Modulo minus: Drive in negative direction of rotation to the next
modulo position UINT16 RO 0x0000 (0
dec
)
0x0315 Modulo minus extended: Drive in negative direction of rotation to the
next modulo position (without modulo window) UINT16 RO 0x0000 (0
dec
)
0x0405 Modulo current: Drive in the last implemented direction of rotation to
the next modulo position UINT16 RO 0x0000 (0
dec
)
0x0415 Modulo current extended: Drive in the last implemented direction of
rotation to the next modulo position (without modulo window) UINT16 RO 0x0000 (0
dec
)
0x0006 Additive: New target position relative/additive to the last target posi-
tion UINT16 RO 0x0000 (0
dec
)
0x1006 Additive (Change): Change during an active travel command UINT16 RO 0x0000 (0
dec
)
0x6000 Calibration, PLC cam: Calibration with cam UINT16 RO 0x0000 (0
dec
)
0x6100 Calibration, HW sync: Calibration with cam and C-track UINT16 RO 0x0000 (0
dec
)
0x6E00 Calibration, set manual: Set calibration manually UINT16 RO 0x0000 (0
dec
)
0x6E01 Calibration, set manual auto: Set automatic calibration, for "Enable =
1" UINT16 RO 0x0000 (0
dec
)
0x6F00 Calibration, clear manual: Clear calibration manually UINT16 RO 0x0000 (0
dec
)
7020:23 Acceleration Acceleration specification UINT16 RO 0x0000 (0
dec
)
7020:24 Deceleration Deceleration specification UINT16 RO 0x0000 (0
dec
)
Information / diagnostic data (channel specific)
Index 9010 STM Info data Ch.1
Index Name Meaning Data type Flags Default value
9010:0 STM Info data
Ch.1 Maximum subindex UINT8 RO 0x13 (19
dec
)
9010:01 Status word Status word (see index A010 [ } 164]) UINT16 RO 0x0000 (0
dec
)
9010:08 Motor velocity Current motor velocity INT16 RO 0x0000 (0
dec
)
9010:09 Internal position Internal position (micro increments) UINT32 RO 0x00000000 (0
dec
)
9010:0B Motor load Current motor load
Unit: 0.01° INT16 RO 0x0000 (0
dec
)
9010:0D Motor dc current Current motor current (DC vector)
Unit: 1 mA INT16 RO 0x0000 (0
dec
)
9010:0E Tn (curr.) Internally calculated time constant of the current con-
troller
Unit: 0.01 ms UINT16 RO 0x0000 (0
dec
)
9010:13 External position External position (connected encoder) UINT32 RO 0x00000000 (0
dec
)
EL70x7 163 Version 1.0