| K66 Value | Output Values | Streaming | Notes |
|---|---|---|---|
| 1 | Target Speed | When Running | |
| 2 | Current Position | When Running | |
| 3 | Current Speed | When Running | |
| 4 | Current Torque | When Running | |
| 5 | Current Position | When Running | (Always in full resolution) |
| 6 | Current Speed (Same as 3?) | When Running | |
| 7 | Current Torque | When Running | Tx.1=xxx |
| 8 | Motor status, Overload alarm delay | When Running | Overload Alarm Delay=K57/32*5 (Alarm: XX, XX) |
| 9 | Current Iq, Iq Target, Current Id, Id Target | When Running | Iq=Torque Generating current Id= Non-torque generating current |
| 10 | ADIU0, ADIV0, ADSIN, ADCOS | When Running | Encoder Feedback |
| 11 | AnglerealComp, angleReal, Position at full resolution | Always | AngleRealComp = Position Sensor Angle after calculation of sensor phase offset AngleReal = Position Sensor Angle before offset |
| 12 | SinOffset, CosOffset, Position Offset | Always | SinOffset/CosOffset = Position sensor level offset Position Offset = Encoder Calibration Offset |
| 13 | Rotation Count, Distance Target, Distance Real, Position Target, Current Position, Schedule Ready, Distancereal memo, vgenerated | Always | Rotation Count = Current number of full rotations of full resolution Distance Target = Distance Real = Position Target = Target Motor Position Position Real = Current Motor Position Schedule Ready = Ready to schedule new motion Distance Real Memo = Vgenerated = Speed Target |
| 14 | vGenerated, VelocityReal | Always | |
| 15 | VoltageFilter4, OS_input420, ADAIN0 | Always | Voltage Filter 4 = IN4 Analog Input Voltage full resolution followed by motor ID OS_Input420 = Filtered Analog Input Value ADAIN0 = Filtered Analog Input Value |
| 16 | H infinity motor current , Maximum Current Limit | Always | |
| 17 | H infinity motor current | Always | |
| 18 | Integrator State | Always | |
| 19 | Torque.torMeasure.1 Torque.torU.1 | Always | |
| 20 | Position error | Always | |
| 21 | Rolling Average of Torque Squared for Overload detection | Always | |
| 22 | Current Torque Squared | Always | Used in Overload Detection |
| 23 | Manual Feed Speed | Always | |
| 24 | External Encoder count | Always | |
| 25 | Slow speed display | Always | 10s rolling average speed at full resolution |
| 26 | Current position at full resolution, CurrentAngleReal | Always | AngleReal = Position Sensor Angle before offset |
| 27 | NA | Always | |
| 28 | ADCOS, ADSIN, Current AngleReal, Current position at full resolution | Always | |
| 29 | TaskCounter, tm4, positionFilterRes | Always | |
| 30 | OUT1 status, OUT2 status | Always |
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