6 Process data
| Process output data
39
Manual Stepper motor module UR20-1SM-50W-6DI2DO-P
2575290000/03/03.2020
6.2 Process output data
Process data outputs UR20-1SM-50W-6DI2DO-P
Byte
Format
Bit
Description
Comment
QB0 ... QB3
Double Word
QX0.0 ... QX3.7 Target position
Target position in increments or
set current position in increments or
load value encoder in increments
QB4 ... QB5
Word
QX4.0 ... QX5.7 Target velocity
Target velocity in increments/s
QB6 ... QB7
Word
QX6.0 ... QX7.7 Target acceleration
Target acceleration in increments/s
2
QB8
Byte
QX8.0
Acceleration
0 = constant, 1 = linear
)
,
2 = optimal
)
, 3 = reserved
QX8.1
QX8.2
Moving mode
0 = absolute, 1 = relative,
2 = motion profile
1)
, 3 = reserved
QX8.3
QX8.4
Moving time-optimized
1)
0 = disabled, 1 = enabled
QX8.5
Position change
0 = off, 1 = on
QX8.6
Set DO 0
0 = low, 1 = high
QX8.7
Set DO 1
0 = low, 1 = high
QB9
Byte
QX9.0
Homing
0 = disabled, Edge 0-1 = start homing
QX9.1
Moving
0 = disabled, Edge 0-1 = start moving
QX9.2
Set encoder value
Edge 0-1 = start load value encoder
QX9.3
Set current position
Edge 0-1 = start load current position
QX9.4
Jog right/cw
0 = disabled, 1 = Jog right/cw
QX9.5
Jog left/ccw
0 = disabled, 1 = Jog left/ccw
QX9.6
Acknowledge error motor driver
0 = disabled, 1 = acknowledge
QX9.7
Enable motor driver
0 = off, 1 = on
QB10
Byte
QX10.0
Register address
1)
QX10.1
QX10.2
QX10.3
QX10.4
Control bit write more moving sets
1)
QX10.5
–
QX10.6
Register read or write
1)
QX10.7
Register access request
1)
QB11
Byte
QX11.0 ... QX11.7 Register write adress
1)
QB12 ... QB15
Double Word QX12.0 ... QX15.7 Register write data
1)
1) Reserved for future firmware versions
