Beckhoff EL7031, Документация

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Commissioning
EL70x1 177 Version: 4.4
5.9.4 Input data
Index 6000 ENC Inputs Ch.1
Index (hex) Name Meaning Data type Flags Default
6000:0 ENC Inputs Ch.1 Maximum subindex UINT8 RO 0x16 (22
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
)
6000:0D 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 (hex) Name Meaning Data type Flags Default
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 BOOLEAN RO 0x00 (0
dec
)
6010:04 Error An error has occurred (see index 0xA010) BOOLEAN RO 0x00 (0
dec
)
6010:05 Moving positive Motor turns in positive direction BOOLEAN RO 0x00 (0
dec
)
6010:06 Moving negative Motor turns in negative direction BOOLEAN RO 0x00 (0
dec
)
6010:07 Torque reduced Reduced torque is active 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
0x8012:11) UINT16 RO 0x0000 (0
dec
)
6010:12 Info data 2 Synchronous information (selection via subindex
0x8012:19) UINT16 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
)