BECKHOFF EL7037 - Manual (Page 184)

Configuration by means of the TwinCAT System Manager
Index 8021 POS Features Ch.1
Index Name Meaning Data type Flags Default value
8021:0 POS Features
Ch.1 Maximum subindex UINT8 RO 0x16 (22
dec
)
8021:01 Start type permitted values: UINT16 RW 0x0001 (1
dec
)
0: Idle
1: Absolute
2: Relative
3: Endless plus
4: Endless minus
6: Additive
24832: Calibration (Hardware sync)
24576: Calibration (Plc cam)
28416: Calibration (Clear manual)
28160: Calibration (Set manual)
28161: Calibration (Set manual auto)
1029: Modulo current
773: Modulo minus
517: Modulo plus
261: Modulo short
8021:11 Time information permitted values: BIT2 RW 0x00 (0
dec
)
0: Elapsed time
current drive time since start of the travel command
8021:13 Invert calibration
cam search direc-
tion Inversion of the direction of rotation towards the cam BOOLEAN RW 0x01 (1
dec
)
8021:14 Invert sync im-
pulse search di-
rection Inversion of the direction of rotation away from the cam BOOLEAN RW 0x00 (0
dec
)
8021:15 Emergency stop
on position lag er-
ror Triggers an emergency stop if the maximum following er-
ror is exceeded BOOLEAN RW 0x00 (0
dec
)
8021:16 Enhanced diag
history Provides detailed messages about the status of the posi-
tioning interface in the diag history BOOLEAN RW 0x00 (0
dec
)
Command object
Index FB00 STM Command
Index Name Meaning Data type Flags Default value
FB00:0 STM Command Maximum subindex UINT8 RO 0x03 (3
dec
)
FB00:01 Request Requesting a command
0x8000: Software reset
OCTET-
STRING[2] RW {0}
FB00:02 Status Status of the command UINT8 RO 0x00 (0
dec
)
0: No error, without return value
1: No error, with return value
2: With error, without return value
3: With error, with return value
... reserved
255: Command execution active
FB00:03 Response Return value of the executed command OCTET-
STRING[4] RO {0}
EL70x7 184 Version 1.0