6 Process data
| Process input data
38
Manual Stepper motor module UR20-1SM-50W-6DI2DO-P
2575290000/03/03.2020
6.1 Process input data
Process data inputs UR20-1SM-50W-6DI2DO-P
Byte
Format
Bit
Description
Comment
IB0 ... IB3
Double Word
IX0.0 ... IX3.7 Current position
Current position in increments
IB4 ... IB5
Word
IX4.0 ... IX5.7 Current velocity
Current velocity in increments/s
IB6
Byte
IX6.0 ... IX6.7 –
–
IB7
Byte
IX7.0 ... IX7.7 –
–
IB8
Byte
IX8.0
State DI 0
0 = low, 1 = high
IX8.1
State DI 1
0 = low, 1 = high
IX8.2
State DI 2
0 = low, 1 = high
IX8.3
State DI 3
0 = low, 1 = high
IX8.4
State DI 4
0 = low, 1 = high
IX8.5
State DI 5
0 = low, 1 = high
IX8.6
State DO 0
0 = low, 1 = high
IX8.7
State DO 1
0 = low, 1 = high
IB9
Byte
IX9.0
State homing
0 = homing not made, 1 = homing made
IX9.1
State moving
0 = stopped, 1 = running
IX9.2
State direction
0 = right/cw, 1 = left/ccw
IX9.3
State target position
0 = not reached, 1 = reached
IX9.4
Max traversing exceeded
0 = no, 1 = yes
IX9.5
Max acceleration exceeded
0 = no, 1 = yes
IX9.6
Stepper motor driver
0 = OK, 1 = Error
IX9.7
State power supply
0 = undervoltage, 1 = OK
IB10
Byte
IX10.0
Register address
1)
IX10.1
IX10.2
IX10.3
IX10.4
Moving sets taken over
1)
IX10.5
Register write acknowledge
1)
IX10.6
Register write accepted
1)
IX10.7
Register read abort
1)
IB11
Byte
IX11.0 ... IX11.7 Register read adress
1)
IB12 ... IB15
Double Word
IX12.0 ... IX15.7 Register read data
1)
1) Reserved for future firmware versions
6 Process data
