Appendix C - special registers
Table C.1 lists the AXER driver special registers. Special registers are numbered from R3001 to R5000.
|
No. |
Tag |
Description |
Unit |
Initial value |
Read only |
Application place |
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R3065 |
_G_Code_A |
values taken from G-codes |
0 |
move,MP | ||
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R3066 |
_G_Code_B |
values taken from G-codes |
0 |
move,MP | ||
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R3067 |
_G_Code_C |
values taken from G-codes |
0 |
move,MP | ||
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R3068 |
_G_Code_D |
values taken from G-codes |
0 |
move,MP | ||
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R3069 |
_G_Code_E |
values taken from G-codes |
0 |
move,MP | ||
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R3070 |
_G_Code_F |
values taken from G-codes |
0 |
move,MP | ||
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R3071 |
_G_Code_G |
values taken from G-codes |
0 |
move,MP | ||
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R3072 |
_G_Code_H |
values taken from G-codes |
0 |
move,MP | ||
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R3073 |
_G_Code_I |
values taken from G-codes |
0 |
move,MP | ||
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R3074 |
_G_Code_J |
values taken from G-codes |
0 |
move,MP | ||
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R3075 |
_G_Code_K |
values taken from G-codes |
0 |
move,MP | ||
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R3076 |
_G_Code_L |
values taken from G-codes |
0 |
move,MP | ||
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R3077 |
_G_Code_M |
values taken from G-codes |
0 |
move,MP | ||
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R3078 |
_G_Code_N |
values taken from G-codes |
0 |
move,MP | ||
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R3079 |
_G_Code_O |
values taken from G-codes |
0 |
move,MP | ||
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R3080 |
_G_Code_P |
values taken from G-codes |
0 |
move,MP | ||
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R3081 |
_G_Code_Q |
values taken from G-codes |
0 |
move,MP | ||
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R3082 |
_G_Code_R |
values taken from G-codes |
0 |
move,MP | ||
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R3083 |
_G_Code_S |
values taken from G-codes |
0 |
move,MP | ||
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R3084 |
_G_Code_T |
values taken from G-codes |
0 |
move,MP | ||
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R3085 |
_G_Code_U |
values taken from G-codes |
0 |
move,MP | ||
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R3086 |
_G_Code_V |
values taken from G-codes |
0 |
move,MP | ||
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R3087 |
_G_Code_W |
values taken from G-codes |
0 |
move,MP | ||
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R3088 |
_G_Code_X |
values taken from G-codes |
0 |
move,MP | ||
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R3089 |
_G_Code_Y |
values taken from G-codes |
0 |
move,MP | ||
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R3090 |
_G_Code_Z |
values taken from G-codes |
0 |
move,MP | ||
|
R3091 |
_G_Code_MG |
1=G, 2=M |
|
MP,move | ||
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R3092 |
_G_Code_Next_X |
X coordinate of the next moving position from G-codes |
|
move,MP | ||
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R3093 |
_G_Code_Next_Y |
Y coordinate of the next moving position from G-codes |
|
move,MP | ||
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R3094 |
_G_Code_Next_Z |
Z coordinate of the next moving position from G-codes |
|
move,MP | ||
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R3095 |
_G_Code_Next_I |
I coordinate of the next moving position from G-codes |
|
move,MP | ||
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R3096 |
_G_Code_Next_J |
J coordinate of the next moving position from G-codes |
|
move,MP | ||
|
R3097 |
_Next_G |
designation of the next G-code, if it is a G1, G2 or G3 movement. Otherwise R3097=0 |
|
move,MP | ||
|
R3098 |
_Last_G |
variable that remembers the value of the last G-code, modified from the GC_READ_LINE block, R3098 = 1 if G1, R3098 = 2 if G2, R3098 = 3 if G3, R3098 = 0 for other G or M values |
|
move,MP | ||
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R3099 |
_Last_MG |
variable that remembers whether the last G-code is an M or a G, modified from the GC_READ_LINE block |
|
move,MP | ||
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R3113 |
_DemandPosition_1 |
current set position |
0 |
MP | ||
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R3114 |
_DemandSpeed_1 |
current set speed |
0 |
MP | ||
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R3115 |
_DemandAccel_1 |
current set acceleration |
0 |
MP | ||
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R3143 |
_DemandPosition_2 |
current set position |
0 |
MP | ||
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R3144 |
_DemandSpeed_2 |
current set speed |
0 |
MP | ||
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R3145 |
_DemandAccel_2 |
current set acceleration |
0 |
MP | ||
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R3173 |
_DemandPosition_3 |
current set position |
0 |
MP | ||
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R3174 |
_DemandSpeed_3 |
current set speed |
0 |
MP | ||
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R3175 |
_DemandAccel_3 |
current set acceleration |
0 |
MP | ||
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R3203 |
_DemandPosition_4 |
current set position |
0 |
MP | ||
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R3204 |
_DemandSpeed_4 |
current set speed |
0 |
MP | ||
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R3205 |
_DemandAccel_4 |
current set acceleration |
0 |
MP | ||
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R3233 |
_DemandPosition_5 |
current set position |
0 |
MP | ||
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R3234 |
_DemandSpeed_5 |
current set speed |
0 |
MP | ||
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R3235 |
_DemandAccel_5 |
current set acceleration |
0 |
MP | ||
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R3263 |
_DemandPosition_6 |
current set position |
0 |
MP | ||
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R3264 |
_DemandSpeed_6 |
current set speed |
0 |
MP | ||
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R3265 |
_DemandAccel_6 |
current set acceleration |
0 |
MP | ||
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R3293 |
_DemandPosition_7 |
current set position |
0 |
MP | ||
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R3294 |
_DemandSpeed_7 |
current set speed |
0 |
MP | ||
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R3295 |
_DemandAccel_7 |
current set acceleration |
0 |
MP | ||
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R3323 |
_DemandPosition_8 |
current set position |
0 |
MP | ||
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R3324 |
_DemandSpeed_8 |
current set speed |
0 |
MP | ||
|
R3325 |
_DemandAccel_8 |
current set acceleration |
0 |
MP | ||
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R3401 |
_Analog_IN1 |
analog input 1 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3402 |
_Analog_IN2 |
analog input 2 (range: from -10 to +10) |
[V] |
0 |
MP | |
|
R3411 |
_Analog_IN1_DF |
analog input 1 with digital filtering (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3412 |
_Analog_IN2_DF |
analog input 2 with digital filtering (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3421 |
_Analog_OUT1 |
analog output 1 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3422 |
_Analog_OUT2 |
analog output 2 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3423 |
_Analog_OUT3 |
analog output 3 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3424 |
_Analog_OUT4 |
analog output 4 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3425 |
_Analog_OUT5 |
analog output 5 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3426 |
_Analog_OUT6 |
analog output 6 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3431 |
_Analog_OUT1_m |
measuring of analog output 1 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3432 |
_Analog_OUT2_m |
measuring of analog output 2 (range: from -10 to +10) |
[V] |
0 |
MP | |
|
R3433 |
_Analog_OUT3_m |
measuring of analog output 3 (range: from -10 to +10) |
[V] |
0 |
MP | |
|
R3434 |
_Analog_OUT4_m |
measuring of analog output 4 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3435 |
_Analog_OUT5_m |
measuring of analog output 5 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3436 |
_Analog_OUT6_m |
measuring of analog output 6 (range: from -10 to +10) |
[V] |
0 |
MP | |
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R3451 |
_STEP1_Count |
Number of pulses sent on the output STEP1 |
0 |
MP | ||
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R3452 |
_STEP2_Count |
Number of pulses sent on the output STEP2 |
0 |
MP | ||
|
R3453 |
_STEP3_Count |
Number of pulses sent on the output STEP3 |
0 |
MP | ||
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R3454 |
_STEP4_Count |
Number of pulses sent on the output STEP4 |
0 |
MP | ||
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R3461 |
_STEP1_Width |
Duration of the step pulse for the channel 1 [ms] |
[ms] |
5 |
MP | |
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R3462 |
_STEP2_Width |
Duration of the step pulse for the channel 2 [ms] |
[ms] |
5 |
MP | |
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R3463 |
_STEP3_Width |
Duration of the step pulse for the channel 3 [ms] |
[ms] |
5 |
MP | |
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R3464 |
_STEP4_Width |
Duration of the step pulse for the channel 4 [ms] |
[ms] |
5 |
MP | |
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R3471 |
_STEP1_Max_Fre |
Maximum frequency in [Hz] of step / direction signals for channel 1 |
[Hz] |
100 000 |
MP | |
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R3472 |
_STEP2_Max_Fre |
Maximum frequency in [Hz] of step / direction signals for channel 2 |
[Hz] |
100 000 |
MP | |
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R3473 |
_STEP3_Max_Fre |
Maximum frequency in [Hz] of step / direction signals for channel 3 |
[Hz] |
100 000 |
MP | |
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R3474 |
_STEP4_Max_Fre |
Maximum frequency in [Hz] of step / direction signals for channel 4 |
[Hz] |
100 000 |
MP | |
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R3500 |
_EncoderScaleFactor_1 |
scaling the encoder input and STEP output units |
1 |
MP |
||
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R3501 |
_EncoderCounter_1 |
value of the counter associated with the encoder |
0 |
MP |
||
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R3502 |
_EncoderPosition_1 |
encoder position after scaling |
0 |
MP |
||
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R3503 |
_EncoderMode_1 |
encoder operation mode |
1 |
MP |
||
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R3504 |
_EncoderDisplacement_1 |
encoder offset in real units |
0 |
MP |
||
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R3505 |
_EncoderPresetValue_1 |
value that is written to the value of the encoder counter at the marker pulse M1061 |
0 |
MP |
||
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R3510 |
_EncoderScaleFactor_2 |
scaling the encoder input and STEP output units |
1 |
MP | ||
|
R3511 |
_EncoderCounter_2 |
value of the counter associated with the encoder |
0 |
MP | ||
|
R3512 |
_EncoderPosition_2 |
encoder position after scaling |
0 |
MP | ||
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R3513 |
_EncoderMode_2 |
encoder operation mode |
1 |
MP | ||
|
R3514 |
_EncoderDisplacement_2 |
encoder offset in real units |
0 |
MP | ||
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R3515 |
_EncoderPresetValue_2 |
value that is written to the value of the encoder counter at the marker pulse M1062 |
0 |
MP | ||
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R3520 |
_EncoderScaleFactor_3 |
scaling the encoder input and STEP output units |
1 |
MP | ||
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R3521 |
_EncoderCounter_3 |
value of the counter associated with the encoder |
0 |
MP | ||
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R3522 |
_EncoderPosition_3 |
encoder position after scaling |
0 |
MP | ||
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R3523 |
_EncoderMode_3 |
encoder operation mode |
1 |
MP | ||
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R3524 |
_EncoderDisplacement_3 |
encoder offset in real units |
0 |
MP | ||
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R3525 |
_EncoderPresetValue_3 |
value that is written to the value of the encoder counter at the marker pulse M1063 |
0 |
MP | ||
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R3530 |
_EncoderScaleFactor_4 |
scaling the encoder input and STEP output units |
1 |
MP | ||
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R3531 |
_EncoderCounter_4 |
value of the counter associated with the encoder |
0 |
MP | ||
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R3532 |
_EncoderPosition_4 |
encoder position after scaling |
0 |
MP | ||
|
R3533 |
_EncoderMode_4 |
encoder operation mode |
1 |
MP | ||
|
R3534 |
_EncoderDisplacement_4 |
encoder offset in real units |
0 |
MP | ||
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R3535 |
_EncoderPresetValue_4 |
value that is written to the value of the encoder counter at the marker pulse M1064 |
0 |
MP | ||
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R3540 |
_EncoderScaleFactor_5 |
scaling the encoder input and STEP output units |
1 |
MP | ||
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R3541 |
_EncoderCounter_5 |
value of the counter associated with the encoder |
0 |
MP | ||
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R3542 |
_EncoderPosition_5 |
encoder position after scaling |
0 |
MP | ||
|
R3543 |
_EncoderMode_5 |
encoder operation mode |
1 |
MP | ||
|
R3544 |
_EncoderDisplacement_5 |
encoder offset in real units |
0 |
MP | ||
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R3545 |
_EncoderPresetValue_5 |
value that is written to the value of the encoder counter at the marker pulse M1065 |
0 |
MP | ||
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R3550 |
_EncoderScaleFactor_6 |
scaling the encoder input and STEP output units |
1 |
MP | ||
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R3551 |
_EncoderCounter_6 |
value of the counter associated with the encoder |
0 |
MP | ||
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R3552 |
_EncoderPosition_6 |
encoder position after scaling |
0 |
MP | ||
|
R3553 |
_EncoderMode_6 |
encoder operation mode |
1 |
MP | ||
|
R3554 |
_EncoderDisplacement_6 |
encoder offset in real units |
0 |
MP | ||
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R3555 |
_EncoderPresetValue_6 |
value that is written to the value of the encoder counter at the marker pulse M1066 |
0 |
MP | ||
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R3560 |
_EncoderScaleFactor_7 |
scaling the encoder input and STEP output units |
1 |
MP | ||
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R3561 |
_EncoderCounter_7 |
value of the counter associated with the encoder |
0 |
MP | ||
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R3562 |
_EncoderPosition_7 |
encoder position after scaling |
0 |
MP | ||
|
R3563 |
_EncoderMode_7 |
encoder operation mode |
1 |
MP | ||
|
R3564 |
_EncoderDisplacement_7 |
encoder offset in real units |
0 |
MP | ||
|
R3565 |
_EncoderPresetValue_7 |
value that is written to the value of the encoder counter at the marker pulse M1067 |
0 |
MP | ||
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R3570 |
_EncoderScaleFactor_8 |
scaling the encoder input and STEP output units |
1 |
MP | ||
|
R3571 |
_EncoderCounter_8 |
value of the counter associated with the encoder |
0 |
MP | ||
|
R3572 |
_EncoderPosition_8 |
encoder position after scaling |
0 |
MP | ||
|
R3573 |
_EncoderMode_8 |
encoder operation mode |
1 |
MP | ||
|
R3574 |
_EncoderDisplacement_8 |
encoder offset in real units |
0 |
MP | ||
|
R3575 |
_EncoderPresetValue_8 |
value that is written to the value of the encoder counter at the marker pulse M1068 |
0 |
MP | ||
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R3580 |
_EncoderScaleFactor_9 |
scaling the encoder input and STEP output units |
1 |
MP | ||
|
R3581 |
_EncoderCounter_9 |
value of the counter associated with the encoder |
0 |
MP | ||
|
R3582 |
_EncoderPosition_9 |
encoder position after scaling |
0 |
MP | ||
|
R3583 |
_EncoderMode_9 |
encoder operation mode |
1 |
MP | ||
|
R3584 |
_EncoderDisplacement_9 |
encoder offset in real units |
0 |
MP | ||
|
R3585 |
_EncoderPresetValue_9 |
value that is written to the value of the encoder counter at the marker pulse M1069 |
0 |
MP | ||
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R3590 |
_EncoderScaleFactor_10 |
scaling the encoder input and STEP output units |
1 |
MP | ||
|
R3591 |
_EncoderCounter_10 |
value of the counter associated with the encoder |
0 |
MP | ||
|
R3592 |
_EncoderPosition_10 |
encoder position after scaling |
0 |
MP | ||
|
R3593 |
_EncoderMode_10 |
encoder operation mode |
1 |
MP | ||
|
R3594 |
_EncoderDisplacement_10 |
encoder offset in real units |
0 |
MP | ||
|
R3595 |
_EncoderPresetValue_10 |
value that is written to the value of the encoder counter at the marker pulse M1070 |
0 |
MP | ||
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R3600 |
_Control_LoopFrequency |
Main control loop frequency |
[Hz] |
1000 |
MP | |
|
R3601 |
_GCodeLineCount |
Number of G-code command lines for the user file |
0 |
MP | ||
|
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|
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R3602 |
_Control_LoopTime_s |
Main control loop duration in seconds | [s] |
0,001 |
MP | |
|
R3603 |
_Control_LoopTime_ms |
Main control loop duration in milli seconds | [ms] |
1 |
MP | |
|
R3604 |
_Control_LoopTime_us |
Main control loop duration in micro seconds | [ms] |
1000 |
MP | |
|
R3605 |
_CycleTime |
Duration of the calculation cycle in micro seconds |
[ms] | 0 | MP | |
|
R3606 |
_CyclePercent |
Percentage of occupancy of the computation cycle |
[%] | 0 | MP | |
|
R3607 |
_No_of_blocks |
Number of function blocks downloaded to the controller |
0 | MP | ||
|
R3608 |
_No_of_GCodeLine |
Number of user G-code lines to execute |
0 | MP | ||
|
R3609 |
_GCodeLinePercent |
Current value of G-code lines executed |
[%] | 0 | MP | |
|
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R3618 |
_ScopeSampleCount |
Number of samples recently saved to the Scope table of the controller |
0 |
MP | ||
|
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|
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|
R3621 |
_GCodeOper1TableCount |
Number of G-code commands for the operation table 1, i.e. the number of table rows with GCodeOperation1LineAddress addresses |
0 |
MP | ||
|
R3622 |
_GCodeOper2TableCount |
Number of G-code commands for the operation table 2, i.e. the number of table rows with GCodeOperation2LineAddress addresses |
0 |
MP | ||
|
R3623 |
_GCodeOper3TableCount |
Number of G-code commands for the operation table 3, i.e. the number of table rows with GCodeOperation3LineAddress addresses |
0 |
MP | ||
|
R3624 |
_GCodeOper4TableCount |
Number of G-code commands for the operation table 4, i.e. the number of table rows with GCodeOperation4LineAddress addresses |
0 |
MP | ||
|
R3625 |
_GCodeOper5TableCount |
Number of G-code commands for the operation table 5, i.e. the number of table rows with GCodeOperation5LineAddress addresses |
0 |
MP | ||
|
R3626 |
_GCodeOper6TableCount |
Number of G-code commands for the operation table 6, i.e. the number of table rows with GCodeOperation6LineAddress addresses |
0 |
MP | ||
|
R3627 |
_GCodeOper7TableCount |
Number of G-code commands for the operation table 7, i.e. the number of table rows with GCodeOperation7LineAddress addresses |
0 |
MP | ||
|
R3628 |
_GCodeOper8TableCount |
Number of G-code commands for the operation table 8, i.e. the number of table rows with GCodeOperation8LineAddress addresses |
0 |
MP | ||
|
R3629 |
_GCodeOper9TableCount |
Number of G-code commands for the operation table 9, i.e. the number of table rows with GCodeOperation9LineAddress addresses |
0 |
MP | ||
|
R3630 |
_GCodeOper10TableCount |
Number of G-code commands for the operation table 10, i.e. the number of table rows with GCodeOperation10LineAddress addresses |
0 |
MP | ||
|
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R3700 |
_FirmwareVersion |
Controller firmware version |
x.xx |
|
MP | |
|
R3701 |
_HardwareVersion |
Controller hardware version |
x.xx |
|
MP | |
|
R3702 |
_ControllerType |
Controller type code |
x.x |
|
MP | |
|
R3703 |
_ProductionDate |
Production date |
xx.xxxx |
|
MP | |
|
R3704 |
_SerialNumber1 |
Serial number |
x | MP | ||
|
R3705 |
_SerialNumber2 |
Serial number |
x |
|
MP | |
|
R3706 |
_SerialNumber3 |
Serial number |
x |
|
MP | |
|
R3707 |
_Controller_Temperature |
Controller temperature |
[°C] |
35 |
MP | |
|
R3708 |
_Battery_Voltage |
Measuring the voltage on the battery of the RTC clock |
[mV] |
3300 |
MP | |
|
R3709 |
_Internall_Voltage |
Measuring the reference voltage |
[mV] |
3300 |
MP | |
|
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|
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|
R3750 |
_Date_Year |
Date - year |
0 |
MP | ||
|
R3751 |
_Date_Month |
Date - month |
0 |
MP | ||
|
R3752 |
_Date_Day |
Date - day of the month |
0 |
MP | ||
|
R3753 |
_Date_Day_of_Week |
Date - day of the week (from 1 - Monday to 7 - Sunday) |
0 |
MP | ||
|
R3754 |
_Time_Hour |
Current time - hour |
0 |
MP | ||
|
R3755 |
_Time_Min |
Current time - minute |
0 |
MP | ||
|
R3756 |
_Time_Sec |
Current time - second |
0 |
MP | ||
|
|
|
|
|
|||
|
R3761 |
_MBS_func_01 |
Currently performed Modbus Slave function for function 01 (ReadCoils) |
0 |
MP | ||
|
R3762 |
_MBS_addr_01 |
Currently performed address of Modbus Slave registers for function 01 (ReadCoils) |
0 |
MP | ||
|
R3763 |
_MBS_num_01 |
Currently performed driver register number for function 01 (ReadCoils) |
0 |
MP | ||
|
R3764 |
_MBS_size_01 |
Current number of Modbus Slave registers for function 01 (ReadCoils) |
0 |
MP | ||
|
R3771 |
_MBS_func_03 |
Currently performed Modbus Slave function for function 03 (ReadHoldingRegisters) |
0 |
MP | ||
|
R3772 |
_MBS_addr_03 |
Currently performed address of Modbus Slave registers for function 03 (ReadHoldingRegisters) |
0 |
MP | ||
|
R3773 |
_MBS_num_03 |
Currently performed driver register number for function 03 (ReadHoldingRegisters) |
0 |
MP | ||
|
R3774 |
_MBS_size_03 |
Current number of Modbus Slave registers for function 03 (ReadHoldingRegisters) |
0 |
MP | ||
|
R3781 |
_MBS_func_15 |
Currently performed Modbus Slave function for function 15 (WriteMultipleCoils) |
0 |
MP | ||
|
R3782 |
_MBS_addr_15 |
Currently performed address of Modbus Slave registers for function 15 (WriteMultipleCoils) |
0 |
MP | ||
|
R3783 |
_MBS_num_15 |
Currently performed driver register number for function 15 (WriteMultipleCoils) |
0 |
MP | ||
|
R3784 |
_MBS_size_15 |
Current number of Modbus Slave registers for function 15 (WriteMultipleCoils) |
0 |
MP | ||
|
R3791 |
_MBS_func_16 |
Currently performed Modbus Slave function for function 16 (WriteMultipleRegisters) |
0 |
MP | ||
|
R3792 |
_MBS_addr_16 |
Currently performed address of Modbus Slave registers for function 16 (WriteMultipleRegisters) |
0 |
MP | ||
|
R3793 |
_MBS_num_16 |
Currently performed driver register number for function 16 (WriteMultipleRegisters) |
0 |
MP | ||
|
R3794 |
_MBS_size_16 |
urrent number of Modbus Slave registers for function 16 (WriteMultipleRegisters) |
0 |
MP | ||
|
|
|
|
|
|||
| R4500 DO R5000 |
zarezerwowany | reserved | 0 | MP |
Note: For the 4s2a version, the active analog outputs are 1,2.