Printed in the Federal Republic of Germany
TR-Electronic GmbH 2009, All Rights Reserved
04/23/2020
TR - ELA - BA - DGB - 0015 - 13
Page 77 of 92
6.3 L-Series-EPN MRP (Soft No. 5637, 5641)
The maximum number of magnets is dependent on the loaded soft no:
Soft-No.: 5637
≤
3 magnets
Soft-No.: 5641
≤
30 magnets
Data exchange
Per magnet in the data channel one input double word for the position and one input
word for the velocity are reserved.
Byte
Bit
30 x Input Double Word IDx + 30 x Input Word IWx
X+0
2
24
-2
31
Position value
Magnet 1
X+1
2
16
-2
23
Position value
X+2
2
8
-2
15
Position value
X+3
2
0
-2
7
Position value
X+4
2
8
-2
15
Velocity
X+5
2
0
-2
7
Velocity
X+6
2
24
-2
31
Position value
Magnet 2
X+7
2
16
-2
23
Position value
X+8
2
8
-2
15
Position value
X+9
2
0
-2
7
Position value
X+10
2
8
-2
15
Velocity
X+11
2
0
-2
7
Velocity
X+12
2
24
-2
31
Position value
Magnet 3
X+13
2
16
-2
23
Position value
X+14
2
8
-2
15
Position value
X+15
2
0
-2
7
Position value
X+16
2
8
-2
15
Velocity
X+17
2
0
-2
7
Velocity
...
...
...
...
X+174
2
24
-2
31
Position value
Magnet 30
X+175
2
16
-2
23
Position value
X+176
2
8
-2
15
Position value
X+177
2
0
-2
7
Position value
X+178
2
8
-2
15
Velocity
X+179
2
0
-2
7
Velocity
