#x000002E1 Servotronix Motion Control Ltd. 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Servotronix_Servo Servo Drives Servo Drives 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CD3E CD3E ServoDrive http://www.Servotronix.cn 2000 9000 5000 200 100 2000 60416 8 8 Servotronix_Servo 402 2 STRING(73) 584 STRING(8) 64 STRING(4) 32 USINT 8 UDINT 32 UINT 16 BOOL 1 REAL 32 STRING(1) 8 INT 16 STRING(25) 200 DINT 32 LREAL 64 STRING(382) 3056 STRING(210) 1680 STRING(64) 512 SINT 8 STRING(21) 168 STRING(256) 2048 STRING(38) 304 LINT 64 STRING(18) 144 STRING(512) 4096 STRING(16) 128 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 272 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw DT1601 336 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw DT1A00 304 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw DT1A01 336 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw DT1A02 336 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 32 16 rw DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 48 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT2010 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller Pole Placement Bandwidth 0 REAL 32 16 rw 2 Velocity Controller Pole Placement Bandwidth 1 REAL 32 48 rw 3 Velocity Controller Pole Placement Bandwidth 2 REAL 32 80 rw DT201C 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller Acceleration To Icmd FF Filter Gain 0 REAL 32 16 rw 2 Position Controller Acceleration To Icmd FF Filter Gain 1 REAL 32 48 rw 3 Position Controller Acceleration To Icmd FF Filter Gain 2 REAL 32 80 rw DT201D 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller Acceleration Feed Forward Gain 0 REAL 32 16 rw 2 Position Controller Acceleration Feed Forward Gain 1 REAL 32 48 rw 3 Position Controller Acceleration Feed Forward Gain 2 REAL 32 80 rw DT2022 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller P gain 0 REAL 32 16 rw 2 Position Controller P gain 1 REAL 32 48 rw 3 Position Controller P gain 2 REAL 32 80 rw DT2023 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller Speed Feed Forward Gain 0 REAL 32 16 rw 2 Position Controller Speed Feed Forward Gain 1 REAL 32 48 rw 3 Position Controller Speed Feed Forward Gain 2 REAL 32 80 rw DT2025 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PDFF Feed Forward 0 REAL 32 16 rw 2 Velocity Controller PDFF Feed Forward 1 REAL 32 48 rw 3 Velocity Controller PDFF Feed Forward 2 REAL 32 80 rw DT2026 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PDFF I gain 0 REAL 32 16 rw 2 Velocity Controller PDFF I gain 1 REAL 32 48 rw 3 Velocity Controller PDFF I gain 2 REAL 32 80 rw DT2027 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PDFF P gain 0 REAL 32 16 rw 2 Velocity Controller PDFF P gain 1 REAL 32 48 rw 3 Velocity Controller PDFF P gain 2 REAL 32 80 rw DT202E 80 0 SubIndex 000 USINT 8 0 ro 1 Get all the encoder transmit_receive data 0 UDINT 32 16 ro 2 Get all the encoder transmit_receive data 1 UDINT 32 48 ro DT2040 112 0 SubIndex 000 USINT 8 0 ro 1 Get the 1st 4 byte packet transmited to the encoder 0 UDINT 32 16 ro 2 Get the 1st 4 byte packet transmited to the encoder 1 UDINT 32 48 ro 3 Get the 1st 4 byte packet transmited to the encoder 2 UDINT 32 80 ro DT2042 112 0 SubIndex 000 USINT 8 0 ro 1 Get the 1st 4 byte packet received from the encoder 0 UDINT 32 16 ro 2 Get the 1st 4 byte packet received from the encoder 1 UDINT 32 48 ro 3 Get the 1st 4 byte packet received from the encoder 2 UDINT 32 80 ro DT2044 48 0 SubIndex 000 USINT 8 0 ro 1 Control Temperature INT 16 16 ro 2 Power Temperature INT 16 32 ro DT2050 64 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Mode 0 UINT 16 16 rw 2 Velocity Controller 1st Filter Mode 1 UINT 16 32 rw 3 Velocity Controller 1st Filter Mode 2 UINT 16 48 rw DT2070 144 0 SubIndex 000 USINT 8 0 ro 1 Digital input polarity 0 UINT 16 16 rw 2 Digital input polarity 1 UINT 16 32 rw 3 Digital input polarity 2 UINT 16 48 rw 4 Digital input polarity 3 UINT 16 64 rw 5 Digital input polarity 4 UINT 16 80 rw 6 Digital input polarity 5 UINT 16 96 rw 7 Digital input polarity 6 UINT 16 112 rw 8 Digital input polarity 7 UINT 16 128 rw DT2085 80 0 SubIndex 000 USINT 8 0 ro 1 Phase advance Increment 0 REAL 32 16 rw 2 Phase advance Increment 1 REAL 32 48 rw DT209B 80 0 SubIndex 000 USINT 8 0 ro 1 Digital output polarity 0 UINT 16 16 rw 2 Digital output polarity 1 UINT 16 32 rw 3 Digital output polarity 2 UINT 16 48 rw 4 Digital output polarity 3 UINT 16 64 rw DT209C 80 0 SubIndex 000 USINT 8 0 ro 1 Digital output mode 0 UINT 16 16 rw 2 Digital output mode 1 UINT 16 32 rw 3 Digital output mode 2 UINT 16 48 rw 4 Digital output mode 3 UINT 16 64 rw DT20C3 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller Pole Placement TF 0 REAL 32 16 rw 2 Velocity Controller Pole Placement TF 1 REAL 32 48 rw 3 Velocity Controller Pole Placement TF 2 REAL 32 80 rw DT20D4 64 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller Mode 0 UINT 16 16 rw 2 Velocity Controller Mode 1 UINT 16 32 rw 3 Velocity Controller Mode 2 UINT 16 48 rw DT20DA 400 0 SubIndex 000 USINT 8 0 ro 1 Reserved 0 LREAL 64 16 ro 2 Reserved 1 LREAL 64 80 ro 3 Reserved 2 LREAL 64 144 ro 4 Reserved 3 LREAL 64 208 ro 5 Reserved 4 LREAL 64 272 ro 6 Reserved 5 LREAL 64 336 ro DT20DB 400 0 SubIndex 000 USINT 8 0 ro 1 Reserved 0 LREAL 64 16 ro 2 Reserved 1 LREAL 64 80 ro 3 Reserved 2 LREAL 64 144 ro 4 Reserved 3 LREAL 64 208 ro 5 Reserved 4 LREAL 64 272 ro 6 Reserved 5 LREAL 64 336 ro DT20E0 144 0 SubIndex 000 USINT 8 0 ro 1 Digital input mode 0 UINT 16 16 rw 2 Digital input mode 1 UINT 16 32 rw 3 Digital input mode 2 UINT 16 48 rw 4 Digital input mode 3 UINT 16 64 rw 5 Digital input mode 4 UINT 16 80 rw 6 Digital input mode 5 UINT 16 96 rw 7 Digital input mode 6 UINT 16 112 rw 8 Digital input mode 7 UINT 16 128 rw DT20F2 144 0 SubIndex 000 USINT 8 0 ro 1 voltage value of specific channel 0 REAL 32 16 ro 2 voltage value of specific channel 1 REAL 32 48 ro 3 voltage value of specific channel 2 REAL 32 80 ro 4 voltage value of specific channel 3 REAL 32 112 ro DT211C 5056 0 SubIndex 000 USINT 8 0 ro 1 Variable Gain Set Description 0 STRING(210) 1680 16 rw 2 Variable Gain Set Description 1 STRING(210) 1680 1696 rw 3 Variable Gain Set Description 2 STRING(210) 1680 3376 rw DT211F 112 0 SubIndex 000 USINT 8 0 ro 1 Variable Gain In Use 0 UDINT 32 16 rw 2 Variable Gain In Use 1 UDINT 32 48 rw 3 Variable Gain In Use 2 UDINT 32 80 rw DT2172 112 0 SubIndex 000 USINT 8 0 ro 1 Cancel auto-tune 0 UDINT 32 16 wo 2 Cancel auto-tune 1 UDINT 32 48 wo 3 Cancel auto-tune 2 UDINT 32 80 wo DT2188 528 0 SubIndex 000 USINT 8 0 ro 1 Reserved 0 LREAL 64 16 ro 2 Reserved 1 LREAL 64 80 ro 3 Reserved 2 LREAL 64 144 ro 4 Reserved 3 LREAL 64 208 ro 5 Reserved 4 LREAL 64 272 ro 6 Reserved 5 LREAL 64 336 ro 7 Reserved 6 LREAL 64 400 ro 8 Reserved 7 LREAL 64 464 ro DT2319 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller Speed Feed Forward Filter Pole Frequency 0 REAL 32 16 rw 2 Position Controller Speed Feed Forward Filter Pole Frequency 1 REAL 32 48 rw 3 Position Controller Speed Feed Forward Filter Pole Frequency 2 REAL 32 80 rw DT231A 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller Acceleration Feed Forward Filter Pole Frequency 0 REAL 32 16 rw 2 Position Controller Acceleration Feed Forward Filter Pole Frequency 1 REAL 32 48 rw 3 Position Controller Acceleration Feed Forward Filter Pole Frequency 2 REAL 32 80 rw DT231B 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller Acceleration To Icmd FF Filter Pole Frequency 0 REAL 32 16 rw 2 Position Controller Acceleration To Icmd FF Filter Pole Frequency 1 REAL 32 48 rw 3 Position Controller Acceleration To Icmd FF Filter Pole Frequency 2 REAL 32 80 rw DT232D 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity feedback LPF for velocity controller 0 REAL 32 16 rw 2 Velocity feedback LPF for velocity controller 1 REAL 32 48 rw 3 Velocity feedback LPF for velocity controller 2 REAL 32 80 rw DT2344 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller Pole Placement Gain 0 REAL 32 16 rw 2 Velocity Controller Pole Placement Gain 1 REAL 32 48 rw 3 Velocity Controller Pole Placement Gain 2 REAL 32 80 rw DT2348 64 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Mode 0 UINT 16 16 rw 2 Velocity Controller PreFilter Mode 1 UINT 16 32 rw 3 Velocity Controller PreFilter Mode 2 UINT 16 48 rw DT2349 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Notch Center Frequency 0 REAL 32 16 rw 2 Velocity Controller PreFilter Notch Center Frequency 1 REAL 32 48 rw 3 Velocity Controller PreFilter Notch Center Frequency 2 REAL 32 80 rw DT234A 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Notch Bandwidth 0 REAL 32 16 rw 2 Velocity Controller PreFilter Notch Bandwidth 1 REAL 32 48 rw 3 Velocity Controller PreFilter Notch Bandwidth 2 REAL 32 80 rw DT234B 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Notch Phase 0 REAL 32 16 rw 2 Velocity Controller PreFilter Notch Phase 1 REAL 32 48 rw 3 Velocity Controller PreFilter Notch Phase 2 REAL 32 80 rw DT234C 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Lead Frequency 0 REAL 32 16 rw 2 Velocity Controller PreFilter Lead Frequency 1 REAL 32 48 rw 3 Velocity Controller PreFilter Lead Frequency 2 REAL 32 80 rw DT234D 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Lead Phase 0 REAL 32 16 rw 2 Velocity Controller PreFilter Lead Phase 1 REAL 32 48 rw 3 Velocity Controller PreFilter Lead Phase 2 REAL 32 80 rw DT234E 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Complex Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller PreFilter Complex Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller PreFilter Complex Pole Frequency 2 REAL 32 80 rw DT234F 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Complex Pole Xi 0 REAL 32 16 rw 2 Velocity Controller PreFilter Complex Pole Xi 1 REAL 32 48 rw 3 Velocity Controller PreFilter Complex Pole Xi 2 REAL 32 80 rw DT2350 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Complex Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller PreFilter Complex Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller PreFilter Complex Zero Frequency 2 REAL 32 80 rw DT2351 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Complex Zero Xi 0 REAL 32 16 rw 2 Velocity Controller PreFilter Complex Zero Xi 1 REAL 32 48 rw 3 Velocity Controller PreFilter Complex Zero Xi 2 REAL 32 80 rw DT2352 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller PreFilter Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller PreFilter Zero Frequency 2 REAL 32 80 rw DT2353 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller PreFilter Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller PreFilter Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller PreFilter Pole Frequency 2 REAL 32 80 rw DT2354 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Notch Center 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Notch Center 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Notch Center 2 REAL 32 80 rw DT2355 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Notch Bandwidth 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Notch Bandwidth 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Notch Bandwidth 2 REAL 32 80 rw DT2356 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Notch Phase 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Notch Phase 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Notch Phase 2 REAL 32 80 rw DT2357 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Lead Frequency 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Lead Frequency 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Lead Frequency 2 REAL 32 80 rw DT2358 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Lead Phase 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Lead Phase 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Lead Phase 2 REAL 32 80 rw DT2359 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Complex Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Complex Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Complex Pole Frequency 2 REAL 32 80 rw DT235A 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Complex Pole Xi 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Complex Pole Xi 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Complex Pole Xi 2 REAL 32 80 rw DT235B 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Complex Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Complex Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Complex Zero Frequency 2 REAL 32 80 rw DT235C 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Complex Zero Xi 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Complex Zero Xi 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Complex Zero Xi 2 REAL 32 80 rw DT235D 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Zero Frequency 2 REAL 32 80 rw DT235E 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 1st Filter Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller 1st Filter Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller 1st Filter Pole Frequency 2 REAL 32 80 rw DT235F 64 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Mode 0 UINT 16 16 rw 2 Velocity Controller 2nd Filter Mode 1 UINT 16 32 rw 3 Velocity Controller 2nd Filter Mode 2 UINT 16 48 rw DT2360 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Notch Center 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Notch Center 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Notch Center 2 REAL 32 80 rw DT2361 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Notch Bandwidth 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Notch Bandwidth 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Notch Bandwidth 2 REAL 32 80 rw DT2362 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Notch Phase 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Notch Phase 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Notch Phase 2 REAL 32 80 rw DT2363 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Lead Frequency 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Lead Frequency 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Lead Frequency 2 REAL 32 80 rw DT2364 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Lead Phase 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Lead Phase 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Lead Phase 2 REAL 32 80 rw DT2365 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Complex Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Complex Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Complex Pole Frequency 2 REAL 32 80 rw DT2366 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Complex Pole Xi 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Complex Pole Xi 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Complex Pole Xi 2 REAL 32 80 rw DT2367 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Complex Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Complex Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Complex Zero Frequency 2 REAL 32 80 rw DT2368 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Complex Zero Xi 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Complex Zero Xi 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Complex Zero Xi 2 REAL 32 80 rw DT2369 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Zero Frequency 2 REAL 32 80 rw DT236A 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 2nd Filter Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller 2nd Filter Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller 2nd Filter Pole Frequency 2 REAL 32 80 rw DT236C 64 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Mode 0 UINT 16 16 rw 2 Velocity Controller 3rd Filter Mode 1 UINT 16 32 rw 3 Velocity Controller 3rd Filter Mode 2 UINT 16 48 rw DT236D 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Notch Center 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Notch Center 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Notch Center 2 REAL 32 80 rw DT236E 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Notch Bandwidth 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Notch Bandwidth 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Notch Bandwidth 2 REAL 32 80 rw DT236F 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Notch Phase 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Notch Phase 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Notch Phase 2 REAL 32 80 rw DT2370 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Lead Frequency 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Lead Frequency 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Lead Frequency 2 REAL 32 80 rw DT2371 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Lead Phase 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Lead Phase 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Lead Phase 2 REAL 32 80 rw DT2372 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Complex Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Complex Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Complex Pole Frequency 2 REAL 32 80 rw DT2373 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Complex Pole Xi 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Complex Pole Xi 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Complex Pole Xi 2 REAL 32 80 rw DT2374 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Complex Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Complex Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Complex Zero Frequency 2 REAL 32 80 rw DT2375 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Complex Zero Xi 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Complex Zero Xi 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Complex Zero Xi 2 REAL 32 80 rw DT2376 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Zero Frequency 2 REAL 32 80 rw DT2377 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 3rd Filter Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller 3rd Filter Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller 3rd Filter Pole Frequency 2 REAL 32 80 rw DT2379 64 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Mode 0 UINT 16 16 rw 2 Velocity Controller 4th Filter Mode 1 UINT 16 32 rw 3 Velocity Controller 4th Filter Mode 2 UINT 16 48 rw DT237A 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Notch Center 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Notch Center 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Notch Center 2 REAL 32 80 rw DT237B 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Notch Bandwidth 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Notch Bandwidth 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Notch Bandwidth 2 REAL 32 80 rw DT237C 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Notch Phase 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Notch Phase 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Notch Phase 2 REAL 32 80 rw DT237D 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Lead Frequency 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Lead Frequency 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Lead Frequency 2 REAL 32 80 rw DT237E 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Lead Phase 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Lead Phase 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Lead Phase 2 REAL 32 80 rw DT237F 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Complex Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Complex Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Complex Pole Frequency 2 REAL 32 80 rw DT2380 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Complex Pole Xi 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Complex Pole Xi 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Complex Pole Xi 2 REAL 32 80 rw DT2381 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Complex Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Complex Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Complex Zero Frequency 2 REAL 32 80 rw DT2382 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Complex Zero Xi 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Complex Zero Xi 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Complex Zero Xi 2 REAL 32 80 rw DT2383 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Zero Frequency 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Zero Frequency 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Zero Frequency 2 REAL 32 80 rw DT2384 112 0 SubIndex 000 USINT 8 0 ro 1 Velocity Controller 4th Filter Pole Frequency 0 REAL 32 16 rw 2 Velocity Controller 4th Filter Pole Frequency 1 REAL 32 48 rw 3 Velocity Controller 4th Filter Pole Frequency 2 REAL 32 80 rw DT23A3 208 0 SubIndex 000 USINT 8 0 ro 1 Year DINT 32 16 rw 2 Month DINT 32 48 rw 3 Day of month DINT 32 80 rw 4 Hour DINT 32 112 rw 5 Minute DINT 32 144 rw 6 Second DINT 32 176 rw DT23B1 122896 0 SubIndex 000 USINT 8 0 ro 1 Fault History 0 STRING(256) 2048 16 ro 2 Fault History 1 STRING(256) 2048 2064 ro 3 Fault History 2 STRING(256) 2048 4112 ro 4 Fault History 3 STRING(256) 2048 6160 ro 5 Fault History 4 STRING(256) 2048 8208 ro 6 Fault History 5 STRING(256) 2048 10256 ro 7 Fault History 6 STRING(256) 2048 12304 ro 8 Fault History 7 STRING(256) 2048 14352 ro 9 Fault History 8 STRING(256) 2048 16400 ro 10 Fault History 9 STRING(256) 2048 18448 ro 11 Fault History 10 STRING(256) 2048 20496 ro 12 Fault History 11 STRING(256) 2048 22544 ro 13 Fault History 12 STRING(256) 2048 24592 ro 14 Fault History 13 STRING(256) 2048 26640 ro 15 Fault History 14 STRING(256) 2048 28688 ro 16 Fault History 15 STRING(256) 2048 30736 ro 17 Fault History 16 STRING(256) 2048 32784 ro 18 Fault History 17 STRING(256) 2048 34832 ro 19 Fault History 18 STRING(256) 2048 36880 ro 20 Fault History 19 STRING(256) 2048 38928 ro 21 Fault History 20 STRING(256) 2048 40976 ro 22 Fault History 21 STRING(256) 2048 43024 ro 23 Fault History 22 STRING(256) 2048 45072 ro 24 Fault History 23 STRING(256) 2048 47120 ro 25 Fault History 24 STRING(256) 2048 49168 ro 26 Fault History 25 STRING(256) 2048 51216 ro 27 Fault History 26 STRING(256) 2048 53264 ro 28 Fault History 27 STRING(256) 2048 55312 ro 29 Fault History 28 STRING(256) 2048 57360 ro 30 Fault History 29 STRING(256) 2048 59408 ro 31 Fault History 30 STRING(256) 2048 61456 ro 32 Fault History 31 STRING(256) 2048 63504 ro 33 Fault History 32 STRING(256) 2048 65552 ro 34 Fault History 33 STRING(256) 2048 67600 ro 35 Fault History 34 STRING(256) 2048 69648 ro 36 Fault History 35 STRING(256) 2048 71696 ro 37 Fault History 36 STRING(256) 2048 73744 ro 38 Fault History 37 STRING(256) 2048 75792 ro 39 Fault History 38 STRING(256) 2048 77840 ro 40 Fault History 39 STRING(256) 2048 79888 ro 41 Fault History 40 STRING(256) 2048 81936 ro 42 Fault History 41 STRING(256) 2048 83984 ro 43 Fault History 42 STRING(256) 2048 86032 ro 44 Fault History 43 STRING(256) 2048 88080 ro 45 Fault History 44 STRING(256) 2048 90128 ro 46 Fault History 45 STRING(256) 2048 92176 ro 47 Fault History 46 STRING(256) 2048 94224 ro 48 Fault History 47 STRING(256) 2048 96272 ro 49 Fault History 48 STRING(256) 2048 98320 ro 50 Fault History 49 STRING(256) 2048 100368 ro 51 Fault History 50 STRING(256) 2048 102416 ro 52 Fault History 51 STRING(256) 2048 104464 ro 53 Fault History 52 STRING(256) 2048 106512 ro 54 Fault History 53 STRING(256) 2048 108560 ro 55 Fault History 54 STRING(256) 2048 110608 ro 56 Fault History 55 STRING(256) 2048 112656 ro 57 Fault History 56 STRING(256) 2048 114704 ro 58 Fault History 57 STRING(256) 2048 116752 ro 59 Fault History 58 STRING(256) 2048 118800 ro 60 Fault History 59 STRING(256) 2048 120848 ro DT23B2 122896 0 SubIndex 000 USINT 8 0 ro 1 Warning History 0 STRING(256) 2048 16 ro 2 Warning History 1 STRING(256) 2048 2064 ro 3 Warning History 2 STRING(256) 2048 4112 ro 4 Warning History 3 STRING(256) 2048 6160 ro 5 Warning History 4 STRING(256) 2048 8208 ro 6 Warning History 5 STRING(256) 2048 10256 ro 7 Warning History 6 STRING(256) 2048 12304 ro 8 Warning History 7 STRING(256) 2048 14352 ro 9 Warning History 8 STRING(256) 2048 16400 ro 10 Warning History 9 STRING(256) 2048 18448 ro 11 Warning History 10 STRING(256) 2048 20496 ro 12 Warning History 11 STRING(256) 2048 22544 ro 13 Warning History 12 STRING(256) 2048 24592 ro 14 Warning History 13 STRING(256) 2048 26640 ro 15 Warning History 14 STRING(256) 2048 28688 ro 16 Warning History 15 STRING(256) 2048 30736 ro 17 Warning History 16 STRING(256) 2048 32784 ro 18 Warning History 17 STRING(256) 2048 34832 ro 19 Warning History 18 STRING(256) 2048 36880 ro 20 Warning History 19 STRING(256) 2048 38928 ro 21 Warning History 20 STRING(256) 2048 40976 ro 22 Warning History 21 STRING(256) 2048 43024 ro 23 Warning History 22 STRING(256) 2048 45072 ro 24 Warning History 23 STRING(256) 2048 47120 ro 25 Warning History 24 STRING(256) 2048 49168 ro 26 Warning History 25 STRING(256) 2048 51216 ro 27 Warning History 26 STRING(256) 2048 53264 ro 28 Warning History 27 STRING(256) 2048 55312 ro 29 Warning History 28 STRING(256) 2048 57360 ro 30 Warning History 29 STRING(256) 2048 59408 ro 31 Warning History 30 STRING(256) 2048 61456 ro 32 Warning History 31 STRING(256) 2048 63504 ro 33 Warning History 32 STRING(256) 2048 65552 ro 34 Warning History 33 STRING(256) 2048 67600 ro 35 Warning History 34 STRING(256) 2048 69648 ro 36 Warning History 35 STRING(256) 2048 71696 ro 37 Warning History 36 STRING(256) 2048 73744 ro 38 Warning History 37 STRING(256) 2048 75792 ro 39 Warning History 38 STRING(256) 2048 77840 ro 40 Warning History 39 STRING(256) 2048 79888 ro 41 Warning History 40 STRING(256) 2048 81936 ro 42 Warning History 41 STRING(256) 2048 83984 ro 43 Warning History 42 STRING(256) 2048 86032 ro 44 Warning History 43 STRING(256) 2048 88080 ro 45 Warning History 44 STRING(256) 2048 90128 ro 46 Warning History 45 STRING(256) 2048 92176 ro 47 Warning History 46 STRING(256) 2048 94224 ro 48 Warning History 47 STRING(256) 2048 96272 ro 49 Warning History 48 STRING(256) 2048 98320 ro 50 Warning History 49 STRING(256) 2048 100368 ro 51 Warning History 50 STRING(256) 2048 102416 ro 52 Warning History 51 STRING(256) 2048 104464 ro 53 Warning History 52 STRING(256) 2048 106512 ro 54 Warning History 53 STRING(256) 2048 108560 ro 55 Warning History 54 STRING(256) 2048 110608 ro 56 Warning History 55 STRING(256) 2048 112656 ro 57 Warning History 56 STRING(256) 2048 114704 ro 58 Warning History 57 STRING(256) 2048 116752 ro 59 Warning History 58 STRING(256) 2048 118800 ro 60 Warning History 59 STRING(256) 2048 120848 ro DT23B7 1936 0 SubIndex 000 USINT 8 0 ro 1 Fault active list 0 UDINT 32 16 ro 2 Fault active list 1 UDINT 32 48 ro 3 Fault active list 2 UDINT 32 80 ro 4 Fault active list 3 UDINT 32 112 ro 5 Fault active list 4 UDINT 32 144 ro 6 Fault active list 5 UDINT 32 176 ro 7 Fault active list 6 UDINT 32 208 ro 8 Fault active list 7 UDINT 32 240 ro 9 Fault active list 8 UDINT 32 272 ro 10 Fault active list 9 UDINT 32 304 ro 11 Fault active list 10 UDINT 32 336 ro 12 Fault active list 11 UDINT 32 368 ro 13 Fault active list 12 UDINT 32 400 ro 14 Fault active list 13 UDINT 32 432 ro 15 Fault active list 14 UDINT 32 464 ro 16 Fault active list 15 UDINT 32 496 ro 17 Fault active list 16 UDINT 32 528 ro 18 Fault active list 17 UDINT 32 560 ro 19 Fault active list 18 UDINT 32 592 ro 20 Fault active list 19 UDINT 32 624 ro 21 Fault active list 20 UDINT 32 656 ro 22 Fault active list 21 UDINT 32 688 ro 23 Fault active list 22 UDINT 32 720 ro 24 Fault active list 23 UDINT 32 752 ro 25 Fault active list 24 UDINT 32 784 ro 26 Fault active list 25 UDINT 32 816 ro 27 Fault active list 26 UDINT 32 848 ro 28 Fault active list 27 UDINT 32 880 ro 29 Fault active list 28 UDINT 32 912 ro 30 Fault active list 29 UDINT 32 944 ro 31 Fault active list 30 UDINT 32 976 ro 32 Fault active list 31 UDINT 32 1008 ro 33 Fault active list 32 UDINT 32 1040 ro 34 Fault active list 33 UDINT 32 1072 ro 35 Fault active list 34 UDINT 32 1104 ro 36 Fault active list 35 UDINT 32 1136 ro 37 Fault active list 36 UDINT 32 1168 ro 38 Fault active list 37 UDINT 32 1200 ro 39 Fault active list 38 UDINT 32 1232 ro 40 Fault active list 39 UDINT 32 1264 ro 41 Fault active list 40 UDINT 32 1296 ro 42 Fault active list 41 UDINT 32 1328 ro 43 Fault active list 42 UDINT 32 1360 ro 44 Fault active list 43 UDINT 32 1392 ro 45 Fault active list 44 UDINT 32 1424 ro 46 Fault active list 45 UDINT 32 1456 ro 47 Fault active list 46 UDINT 32 1488 ro 48 Fault active list 47 UDINT 32 1520 ro 49 Fault active list 48 UDINT 32 1552 ro 50 Fault active list 49 UDINT 32 1584 ro 51 Fault active list 50 UDINT 32 1616 ro 52 Fault active list 51 UDINT 32 1648 ro 53 Fault active list 52 UDINT 32 1680 ro 54 Fault active list 53 UDINT 32 1712 ro 55 Fault active list 54 UDINT 32 1744 ro 56 Fault active list 55 UDINT 32 1776 ro 57 Fault active list 56 UDINT 32 1808 ro 58 Fault active list 57 UDINT 32 1840 ro 59 Fault active list 58 UDINT 32 1872 ro 60 Fault active list 59 UDINT 32 1904 ro DT23E3 112 0 SubIndex 000 USINT 8 0 ro 1 Trajectory delay for multi-axes sync 0 DINT 32 16 rw 2 Trajectory delay for multi-axes sync 1 DINT 32 48 rw 3 Trajectory delay for multi-axes sync 2 DINT 32 80 rw DT23E5 112 0 SubIndex 000 USINT 8 0 ro 1 additive torque delay for master-drive sync 0 DINT 32 16 rw 2 additive torque delay for master-drive sync 1 DINT 32 48 rw 3 additive torque delay for master-drive sync 2 DINT 32 80 rw DT26B5 272 0 SubIndex 000 USINT 8 0 ro 1 Safety card password 0 STRING(16) 128 16 wo 2 Safety card password 1 STRING(16) 128 144 wo DT26BA 80 0 SubIndex 000 USINT 8 0 ro 1 Configuration Control UDINT 32 16 rw 2 Configuration Status UDINT 32 48 rw DT26F0 32 0 SubIndex 000 USINT 8 0 ro 1 Safety card - force safety functions 0 USINT 8 16 wo 2 Safety card - force safety functions 1 USINT 8 24 wo DT27C1 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller Speed Feed Forward To Icmd Gain 0 REAL 32 16 rw 2 Position Controller Speed Feed Forward To Icmd Gain 1 REAL 32 48 rw 3 Position Controller Speed Feed Forward To Icmd Gain 2 REAL 32 80 rw DT27C3 112 0 SubIndex 000 USINT 8 0 ro 1 Position Controller Actual Speed Feed Forward To Icmd Filter Pole Freq 0 REAL 32 16 rw 2 Position Controller Actual Speed Feed Forward To Icmd Filter Pole Freq 1 REAL 32 48 rw 3 Position Controller Actual Speed Feed Forward To Icmd Filter Pole Freq 2 REAL 32 80 rw DT608F 80 0 SubIndex 000 USINT 8 0 ro 1 Position encoder resolution 0 UDINT 32 16 rw 2 Position encoder resolution 1 UDINT 32 48 rw DT6091 80 0 SubIndex 000 USINT 8 0 ro 1 Feed UDINT 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6092 80 0 SubIndex 000 USINT 8 0 ro 1 Feed UDINT 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6099 80 0 SubIndex 000 USINT 8 0 ro 1 Homing speed 1 UDINT 32 16 rw 2 Homing speed 2 UDINT 32 48 rw DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation time period value USINT 8 16 rw 2 Interpolation time index USINT 8 24 rw DT60E3 336 0 SubIndex 000 USINT 8 0 ro 1 Supported homing methods 0 SINT 8 16 ro 2 Supported homing methods 1 SINT 8 24 ro 3 Supported homing methods 2 SINT 8 32 ro 4 Supported homing methods 3 SINT 8 40 ro 5 Supported homing methods 4 SINT 8 48 ro 6 Supported homing methods 5 SINT 8 56 ro 7 Supported homing methods 6 SINT 8 64 ro 8 Supported homing methods 7 SINT 8 72 ro 9 Supported homing methods 8 SINT 8 80 ro 10 Supported homing methods 9 SINT 8 88 ro 11 Supported homing methods 10 SINT 8 96 ro 12 Supported homing methods 11 SINT 8 104 ro 13 Supported homing methods 12 SINT 8 112 ro 14 Supported homing methods 13 SINT 8 120 ro 15 Supported homing methods 14 SINT 8 128 ro 16 Supported homing methods 15 SINT 8 136 ro 17 Supported homing methods 16 SINT 8 144 ro 18 Supported homing methods 17 SINT 8 152 ro 19 Supported homing methods 18 SINT 8 160 ro 20 Supported homing methods 19 SINT 8 168 ro 21 Supported homing methods 20 SINT 8 176 ro 22 Supported homing methods 21 SINT 8 184 ro 23 Supported homing methods 22 SINT 8 192 ro 24 Supported homing methods 23 SINT 8 200 ro 25 Supported homing methods 24 SINT 8 208 ro 26 Supported homing methods 25 SINT 8 216 ro 27 Supported homing methods 26 SINT 8 224 ro 28 Supported homing methods 27 SINT 8 232 ro 29 Supported homing methods 28 SINT 8 240 ro 30 Supported homing methods 29 SINT 8 248 ro 31 Supported homing methods 30 SINT 8 256 ro 32 Supported homing methods 31 SINT 8 264 ro 33 Supported homing methods 32 SINT 8 272 ro 34 Supported homing methods 33 SINT 8 280 ro 35 Supported homing methods 34 SINT 8 288 ro 36 Supported homing methods 35 SINT 8 296 ro 37 Supported homing methods 36 SINT 8 304 ro 38 Supported homing methods 37 SINT 8 312 ro 39 Supported homing methods 38 SINT 8 320 ro 40 Supported homing methods 39 SINT 8 328 ro DT60FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw r 2 Bit mask UDINT 32 48 rw r #x1000 Device type UDINT 32 92010200 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(4) 32 63643365 ro #x1009 Hardware version STRING(8) 64 54492D4553432E33 ro #x100A Software version STRING(73) 584 56657273696F6E207878782E7878782E7878782E7878785F736F6D655F6164646974696F6E616C5F696E666F726D6174696F6E2031323A31313A353520417567202078782032303139 ro #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID E1020000 Product code 40049540 Revision 10000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x1600 RxPdoMappingCspCsV DT1600 272 SubIndex 000 08 SubIndex 001 20007A60 SubIndex 002 2000FF60 SubIndex 003 2001FE60 SubIndex 004 10004060 SubIndex 005 1000B260 SubIndex 006 10007160 SubIndex 007 08006060 SubIndex 008 08000000 #x1601 RxPdoReserveMapping DT1601 336 SubIndex 000 0A SubIndex 001 00000000 SubIndex 002 00000000 SubIndex 003 00000000 SubIndex 004 00000000 SubIndex 005 00000000 SubIndex 006 00000000 SubIndex 007 00000000 SubIndex 008 00000000 SubIndex 009 00000000 SubIndex 010 00000000 #x1A00 TxPdoMappingCspCsV DT1A00 304 SubIndex 000 09 SubIndex 001 20006460 SubIndex 002 2000FD60 SubIndex 003 10004160 SubIndex 004 10007860 SubIndex 005 10007460 SubIndex 006 10007760 SubIndex 007 2000F460 SubIndex 008 08006160 SubIndex 009 08000000 #x1A01 TxPdoReserveMapping DT1A01 336 SubIndex 000 0A SubIndex 001 00000000 SubIndex 002 00000000 SubIndex 003 00000000 SubIndex 004 00000000 SubIndex 005 00000000 SubIndex 006 00000000 SubIndex 007 00000000 SubIndex 008 00000000 SubIndex 009 00000000 SubIndex 010 00000000 #x1A02 TxPdoReserveMapping DT1A02 336 SubIndex 000 0A SubIndex 001 00000000 SubIndex 002 00000000 SubIndex 003 00000000 SubIndex 004 00000000 SubIndex 005 00000000 SubIndex 006 00000000 SubIndex 007 00000000 SubIndex 008 00000000 SubIndex 009 00000000 SubIndex 010 00000000 #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SM2 assignment DT1C12 48 SubIndex 000 02 SubIndex 001 0016 SubIndex 002 0116 #x1C13 SM3 assignment DT1C13 64 SubIndex 000 03 SubIndex 001 001A SubIndex 002 011A SubIndex 003 021A #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 #x2002 Target velocity of 2nd step REAL 32 rw #x2003 Current loop back emf compensation gain REAL 32 rw #x2004 Current loop cross compensation gain REAL 32 rw #x2006 Current loop integral gain REAL 32 rw #x2007 Current loop proportional gain REAL 32 rw #x2009 Motor Direction UINT 16 rw #x2010 Velocity Controller Pole Placement Bandwidth DT2010 112 SubIndex 000 03 #x2012 Get total number of encoder transmit set data UDINT 32 ro #x2013 current loop output for d direction REAL 32 ro #x2014 current loop output for q direction REAL 32 ro #x2015 Time duration of 2nd step REAL 32 rw #x2016 Delay time at the end of 2nd step UDINT 32 rw #x2017 Active faults (motor) STRING(1) 8 ro #x2018 Feedback temperature threshold(motor) INT 16 rw #x2019 Active warnings (motor) STRING(1) 8 ro #x201A Consecutive error counter (motor) UDINT 32 ro #x201B Rx counter (motor) UDINT 32 ro #x201C Position Controller Acceleration To Icmd FF Filter Gain DT201C 112 SubIndex 000 03 #x201D Position Controller Acceleration Feed Forward Gain DT201D 112 SubIndex 000 03 #x201E Tx counter (motor) UDINT 32 ro #x2020 Absolute reading indication (motor) UDINT 32 ro #x2021 Tx counter (motor) UDINT 32 ro #x2022 Position Controller P gain DT2022 112 SubIndex 000 03 #x2023 Position Controller Speed Feed Forward Gain DT2023 112 SubIndex 000 03 #x2024 Motor Type UINT 16 rw #x2025 Velocity Controller PDFF Feed Forward DT2025 112 SubIndex 000 03 #x2026 Velocity Controller PDFF I gain DT2026 112 SubIndex 000 03 #x2027 Velocity Controller PDFF P gain DT2027 112 SubIndex 000 03 #x2028 Get total number of encoder transmit transactions UDINT 32 ro #x2029 Tx counter (motor) UDINT 32 ro #x202C P2P profile low pass filter REAL 32 rw #x202E Get all the encoder transmit_receive data DT202E 80 SubIndex 000 02 #x202F Maximum duration at motor peak current REAL 32 rw #x2030 Ignore motor foldback protection faults UDINT 32 rw #x2032 Motor overload protection time constant REAL 32 rw #x2033 Motor Foldback Current (MIFOLD) UINT 16 rw #x2035 Get the number of bytes transmited to the encoder UDINT 32 ro #x2036 Motor Peak Current (MIPEAK) UDINT 32 rw #x2037 Motor Inertia REAL 32 rw #x2038 Motor Force Constant REAL 32 rw #x2039 Motor Torque Constant REAL 32 rw #x203A Motor Line to Line inductance REAL 32 rw #x203D Motor mass REAL 32 rw #x2040 Get the 1st 4 byte packet transmited to the encoder DT2040 112 SubIndex 000 03 #x2041 Get total number of encoder transmit transactions UDINT 32 ro #x2042 Get the 1st 4 byte packet received from the encoder DT2042 112 SubIndex 000 03 #x2044 Drive Temperature DT2044 48 SubIndex 000 02 #x2047 Enable_Disable encode transmit_receive data recording UDINT 32 rw #x2048 Active Disable Time UDINT 32 rw #x204A Active disable speed UDINT 32 rw #x204D IFRIC offset current REAL 32 ro #x204E IFRIC feedforward current REAL 32 ro #x204F Positive feedforward current for coulomb friction REAL 32 rw #x2050 Velocity Controller 1st Filter Mode DT2050 64 SubIndex 000 03 #x2051 Negative feedforward current for coulomb friction REAL 32 rw #x2052 Magnification factor of coulumb feedforward current at start REAL 32 rw #x2053 Use_not use identified friction UDINT 32 rw #x2054 Recover slop of IFRIC offset current at stop REAL 32 rw #x2055 IFRIC state machine state UDINT 32 ro #x2056 IFRIC method type UDINT 32 rw #x2057 Velocity threshold for IFRIC REAL 32 rw #x2058 Velocity signal for coulomb friction UDINT 32 rw #x2059 Viscous friction coefficient for positive velocity REAL 32 rw #x205A Viscous friction coefficient for negative velocity REAL 32 rw #x2060 collision detect mode UDINT 32 rw #x2061 model velocity error derivative REAL 32 ro #x2062 model velocity error REAL 32 ro #x2063 MVED LPF bandwidth REAL 32 rw #x2064 collision threshold REAL 32 rw #x2065 response method to collision UDINT 32 rw #x2069 Drive Foldback Current UINT 16 rw #x206A Drive foldback fault threshold UINT 16 rw #x206C Gravity Compensation (IGRAV) INT 16 rw #x206E collision flag UDINT 32 ro #x206F Estimation of dynamic friction [Nm_(rad_sec)] REAL 32 ro #x2070 Digital input polarity DT2070 144 SubIndex 000 08 #x2071 Estimation of static (coulomb) friction REAL 32 ro #x2072 Phase A current read INT 16 ro #x2074 Estimated LMJR REAL 32 ro #x2079 Status of LMJR estimation process STRING(25) 200 ro #x207A Motor Load ratio REAL 32 rw #x207B Drive Peak Current (DIPEAK) UDINT 32 rw #x207C Drive Continuous Current (DICONT) UDINT 32 rw #x207D Motor pitch REAL 32 rw #x207E Number of Motor poles REAL 32 rw #x207F Motor Line To Line Resistence REAL 32 rw #x2081 Maximum duration of motor foldback clamping actual current REAL 32 rw #x2082 Current loop feed forward gain REAL 32 rw #x2085 Phase advance Increment DT2085 80 SubIndex 000 02 #x209B Digital output polarity DT209B 80 SubIndex 000 04 #x209C Digital output mode DT209C 80 SubIndex 000 04 #x20A1 Over voltage level REAL 32 rw #x20A4 enable phase find DINT 32 rw #x20A5 calculated max speed for maximum torque REAL 32 ro #x20A6 Variable Gain Joint Pcmd REAL 32 ro #x20A8 phase find method DINT 32 rw #x20B0 IcmdProccessor Inuse UDINT 32 ro #x20B2 Nominal PWM frequency REAL 32 rw #x20B5 Indicates whether the position error pos.err is within pos.pe.inpos UDINT 32 ro #x20C0 calculated max speed for zero torque REAL 32 ro #x20C1 Enable_disable field weakening UDINT 32 rw #x20C2 Field weakening max voltage limiter REAL 32 rw #x20C3 Velocity Controller Pole Placement TF DT20C3 112 SubIndex 000 03 #x20CF Under voltage level REAL 32 rw #x20D0 Under Voltage Qualifier UDINT 32 rw #x20D3 Velocity error DINT 32 ro #x20D4 Velocity Controller Mode DT20D4 64 SubIndex 000 03 #x20DA Reserved DT20DA 400 SubIndex 000 06 #x20DB Reserved DT20DB 400 SubIndex 000 06 #x20DF Zeroing process activation DINT 32 rw #x20E0 Digital input mode DT20E0 144 SubIndex 000 08 #x20EF Current loop dead time compensation gain REAL 32 rw #x20F2 voltage value of specific channel DT20F2 144 SubIndex 000 04 #x20F5 Estimated resonance frequency in Notch-Find process REAL 32 ro #x20F8 Max bin value of FFT in Notch-Find process REAL 32 ro #x20F9 Status of Notch-Find process DINT 32 ro #x2105 Velocity Controller Integrator LREAL 64 ro #x2106 anti gravity drop mode UDINT 32 rw #x2107 Current at stop for anti gravity drop In Use UDINT 32 rw #x2108 anti gravity drop mode 1 coefficient REAL 32 rw #x2111 Variable Gain Axis Description STRING(382) 3056 rw #x2114 anti gravity drop mode 2 gain coefficient REAL 32 rw #x2115 anti gravity drop feedforward current REAL 32 ro #x2116 velocity integrator feedforward by antinod REAL 32 ro #x2117 stored current at stop REAL 32 ro #x2119 Variable Gain Activation UDINT 32 rw #x211A Variable Gain Execution UDINT 32 rw #x211C Variable Gain Set Description DT211C 5056 SubIndex 000 03 #x211F Variable Gain In Use DT211F 112 SubIndex 000 03 #x2125 Select ESO design mode UDINT 32 rw #x2126 ESO bandwidth at low velocity REAL 32 rw #x2128 ESO bandwidth at high velocity REAL 32 rw #x2129 ESO bandwidth switching velocity REAL 32 rw #x2130 ESO compensation coefficient REAL 32 rw #x2131 battery ignore UDINT 32 rw #x2132 pos.vcmd.offset REAL 32 rw #x2133 Input Shaper Frequency REAL 32 rw #x2134 Input Shaper Damping Ratio REAL 32 rw #x2135 Counting direction (motor) USINT 8 rw #x2136 Active using Input Shaper UDINT 32 rw #x2137 Input Shaper Mode UDINT 32 rw #x2138 Position Smoothing filter mode UDINT 32 rw #x2139 Active Position Smoothing filter UDINT 32 rw #x213E Fault active indication (motor) UDINT 32 ro #x213F Estimation counter (motor) UDINT 32 ro #x2140 Active PTPVCMD Smoothing UDINT 32 rw #x2141 Moving Average Period Window REAL 32 rw #x2142 Low pass filter frequency REAL 32 rw #x2143 Runaway detection gravity mode In Use indication UDINT 32 rw #x2144 time sample of the fast LMJR and friction estimation REAL 32 ro #x2145 time sample of the slow LMJR and friction estimation REAL 32 ro #x2146 ESO compensation Inuse UDINT 32 rw #x2148 Use_not use IFRIC UDINT 32 rw #x214C Multi turn exist (motor) UDINT 32 ro #x214E Feedback name (motor) STRING(64) 512 ro #x2151 phase find max current amplitude REAL 32 rw #x2153 Feedback temperature (motor) INT 16 ro #x2156 Feedback type (motor) UDINT 32 rw #x215C Warning active indication (motor) UDINT 32 ro #x2163 toggle auto phase find DINT 32 rw #x2169 Autotune time sample REAL 32 ro #x2170 Reset auto-tune UDINT 32 wo #x2172 Cancel auto-tune DT2172 112 SubIndex 000 03 #x2173 Enable delay. Delay enable to eliminate overload IPM bootstrap power supply UINT 16 rw #x2183 init time for interpolation UINT 16 rw #x2186 Multi turn reset (motor) UDINT 32 wo #x2188 Reserved DT2188 528 SubIndex 000 08 #x218E Position Error Delay DINT 32 ro #x221F The PosErrComp State SINT 8 rw #x2220 Set compensation active or inactive. INT 16 ro #x22B4 Acceleration of P2P generator profile REAL 32 rw #x22B7 Decceleration of P2P generator profile REAL 32 rw #x22B8 Decceleration of P2P generator profile REAL 32 rw #x22BA p2p.mode DINT 32 rw #x22C0 Target velocity of P2P generator profile REAL 32 rw #x22CF Acceleration of step profile REAL 32 rw #x22D0 Deceleration of step profile REAL 32 rw #x22D1 Delay time at the end of 1st step UDINT 32 rw #x22D4 Target velocity of 1st step REAL 32 rw #x22D6 Step profile on_off DINT 32 rw #x22D7 Time duration of 1st step REAL 32 rw #x22D9 indicates whether drive completed motion of move command UDINT 32 ro #x2300 Activate burnin mode USINT 8 rw #x2301 Burnin commutation frequency UINT 16 rw #x2302 burnin.on time REAL 32 rw #x2303 Burnin cycle time REAL 32 rw #x2306 Current loop derivative-integral gain REAL 32 rw #x2307 Current loop variable gain REAL 32 rw #x2309 curr.db.istop REAL 32 rw #x230A curr.db.kpfac REAL 32 rw #x230D Dead Time REAL 32 rw #x230E User current command [A] REAL 32 rw #x230F User current limit [A] REAL 32 rw #x2312 IcmdProccessor Operation Mode DINT 32 rw #x2313 Gravity compensation term [A] REAL 32 rw #x2314 Actual current limit [A] REAL 32 ro #x2315 IcmdProccessor_s Icmd before saturation REAL 32 rw #x2316 Position Controller Execute UDINT 32 rw #x2319 Position Controller Speed Feed Forward Filter Pole Frequency DT2319 112 SubIndex 000 03 #x231A Position Controller Acceleration Feed Forward Filter Pole Frequency DT231A 112 SubIndex 000 03 #x231B Position Controller Acceleration To Icmd FF Filter Pole Frequency DT231B 112 SubIndex 000 03 #x231C Low threshold ambient OT warning REAL 32 rw #x231D High threshold ambient OT warning REAL 32 rw #x231E Low threshold IPM OT warning REAL 32 rw #x231F High threshold IPM OT warning REAL 32 rw #x2320 Low threshold CPU OT warning REAL 32 rw #x2321 High threshold CPU OT warning REAL 32 rw #x2322 Low threshold motor OT warning REAL 32 rw #x2323 High threshold motor OT warning REAL 32 rw #x2324 Fault threshold histeresis of power board temperature REAL 32 rw #x2325 Fault threshold of power board temperature REAL 32 rw #x2326 Low threshold IPM OT fault REAL 32 rw #x2327 High threshold IPM OT fault REAL 32 rw #x2328 Fault threshold histeresis of CPU temperature REAL 32 rw #x2329 Fault threshold of CPU temperature REAL 32 rw #x232A Low threshold motor OT fault REAL 32 rw #x232B High threshold motor OT fault REAL 32 rw #x232C Application (user) velocity limit REAL 32 rw #x232D Velocity feedback LPF for velocity controller DT232D 112 SubIndex 000 03 #x232E ESO output LPF bandwidth REAL 32 rw #x232F Internal auxiliary velfilt subfactor for kpafrv factor REAL 32 rw #x2330 Actual velocity limit REAL 32 ro #x2331 Velocity feedback REAL 32 ro #x2333 Phase Swap between U and W phases UINT 16 rw #x2334 Motor dynamic friction REAL 32 rw #x2335 Over Voltage Qualifier UDINT 32 rw #x2336 Low regen threshold REAL 32 rw #x2337 High regen threshold REAL 32 rw #x2338 Regen Resistance REAL 32 rw #x2339 Regen Resistor Power REAL 32 rw #x2340 Regen Max On Time UDINT 32 rw #x2341 Regen Fault Mode UDINT 32 rw #x2342 In-rush open threshold REAL 32 rw #x2343 In-rush close threshold REAL 32 rw #x2344 Velocity Controller Pole Placement Gain DT2344 112 SubIndex 000 03 #x2345 Velocity Controller Execute Flag UDINT 32 rw #x2346 Reserved REAL 32 rw #x2347 Velocity Controller Error Fault Treshold REAL 32 rw #x2348 Velocity Controller PreFilter Mode DT2348 64 SubIndex 000 03 #x2349 Velocity Controller PreFilter Notch Center Frequency DT2349 112 SubIndex 000 03 #x234A Velocity Controller PreFilter Notch Bandwidth DT234A 112 SubIndex 000 03 #x234B Velocity Controller PreFilter Notch Phase DT234B 112 SubIndex 000 03 #x234C Velocity Controller PreFilter Lead Frequency DT234C 112 SubIndex 000 03 #x234D Velocity Controller PreFilter Lead Phase DT234D 112 SubIndex 000 03 #x234E Velocity Controller PreFilter Complex Pole Frequency DT234E 112 SubIndex 000 03 #x234F Velocity Controller PreFilter Complex Pole Xi DT234F 112 SubIndex 000 03 #x2350 Velocity Controller PreFilter Complex Zero Frequency DT2350 112 SubIndex 000 03 #x2351 Velocity Controller PreFilter Complex Zero Xi DT2351 112 SubIndex 000 03 #x2352 Velocity Controller PreFilter Zero Frequency DT2352 112 SubIndex 000 03 #x2353 Velocity Controller PreFilter Pole Frequency DT2353 112 SubIndex 000 03 #x2354 Velocity Controller 1st Filter Notch Center DT2354 112 SubIndex 000 03 #x2355 Velocity Controller 1st Filter Notch Bandwidth DT2355 112 SubIndex 000 03 #x2356 Velocity Controller 1st Filter Notch Phase DT2356 112 SubIndex 000 03 #x2357 Velocity Controller 1st Filter Lead Frequency DT2357 112 SubIndex 000 03 #x2358 Velocity Controller 1st Filter Lead Phase DT2358 112 SubIndex 000 03 #x2359 Velocity Controller 1st Filter Complex Pole Frequency DT2359 112 SubIndex 000 03 #x235A Velocity Controller 1st Filter Complex Pole Xi DT235A 112 SubIndex 000 03 #x235B Velocity Controller 1st Filter Complex Zero Frequency DT235B 112 SubIndex 000 03 #x235C Velocity Controller 1st Filter Complex Zero Xi DT235C 112 SubIndex 000 03 #x235D Velocity Controller 1st Filter Zero Frequency DT235D 112 SubIndex 000 03 #x235E Velocity Controller 1st Filter Pole Frequency DT235E 112 SubIndex 000 03 #x235F Velocity Controller 2nd Filter Mode DT235F 64 SubIndex 000 03 #x2360 Velocity Controller 2nd Filter Notch Center DT2360 112 SubIndex 000 03 #x2361 Velocity Controller 2nd Filter Notch Bandwidth DT2361 112 SubIndex 000 03 #x2362 Velocity Controller 2nd Filter Notch Phase DT2362 112 SubIndex 000 03 #x2363 Velocity Controller 2nd Filter Lead Frequency DT2363 112 SubIndex 000 03 #x2364 Velocity Controller 2nd Filter Lead Phase DT2364 112 SubIndex 000 03 #x2365 Velocity Controller 2nd Filter Complex Pole Frequency DT2365 112 SubIndex 000 03 #x2366 Velocity Controller 2nd Filter Complex Pole Xi DT2366 112 SubIndex 000 03 #x2367 Velocity Controller 2nd Filter Complex Zero Frequency DT2367 112 SubIndex 000 03 #x2368 Velocity Controller 2nd Filter Complex Zero Xi DT2368 112 SubIndex 000 03 #x2369 Velocity Controller 2nd Filter Zero Frequency DT2369 112 SubIndex 000 03 #x236A Velocity Controller 2nd Filter Pole Frequency DT236A 112 SubIndex 000 03 #x236C Velocity Controller 3rd Filter Mode DT236C 64 SubIndex 000 03 #x236D Velocity Controller 3rd Filter Notch Center DT236D 112 SubIndex 000 03 #x236E Velocity Controller 3rd Filter Notch Bandwidth DT236E 112 SubIndex 000 03 #x236F Velocity Controller 3rd Filter Notch Phase DT236F 112 SubIndex 000 03 #x2370 Velocity Controller 3rd Filter Lead Frequency DT2370 112 SubIndex 000 03 #x2371 Velocity Controller 3rd Filter Lead Phase DT2371 112 SubIndex 000 03 #x2372 Velocity Controller 3rd Filter Complex Pole Frequency DT2372 112 SubIndex 000 03 #x2373 Velocity Controller 3rd Filter Complex Pole Xi DT2373 112 SubIndex 000 03 #x2374 Velocity Controller 3rd Filter Complex Zero Frequency DT2374 112 SubIndex 000 03 #x2375 Velocity Controller 3rd Filter Complex Zero Xi DT2375 112 SubIndex 000 03 #x2376 Velocity Controller 3rd Filter Zero Frequency DT2376 112 SubIndex 000 03 #x2377 Velocity Controller 3rd Filter Pole Frequency DT2377 112 SubIndex 000 03 #x2378 Get the number of bytes received from the encoder UDINT 32 ro #x2379 Velocity Controller 4th Filter Mode DT2379 64 SubIndex 000 03 #x237A Velocity Controller 4th Filter Notch Center DT237A 112 SubIndex 000 03 #x237B Velocity Controller 4th Filter Notch Bandwidth DT237B 112 SubIndex 000 03 #x237C Velocity Controller 4th Filter Notch Phase DT237C 112 SubIndex 000 03 #x237D Velocity Controller 4th Filter Lead Frequency DT237D 112 SubIndex 000 03 #x237E Velocity Controller 4th Filter Lead Phase DT237E 112 SubIndex 000 03 #x237F Velocity Controller 4th Filter Complex Pole Frequency DT237F 112 SubIndex 000 03 #x2380 Velocity Controller 4th Filter Complex Pole Xi DT2380 112 SubIndex 000 03 #x2381 Velocity Controller 4th Filter Complex Zero Frequency DT2381 112 SubIndex 000 03 #x2382 Velocity Controller 4th Filter Complex Zero Xi DT2382 112 SubIndex 000 03 #x2383 Velocity Controller 4th Filter Zero Frequency DT2383 112 SubIndex 000 03 #x2384 Velocity Controller 4th Filter Pole Frequency DT2384 112 SubIndex 000 03 #x2385 Stall velocity threshold REAL 32 rw #x2386 Motor Saliency REAL 32 rw #x238B Motor Max Speed REAL 32 rw #x238C Motor Moving indication UDINT 32 rw #x238D Drive maximum duration at drive peak current REAL 32 rw #x238E Drive overload protection time constant REAL 32 rw #x238F Stall current UINT 16 rw #x2390 Drive IPM high temperature threshold for foldback in stall REAL 32 rw #x2391 Drive Foldback time at peak in stall REAL 32 rw #x2392 Drive Foldback time at peak slope via temperature in stall REAL 32 rw #x2393 Stall time UDINT 32 rw #x2394 Phase C current read INT 16 ro #x2395 Power temperature REAL 32 ro #x2396 CPU (MPU) temperature REAL 32 ro #x2397 CPU (core) temperature REAL 32 ro #x2398 CPU (iva) temperature REAL 32 ro #x2399 CPU (gpu) temperature REAL 32 ro #x239A CPU (dsp) temperature REAL 32 ro #x239B CPU average temperature REAL 32 ro #x239C Actual IPM temperature REAL 32 ro #x239D Actual Motor temperature REAL 32 ro #x239E Feedback ID (motor) USINT 8 ro #x23A0 Dummy parameter for test INT 16 rw #x23A1 Dummy parameter for test REAL 32 rw #x23A2 SW reset UINT 16 wo #x23A3 Time and date DT23A3 208 SubIndex 000 06 #x23A6 Product serial number STRING(21) 168 rw #x23A8 Total error counter (motor) UDINT 32 ro #x23A9 Active faults (motor) UDINT 32 ro #x23AA Active warnings (motor) UDINT 32 ro #x23B1 Fault History DT23B1 122896 SubIndex 000 3C #x23B2 Warning History DT23B2 122896 SubIndex 000 3C #x23B3 Brake mode UINT 16 rw #x23B4 Current for brake test UDINT 32 rw #x23B5 NA DINT 32 ro #x23B6 NA INT 16 ro #x23B7 Fault active list DT23B7 1936 SubIndex 000 3C #x23BA Feedback eeprom last error DINT 32 ro #x23BB Feedback eeprom type UDINT 32 rw #x23BC Robot ID STRING(64) 512 rw #x23C0 Variable Gain Payload REAL 32 rw r #x23C1 Variable Gains Axis offset REAL 32 rw #x23C2 Variable Gains Axis position coefficient REAL 32 rw #x23C3 Variable Gains Axis Coupling Ratio REAL 32 rw #x23C4 Variable Gain Set Status DINT 32 ro r #x23C5 Variable Gain Set Status Counter DINT 32 ro r #x23C6 Active Gain Set UDINT 32 rw #x23C7 Variable Gain Change Info UDINT 32 ro #x23D0 Control board serial number STRING(21) 168 rw #x23D1 Control board part number STRING(38) 304 rw #x23D2 Hardware revision STRING(4) 32 rw #x23D3 Power board serial number STRING(21) 168 rw #x23D4 Power board part number STRING(38) 304 rw #x23D5 Hardware revision (10 chars) STRING(4) 32 rw #x23D6 Safety serial number STRING(21) 168 rw #x23D7 Safety product number STRING(38) 304 rw #x23D8 Safety product revision STRING(4) 32 rw #x23D9 Product part number STRING(38) 304 rw #x23DB Maximum Acceleration by Fieldbus command REAL 32 rw #x23DC Runaway detection minimum velocity threshold REAL 32 rw #x23DD Runaway detection minimum distance travelled LINT 64 rw #x23DE Digital ESTOP mode UDINT 32 rw #x23DF Disable delay till stop on path is finished UDINT 32 rw #x23E0 uint.ext.cntr UINT 16 ro #x23E2 uint.run.cntr UINT 16 ro #x23E3 Trajectory delay for multi-axes sync DT23E3 112 SubIndex 000 03 #x23E4 Actual Trajectory delay for multi-axes sync DINT 32 ro #x23E5 additive torque delay for master-drive sync DT23E5 112 SubIndex 000 03 #x23E6 Actial Additive torque delay for master-drive sync DINT 32 ro #x23F1 set velocity fine-tune on_off DINT 32 rw #x23F2 prioratize settling time (0) or tracking (4) DINT 32 rw #x2402 Status of auto-tune STRING(18) 144 ro #x2403 Brake state UDINT 32 ro #x2404 Is Motor Brake Exist UDINT 32 rw #x2405 Time to engage the motor brake UDINT 32 rw #x2406 Time to release the motor brake UDINT 32 rw #x2407 Brake Release Timeout UDINT 32 rw #x2408 Brake output signal USINT 8 ro #x240B Gain Switch trigger mode INT 16 rw #x240C gain switch transition duration between current and next gain set DINT 32 rw #x240D velocity threshold for gain switch triggering REAL 32 rw #x240E acceleration threshold for gain switch triggering REAL 32 rw #x240F gain switch delay between trigger and gain transition start DINT 32 rw #x2410 External input trigger (Terminal or Object ID) for Gain Switch UINT 16 rw #x2411 enable the gain switch feature UINT 16 rw #x2412 index for gain set A for gain switch UINT 16 rw #x2413 index for gain set B for gain switch UINT 16 rw #x2414 index for gain set C for gain switch UINT 16 rw #x242B Enable resonance find in icmd USINT 8 rw #x242C Resonance frequency REAL 32 ro #x2541 Velocity Controller Active 1st Filter Lead Frequency REAL 32 ro #x2543 Velocity Controller Active 1st Filter Lead Phase REAL 32 ro #x2545 Velocity Controller Active 1st Filter Mode UINT 16 ro #x2547 Velocity Controller Active 1st Filter Notch Bandwidth REAL 32 ro #x2549 Velocity Controller Active 1st Filter Notch Center Frequency REAL 32 ro #x254B Velocity Controller Active 1st Filter Notch Phase REAL 32 ro #x254D Velocity Controller Active 1st Filter Pole Frequency REAL 32 ro #x2550 Velocity Controller Active 1st Filter Complex Pole Frequency REAL 32 ro #x2552 Velocity Controller Active 1st Filter Complex Pole Xi REAL 32 ro #x2554 Velocity Controller Active 1st Filter Complex Zero Frequency REAL 32 ro #x2556 Velocity Controller Active 1st Filter Complex Zero Xi REAL 32 ro #x2558 Velocity Controller Active 1st Filter Zero Frequency REAL 32 ro #x255A Velocity Controller Active 2nd Filter Lead Frequency REAL 32 ro #x255C Velocity Controller Active 2nd Filter Lead Phase REAL 32 ro #x255E Velocity Controller Active 2nd Filter Mode UINT 16 ro #x2560 Velocity Controller Active 2nd Filter Notch Bandwidth REAL 32 ro #x2562 Velocity Controller Active 2nd Filter Notch Center Frequency REAL 32 ro #x2564 Velocity Controller Active 2nd Filter Notch Phase REAL 32 ro #x2566 Velocity Controller Active 2nd Filter Pole Frequency REAL 32 ro #x2569 Velocity Controller Active 2nd Filter Complex Pole Frequency REAL 32 ro #x256B Velocity Controller Active 2nd Filter Complex Pole Xi REAL 32 ro #x256D Velocity Controller Active 2nd Filter Complex Zero Frequency REAL 32 ro #x256F Velocity Controller Active 2nd Filter Complex Zero Xi REAL 32 ro #x2571 Velocity Controller Active 2nd Filter Zero Frequency REAL 32 ro #x2573 Velocity Controller Active 3rd Filter Lead Frequency REAL 32 ro #x2575 Velocity Controller Active 3rd Filter Lead Phase REAL 32 ro #x2577 Velocity Controller Active 3rd Filter Mode UINT 16 ro #x2579 Velocity Controller Active 3rd Filter Notch Bandwidth REAL 32 ro #x257B Velocity Controller Active 3rd Filter Notch Center Frequency REAL 32 ro #x257D Velocity Controller Active 3rd Filter Notch Phase REAL 32 ro #x257F Velocity Controller Active 3rd Filter Pole Frequency REAL 32 ro #x2582 Velocity Controller Active 3rd Filter Complex Pole Frequency REAL 32 ro #x2584 Velocity Controller Active 3rd Filter Complex Pole Xi REAL 32 ro #x2586 Velocity Controller Active 3rd Filter Complex Zero Frequency REAL 32 ro #x2588 Velocity Controller Active 3rd Filter Complex Zero Xi REAL 32 ro #x258A Velocity Controller Active 3rd Filter Zero Frequency REAL 32 ro #x258C Velocity Controller Active 4th Filter Lead Frequency REAL 32 ro #x258E Velocity Controller Active 4th Filter Lead Phase REAL 32 ro #x2590 Velocity Controller Active 4th Filter Mode UINT 16 ro #x2592 Velocity Controller Active 4th Filter Notch Bandwidth REAL 32 ro #x2594 Velocity Controller Active 4th Filter Notch Center Frequency REAL 32 ro #x2596 Velocity Controller Active 4th Filter Notch Phase REAL 32 ro #x2598 Velocity Controller Active 4th Filter Pole Frequency REAL 32 ro #x259B Velocity Controller Active 4th Filter Complex Pole Frequency REAL 32 ro #x259D Velocity Controller Active 4th Filter Complex Pole Xi REAL 32 ro #x259F Velocity Controller Active 4th Filter Complex Zero Frequency REAL 32 ro #x25A1 Velocity Controller Active 4th Filter Complex Zero Xi REAL 32 ro #x25A3 Velocity Controller Active 4th Filter Zero Frequency REAL 32 ro #x25A4 Velocity Controller In Use UDINT 32 ro #x25AA Velocity Controller Active PDFF Feed Forward REAL 32 ro #x2661 Velocity Controller Active PDFF I gain REAL 32 ro #x2663 Velocity Controller Active PDFF P gain REAL 32 ro #x2665 Velocity Controller Active Pole Placement Bandwidth REAL 32 ro #x2667 Velocity Controller Active Pole Placement Gain REAL 32 ro #x2669 Velocity Controller Active Pole Placement TF REAL 32 ro #x266B Velocity Controller Active PreFilter Lead Frequency REAL 32 ro #x266D Velocity Controller Active PreFilter Lead Phase REAL 32 ro #x266F Velocity Controller Active PreFilter Mode UINT 16 ro #x2671 Velocity Controller Active PreFilter Notch Bandwidth REAL 32 ro #x2673 Velocity Controller Active PreFilter Notch Center Frequency REAL 32 ro #x2675 Velocity Controller Active PreFilter Notch Phase REAL 32 ro #x2678 Velocity Controller Active PreFilter Complex Pole Frequency REAL 32 ro #x267A Velocity Controller Active PreFilter Complex Pole Xi REAL 32 ro #x267C Velocity Controller Active PreFilter Complex Zero Frequency REAL 32 ro #x267E Velocity Controller Active PreFilter Complex Zero Xi REAL 32 ro #x2680 Velocity Controller Active PreFilter Zero Frequency REAL 32 ro #x2685 A,C,q and r matrices data in JSON format STRING(512) 4096 ro #x2686 select Kalman Filter design Option UDINT 32 rw #x2687 Kalman Filter design process status STRING(512) 4096 ro #x268A Kalman Filter estimated position LINT 64 ro #x2690 Velocity Controller Active PreFilter Pole Frequency REAL 32 ro #x26B0 Safety card FW version UDINT 32 ro #x26B1 Safety card status UDINT 32 rw #x26B2 Safety SW acknowledge command UINT 16 rw #x26B3 Safety card mode UINT 16 rw #x26B4 Safety card SFREE command UINT 16 rw #x26B5 Safety card password DT26B5 272 SubIndex 000 02 #x26B6 Safe digital.in status UINT 16 ro #x26B7 Safe digital.out status UINT 16 ro #x26B8 Safety signals UINT 16 ro #x26B9 sb.access UINT 16 ro #x26BA SB Config DT26BA 80 SubIndex 000 02 #x26BB Safety card configuration name STRING(256) 2048 rw #x26BC sb.password.ctrl UINT 16 rw #x26E5 Velocity feedback Actual LPF for velocity controller REAL 32 ro #x26E6 Velocity feedback LPF for current controller REAL 32 rw #x26F0 Safety card - force safety functions DT26F0 32 SubIndex 000 02 #x26F3 Velocity Controller Active Mode UINT 16 ro #x26F6 Velocity Controller Error REAL 32 ro #x26F9 Velocity Controller feedback REAL 32 ro #x2700 Number Digital Inputs USINT 8 ro #x2701 Number Digital Outputs USINT 8 ro #x2702 Digital Inputs debounce UDINT 32 rw #x2703 ESTOP input indicator UDINT 32 ro #x2704 Brake output indicator UDINT 32 ro #x2705 Runaway detection In Use indication UDINT 32 ro #x2706 motor.foldback.current REAL 32 ro #x27B5 pos.fracbits UINT 16 rw #x27B7 Position Controller Actual Acceleration To Icmd FF Filter Gain REAL 32 ro #x27B9 Position Controller Actual Acceleration To Icmd FF Filter Pole Frequency REAL 32 ro #x27BB Position Controller Actual Acceleration Feed Forward Gain REAL 32 ro #x27BD Position Controller Actual Acceleration Feed Forward Filter Pole Frequency REAL 32 ro #x27BE Position Controller Actual Speed Feed Forward Gain REAL 32 ro #x27C0 Position Controller Actual Speed Feed Forward Filter Pole Frequency REAL 32 ro #x27C1 Position Controller Speed Feed Forward To Icmd Gain DT27C1 112 SubIndex 000 03 #x27C2 Position Controller Actual Speed Feed Forward To Icmd Gain REAL 32 ro #x27C3 Position Controller Actual Speed Feed Forward To Icmd Filter Pole Freq DT27C3 112 SubIndex 000 03 #x27C4 Position Controller Actual Speed Feed Forward To Icmd Filter Pole Frequency REAL 32 ro #x27C7 Position Controller In Use indication UDINT 32 ro #x27C9 Position Controller Actual P gain REAL 32 ro #x27D1 settling time when performing serial move command REAL 32 ro #x603F Error Code UINT 16 ro t #x6040 Controlword UINT 16 rw r #x6041 Statusword UINT 16 ro t #x605A Quick Stop Option Code INT 16 rw #x605D Halt option code INT 16 rw #x6060 Modes of operation SINT 8 rw r #x6061 Modes of operation display SINT 8 ro t #x6062 Position demand value DINT 32 ro #x6064 Position actual value DINT 32 ro t #x6065 Following error window UDINT 32 rw #x606B Velocity demand value DINT 32 ro t #x606C Velocity actual Value DINT 32 ro t #x6071 Target torque INT 16 rw r #x6073 Max current UINT 16 rw #x6074 Torque demand INT 16 ro t #x6075 Motor Rated Current UDINT 32 rw #x6076 Motor Rated Torque UDINT 32 rw #x6077 Torque Actual Value INT 16 ro t #x6078 Current actual value INT 16 ro t #x6079 DC Link Circuit Voltage UDINT 32 ro t #x607A Target position DINT 32 rw r #x607C Homing offset DINT 32 rw #x6080 Max motor speed UDINT 32 rw #x6084 Profile deceleration UDINT 32 rw #x6085 Quick stop deceleration UDINT 32 rw #x608F Position encoder resolution DT608F 80 SubIndex 000 02 #x6091 Gear ratio DT6091 80 SubIndex 000 02 #x6092 Feed constant DT6092 80 SubIndex 000 02 #x6098 Homing method SINT 8 rw #x6099 Homing speed DT6099 80 SubIndex 000 02 #x609A Homing acceleration UDINT 32 rw #x60B0 Position Offset DINT 32 rw #x60B1 Velocity Offset DINT 32 rw r #x60B2 Torque Offset INT 16 rw r #x60B8 Touch Probe Function UINT 16 rw r #x60B9 Touch Probe Status UINT 16 ro t #x60BA Touch probe 1 positive edge DINT 32 ro t #x60C0 Interpolation sub mode select INT 16 rw #x60C2 Interpolation time period DT60C2 32 SubIndex 000 02 Interpolation time period value 00 FF 01 Interpolation time index 80 3F FD #x60E3 Supported homing methods DT60E3 336 SubIndex 000 28 #x60F4 Following Error Actual Value DINT 32 ro t #x60FC Position Demand Internal Value DINT 32 ro #x60FD Digital inputs UDINT 32 ro t #x60FE Digital Outputs DT60FE 80 SubIndex 000 02 Physical outputs 00000000 FFFFFFFF 00000000 Bit mask 00000000 FFFFFFFF 00000000 #x60FF Target velocity DINT 32 rw r #x6502 Supported Drive Modes UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPdoMappingCspCsV #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target Torque INT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch Probe Function UINT #x1601 RxPdoReserveMapping #x1A00 TxPdoMappingCspCsV #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity Actual Value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x60FD 0 32 Digital Inputs UDINT #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe 1 Position Positive Value DINT #x1A01 TxPdoReserveMapping #x1A02 TxPdoReserveMapping PS #x6060 0 08 Opmode DC DC-Synchron #x300 0 0 2048 8001E000640000000000 0010800080108000