#x000002E1 Servotronix Motion Control Ltd. 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Servotronix_Servo Servo Drives Servo Drives 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LDHD3 LDHD3 ServoDrive http://www.Servotronix.cn 10000 10000 5000 200 100 2000 Servotronix_Servo 402 STRING(19) 152 STRING(3) 24 STRING(5) 40 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 DINT 32 INT 16 SINT 8 DT1010ARR UDINT 32 1 1 DT1010 48 0 SubIndex 000 USINT 8 0 ro Elements DT1010ARR 32 16 rw DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro Elements DT1011ARR 32 16 rw 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 DT10F0 48 0 SubIndex 000 USINT 8 0 ro 1 Checksum UDINT 32 16 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 336 0 SubIndex 000 USINT 8 0 rw 1 1st Input Object to be mapped UDINT 32 16 rw 2 2nd Input Object to be mapped UDINT 32 48 rw 3 3rd Input Object to be mapped UDINT 32 80 rw 4 4th Input Object to be mapped UDINT 32 112 rw 5 5th Input Object to be mapped UDINT 32 144 rw 6 6th Input Object to be mapped UDINT 32 176 rw 7 7th Input Object to be mapped UDINT 32 208 rw 8 8th Input Object to be mapped UDINT 32 240 rw 9 9th Input Object to be mapped UDINT 32 272 rw 10 10th Input Object to be mapped UDINT 32 304 rw DT1601 80 0 SubIndex 000 USINT 8 0 rw 1 1st Input Object to be mapped UDINT 32 16 rw 2 2nd Input Object to be mapped UDINT 32 48 rw DT1602 80 0 SubIndex 000 USINT 8 0 rw 1 1st Input Object to be mapped UDINT 32 16 rw 2 2nd Input Object to be mapped UDINT 32 48 rw DT1603 80 0 SubIndex 000 USINT 8 0 rw 1 1st Input Object to be mapped UDINT 32 16 rw 2 2nd Input Object to be mapped UDINT 32 48 rw DT1A00 336 0 SubIndex 000 USINT 8 0 rw 1 1st Output Object to be mapped UDINT 32 16 rw 2 2nd Output Object to be mapped UDINT 32 48 rw 3 3rd Output Object to be mapped UDINT 32 80 rw 4 4th Output Object to be mapped UDINT 32 112 rw 5 5th Output Object to be mapped UDINT 32 144 rw 6 6th Output Object to be mapped UDINT 32 176 rw 7 7th Output Object to be mapped UDINT 32 208 rw 8 8th Output Object to be mapped UDINT 32 240 rw 9 9th Output Object to be mapped UDINT 32 272 rw 10 10th Output Object to be mapped UDINT 32 304 rw DT1A01 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw DT1A02 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw DT1A03 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 16 16 rw DT1C13ARR UINT 16 1 1 DT1C13 32 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 16 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 DT2000 480 0 SubIndex 000 USINT 8 0 ro 1 DICONT DINT 32 16 ro 2 DIPEAK DINT 32 48 ro 3 COMMODE UINT 16 80 rw 4 DRIVETYPE UINT 16 96 rw 5 LINELOSSMODE UINT 16 112 rw 6 LINELOSSRECOVER UINT 16 128 rw 7 LINELOSSTYPE UINT 16 144 rw 9 UVMODE UINT 16 160 rw 10 UVTHRESH UDINT 32 176 rw 11 UVTIME UINT 16 208 rw 12 UVRECOVER UINT 16 224 rw 14 IUOFFSET DINT 32 240 ro 15 IVOFFSET DINT 32 272 ro 16 RELAYOFFVOLT DINT 32 304 rw 17 RELAYONVOLT DINT 32 336 rw 48 DRIVETEMP DINT 32 368 ro 50 UPGRADE UINT 16 400 rw 52 EEPROMVER DINT 32 416 ro 53 EEPROMVERDATE DINT 32 448 ro DT2001 1088 0 SubIndex 000 USINT 8 0 ro 1 MTPMODE UINT 16 16 rw 2 MOTORTYPE UINT 16 32 rw 3 MPOWER UDINT 32 48 rw 4 MVOLT DINT 32 80 rw 5 MPOLES UINT 16 112 rw 6 MPITCH DINT 32 128 rw 7 MRATEDSPEED UDINT 32 160 rw 8 MSPEED UDINT 32 192 rw 9 MRATEDT DINT 32 224 rw 10 MICONT DINT 32 256 rw 11 MIPEAK DINT 32 288 rw 12 MICHAR DINT 32 320 rw 13 MKT DINT 32 352 rw 14 MKE DINT 32 384 rw 15 MKF DINT 32 416 rw 16 MR DINT 32 448 rw 17 ML DINT 32 480 rw 18 MLD DINT 32 512 rw 19 MLQ DINT 32 544 rw 20 MLSCM DINT 32 576 rw 21 MLSCOEF DINT 32 608 rw 22 MMAXT DINT 32 640 rw 23 MJ DINT 32 672 rw 24 MMASS DINT 32 704 rw 25 MACC DINT 32 736 rw 26 MDEC DINT 32 768 rw 27 MAXACC DINT 32 800 rw 28 MAXDEC DINT 32 832 rw 29 OUTBRAKEENGAGETIME UINT 16 864 rw 30 OUTBRAKERELEASETIME UINT 16 880 rw 31 OUTBRAKESAFESPD UDINT 32 896 rw 37 MPHASE UINT 16 928 rw 38 ELECTANGLE UINT 16 944 ro 39 MECHANGLE UINT 16 960 ro 41 HALLMODE UINT 16 976 rw 42 HALLSINV UINT 16 992 rw 43 HALLINITHOLDTIME UINT 16 1008 rw 44 HALLINITOVERTIME UINT 16 1024 rw 45 HALLOVERTIME UDINT 32 1040 rw 46 HALLSDIR UINT 16 1072 rw DT2002 400 0 SubIndex 000 USINT 8 0 ro 1 FEEDBACKTYPE UINT 16 16 rw 2 MENCTYPE UINT 16 32 rw 3 MENCTYPEUSER UINT 16 48 rw 5 MENCRES DINT 32 64 rw 7 ENCOUTMODE UINT 16 96 rw 8 ENCOUTRES DINT 32 112 rw 9 ENCOUTZPOS UDINT 32 144 rw 10 IENCRESOFFSET DINT 32 176 rw 14 ENCMULTITURNENDLESS UINT 16 208 rw 15 ENCMULTITURNMODE UINT 16 224 rw 16 ENCMULTITURNOFFSET UINT 16 240 rw 17 ENCMULTITURNTHRESH UINT 16 256 rw 18 ENCMULTITURNTIME UINT 16 272 rw 25 BATFLTCLR UINT 16 288 rw 26 IGNOREBATTFLT UINT 16 304 rw 27 ENCFLTCLRMODE UINT 16 320 rw 28 MENCERRTHRESH UINT 16 336 rw 36 MSININT INT 16 352 rw 45 PM1ENC UDINT 32 368 rw DT2003 48 0 SubIndex 000 USINT 8 0 ro 1 MOTORSETUP INT 16 16 rw 3 DIR UINT 16 32 rw DT2004 608 0 SubIndex 000 USINT 8 0 ro 1 OPMODE UINT 16 16 rw 3 PDEN UDINT 32 32 rw 4 PNUM UDINT 32 64 rw 5 FBGDS UDINT 32 96 rw 6 FBGMS UDINT 32 128 rw 7 GEARIN DINT 32 160 rw 8 GEAROUT DINT 32 192 rw 9 GEARTOTALMAX DINT 32 224 ro 10 GEARTOTALMIN DINT 32 256 ro 11 JOGSPD1 DINT 32 288 rw 12 DECSTOP UDINT 32 320 rw 13 DECSTOPTIME UINT 16 352 rw 14 PWMSWITCHEN UINT 16 368 rw 15 REGENPOW DINT 32 384 rw 16 REGENRES DINT 32 416 rw 17 SWENMODE INT 16 448 rw 18 REGENCHECKENABLE UINT 16 464 ro 19 REGENMAXONTIME UINT 16 480 rw 20 REGENMAXPOW UDINT 32 496 rw 21 REGENTYPE INT 16 528 rw 22 ZCLAMPMODE INT 16 544 rw 23 ZCLAMPVEL UDINT 32 560 rw 25 LOADTYPE UINT 16 592 rw DT2005 112 0 SubIndex 000 USINT 8 0 ro 2 INMODE_Index UINT 16 16 rw 3 INMODE_Value UINT 16 32 rw 4 ININV_Index UINT 16 48 rw 5 ININV_Value UINT 16 64 rw 6 INFLTTIME_Index UINT 16 80 rw 7 INFLTTIME_Value UINT 16 96 rw DT2006 80 0 SubIndex 000 USINT 8 0 ro 2 OUTMODE_Index UINT 16 16 rw 3 OUTMODE_Value UINT 16 32 rw 4 OUTINV_Index UINT 16 48 rw 5 OUTINV_Value UINT 16 64 rw DT2007 416 0 SubIndex 000 USINT 8 0 ro 1 DISMODE UINT 16 16 rw 2 DISSPEED UDINT 32 32 rw 3 DISTIME UINT 16 64 rw 4 DISTOTALTIME UINT 16 80 rw 5 MOTORPHASESCAN UINT 16 96 rw 6 MOTORPHASESCANCUR UDINT 32 112 rw 7 MOTORPHASESCANMODE UINT 16 144 rw 8 OVELTHRESH UDINT 32 160 rw 9 OVELTIME UINT 16 192 rw 13 STALLI DINT 32 208 rw 14 STALLTIME UINT 16 240 rw 15 STALLVEL UDINT 32 256 rw 16 STOMODE UINT 16 288 rw 17 STORECOVERMODE UINT 16 304 rw 21 OCTHRESH DINT 32 320 rw 22 OVTHRESH UDINT 32 352 ro 24 ISTOP DINT 32 384 rw DT2008 624 0 SubIndex 000 USINT 8 0 ro 1 COMMERRITHRESH DINT 32 16 rw 2 COMMERRMODE UINT 16 48 rw 3 COMMERRPTHRESH DINT 32 64 rw 4 COMMERRTTHRESH UINT 16 96 rw 5 COMMERRVTHRESH UINT 16 112 rw 6 PASV DINT 32 128 rw 7 PEMAX UDINT 32 160 rw 8 PEMAX2 UDINT 32 192 rw 9 PEMAXTIME UINT 16 224 rw 10 POSLIMMODE UINT 16 240 rw 11 POSLIMNEG UDINT 32 256 rw 12 POSLIMNEG2 UDINT 32 288 rw 13 POSLIMPOS UDINT 32 320 rw 14 POSLIMPOS2 UDINT 32 352 rw 15 POSLIMRECTHRESH UDINT 32 384 rw 16 VEMAX UDINT 32 416 rw 17 VETIME UINT 16 448 rw 18 VLIM UDINT 32 464 rw 19 VMAX UDINT 32 496 ro 20 ILIM DINT 32 528 rw 23 VLIMT DINT 32 560 rw 24 IMAX DINT 32 592 ro DT2009 336 0 SubIndex 000 USINT 8 0 ro 1 MFOLD INT 16 16 ro 2 MFOLDR DINT 32 32 ro 3 MIFOLD DINT 32 64 ro 4 MFOLDD DINT 32 96 rw 5 MFOLDDIS UINT 16 128 rw 6 MFOLDF DINT 32 144 rw 7 MFOLDT DINT 32 176 rw 8 MIFOLDFTHRESH DINT 32 208 rw 9 MIFOLDWTHRESH DINT 32 240 rw 10 IFOLD DINT 32 272 ro 11 IFOLDFTHRESH DINT 32 304 rw DT2010 224 0 SubIndex 000 USINT 8 0 ro 3 ACC DINT 32 16 rw 4 DEC DINT 32 48 rw 5 MOVESMOOTHAVG DINT 32 80 rw 6 MOVESMOOTHMODE UINT 16 112 rw 7 PEINPOS UDINT 32 128 rw 8 PEINPOSTIME UINT 16 160 rw 9 LMJR DINT 32 176 rw 10 RIGID UINT 16 208 rw DT2015 544 0 SubIndex 000 USINT 8 0 ro 1 GSEN INT 16 16 rw 2 GSMODE INT 16 32 rw 4 GSLEVEL DINT 32 48 rw 5 GSTIME UDINT 32 80 rw 6 GSDELAY UDINT 32 112 rw 7 GSHYST DINT 32 144 rw 8 GSPCMDTHRESH DINT 32 176 rw 10 GSRIGID UINT 16 208 rw 11 GSKPP DINT 32 224 rw 14 GSKVP DINT 32 256 rw 15 GSKVI DINT 32 288 rw 16 GSICMDLPF UDINT 32 320 rw 25 GSLPFEN INT 16 352 rw 57 ROBGSEN INT 16 368 rw 58 ROBGSACC DINT 32 384 rw 59 ROBGSSLOPTIME INT 16 416 rw 60 ROBGSSTABLETIME INT 16 432 rw 61 ROBGSTARGETRIGID INT 16 448 rw 62 ROBGSTARGETRIGID2 INT 16 464 rw 63 ROBGSVELMAX DINT 32 480 rw 64 ROBGSVELMIN DINT 32 512 rw DT2016 560 0 SubIndex 000 USINT 8 0 ro 1 KPBW DINT 32 16 rw 2 KPP DINT 32 48 rw 3 KPI DINT 32 80 rw 4 KPD DINT 32 112 rw 5 KPAFRC DINT 32 144 rw 6 KPAFRCLPF UDINT 32 176 rw 7 KPAFRV DINT 32 208 rw 8 KPAFRVLPF UDINT 32 240 rw 9 KPAFRVMODE UDINT 32 272 rw 10 KPAFRVVEL UDINT 32 304 rw 11 KPE DINT 32 336 rw 12 KPEFRC DINT 32 368 rw 13 KPEFRCLPF UDINT 32 400 rw 14 KPVFR DINT 32 432 rw 15 KPVFRLPF UDINT 32 464 rw 16 KPVFRR DINT 32 496 rw 24 PCMDFWLPFBD INT 16 528 rw 25 PCMDFWPHASEK UINT 16 544 rw DT2017 688 0 SubIndex 000 USINT 8 0 ro 1 SOBBW DINT 32 16 rw 2 SOBJCOMPCOEF DINT 32 48 rw 3 SOBTGAIN DINT 32 80 rw 4 SOBTINTC DINT 32 112 rw 5 SOBTOUTTC DINT 32 144 rw 6 SOBVFBK2 DINT 32 176 ro 7 SOBVFBKTYPE INT 16 208 rw 13 PAEN INT 16 224 rw 14 PAF DINT 32 240 rw 19 PALPFFREQ UDINT 32 272 rw 20 VELFILTFRQ UDINT 32 304 rw 21 VELFILTMODE UINT 16 336 rw 22 VELTHRESH UDINT 32 352 rw 23 VELTHRESHTIME UINT 16 384 rw 24 VELWINDOW UDINT 32 400 rw 25 VELWINDOWTIME UINT 16 432 rw 26 FILTMODE UINT 16 448 rw 27 KVBW DINT 32 464 rw 28 KVFR DINT 32 496 rw 29 KVFRC DINT 32 528 rw 30 KVFRCLPF UDINT 32 560 rw 31 KVI DINT 32 592 rw 32 KVP DINT 32 624 rw 33 KVTI DINT 32 656 rw DT2018 448 0 SubIndex 000 USINT 8 0 ro 1 CLVD DINT 32 16 rw 2 CLVQ DINT 32 48 rw 3 IADCHYST UDINT 32 80 rw 4 IADCSWITCH UINT 16 112 rw 5 IADCTHRESH UDINT 32 128 rw 6 ICMDLPF UDINT 32 160 rw 7 KCA DINT 32 192 rw 8 KCBEMF DINT 32 224 rw 9 KCBW DINT 32 256 rw 10 KCFF DINT 32 288 rw 11 KCGLOBALGAIN DINT 32 320 rw 12 KCI DINT 32 352 rw 13 KCP DINT 32 384 rw 14 KCTICOEF DINT 32 416 rw DT2019 288 0 SubIndex 000 USINT 8 0 ro 1 PFBOFFSET UDINT 32 16 wo 2 PFBOFFSET2 UDINT 32 48 wo 3 HOMEACC DINT 32 80 rw 4 HOMEDONE INT 16 112 rw 5 HOMEERRCHKMODE INT 16 128 rw 6 HOMEOFFSET DINT 32 144 rw 7 HOMEOFSTMOVE UINT 16 176 rw 8 HOMEPTEN INT 16 192 rw 9 HOMESPEED1 DINT 32 208 rw 10 HOMESPEED2 DINT 32 240 rw 11 HOMETYPE INT 16 272 rw DT201A 32 0 SubIndex 000 USINT 8 0 ro 1 INFLTTIME2 UINT 16 16 rw DT2020 32 0 SubIndex 000 USINT 8 0 ro 1 ADDR UINT 16 16 rw DT2021 272 0 SubIndex 000 USINT 8 0 ro 14 FBINTTYPE INT 16 16 rw 15 FBINTTYPEDELAY INT 16 32 rw 16 FBITIDX INT 16 48 rw 17 FBITPRD UINT 16 64 rw 39 ECCOMPMODE UINT 16 80 rw 40 ECCRMODE UINT 16 96 rw 41 ECMAXMISSCNT UINT 16 112 rw 42 ECML UINT 16 128 rw 63 BIT12THRESH INT 16 144 rw 64 DCSYNC UINT 16 160 rw 65 DITHERFRQ UDINT 32 176 rw 66 DITHERMODE UINT 16 208 rw 67 DITHERTHRESH DINT 32 224 rw 68 FEEDFORWARDTYPE INT 16 256 rw DT2030 240 0 SubIndex 000 USINT 8 0 ro 1 LOADESTEN INT 16 16 rw 2 LOADESTMOTION INT 16 32 rw 3 LOADESTMAXVEL DINT 32 48 rw 4 LOADESTACC DINT 32 80 rw 5 LOADESTDIST DINT 32 112 rw 6 LOADESTLOAD INT 16 144 rw 7 LOADESTRATIO DINT 32 160 ro 8 LOADESTSTATUS INT 16 192 ro 9 LOADESTVAL DINT 32 208 ro DT2031 512 0 SubIndex 000 USINT 8 0 ro 2 ANFEN UINT 16 16 rw 3 ANFFREQMIN DINT 32 32 rw 4 ANFMAGTHRESH DINT 32 64 rw 5 ANFMETHOD UINT 16 96 rw 6 NOTCHBW DINT 32 112 rw 7 NOTCHDEP DINT 32 144 rw 8 NOTCHMODE UINT 16 176 rw 9 NOTCHCENTER UINT 16 192 rw 10 NOTCHCENTERLOW UINT 16 208 rw 11 NOTCH2BW DINT 32 224 rw 12 NOTCH2DEP DINT 32 256 rw 13 NOTCH2MODE UINT 16 288 rw 14 NOTCH2CENTER UINT 16 304 rw 15 NOTCH3BW DINT 32 320 rw 16 NOTCH3DEP DINT 32 352 rw 17 NOTCH3MODE UINT 16 384 rw 18 NOTCH3CENTER UINT 16 400 rw 19 NOTCH4BW DINT 32 416 rw 20 NOTCH4DEP DINT 32 448 rw 21 NOTCH4MODE UINT 16 480 rw 22 NOTCH4CENTER UINT 16 496 rw DT2032 272 0 SubIndex 000 USINT 8 0 ro 1 ATYPEEN UINT 16 16 rw 3 ATYPEFREQ DINT 32 32 rw 4 ATYPEJGAIN DINT 32 64 rw 5 ATYPEDAMPGAIN1 DINT 32 96 rw 6 ATYPELPFCMP DINT 32 128 rw 7 ATYPEHPF1CMP DINT 32 160 rw 8 ATYPEDAMPGAIN2 DINT 32 192 rw 9 ATYPELPFTYPE UINT 16 224 rw 10 ATYPEHPF2FREQ DINT 32 240 rw DT2033 464 0 SubIndex 000 USINT 8 0 ro 1 ANTIVIBTYPE UINT 16 16 rw 2 PNOTCH2BW DINT 32 32 rw 3 PNOTCH2CENTER DINT 32 64 rw 4 PNOTCH2DEP DINT 32 96 rw 5 PNOTCH2MODE UINT 16 128 rw 6 PNOTCH3BW DINT 32 144 rw 7 PNOTCH3CENTER DINT 32 176 rw 8 PNOTCH3DEP DINT 32 208 rw 9 PNOTCH3MODE UINT 16 240 rw 10 PNOTCHBW DINT 32 256 rw 11 PNOTCHCENTER DINT 32 288 rw 12 PNOTCHDEP DINT 32 320 rw 13 PNOTCHMODE UINT 16 352 rw 14 INSHAPEREN UINT 16 368 rw 15 INSHAPERFREQ DINT 32 384 rw 16 INSHAPERIDENT INT 16 416 rw 17 LFOIEN INT 16 432 rw 18 LFOIFGTRATIO INT 16 448 rw DT2034 832 0 SubIndex 000 USINT 8 0 ro 1 TUNELESSMODE UINT 16 16 rw 2 TUNELESSTIME UINT 16 32 rw 4 AUTOTUNEMODE UINT 16 48 rw 5 AUTOTUNEMAXVEL DINT 32 64 rw 6 AUTOTUNELMJREN UINT 16 96 rw 8 AUTOTUNEACC DINT 32 112 rw 9 AUTOTUNEDIR UINT 16 144 rw 10 AUTOTUNEDIST DINT 32 160 rw 41 PHASEPCSPD0EN INT 16 192 rw 42 PHASEPCSPD0FREQ DINT 32 208 rw 43 PHASEPCSPD0ANG DINT 32 240 rw 44 PHASEPCSPD1EN INT 16 272 rw 45 PHASEPCSPD1FREQ DINT 32 288 rw 46 PHASEPCSPD1ANG DINT 32 320 rw 47 PHASEPCSPD2EN INT 16 352 rw 48 PHASEPCSPD2FREQ DINT 32 368 rw 49 PHASEPCSPD2ANG DINT 32 400 rw 50 PHASEPCSPD3EN INT 16 432 rw 51 PHASEPCSPD3FREQ DINT 32 448 rw 52 PHASEPCSPD3ANG DINT 32 480 rw 53 PHASEPCTRQ0EN INT 16 512 rw 54 PHASEPCTRQ0FREQ DINT 32 528 rw 55 PHASEPCTRQ0ANG DINT 32 560 rw 56 PHASEPCTRQ1EN INT 16 592 rw 57 PHASEPCTRQ1FREQ DINT 32 608 rw 58 PHASEPCTRQ1ANG DINT 32 640 rw 59 PHASEPCTRQ2EN INT 16 672 rw 60 PHASEPCTRQ2FREQ DINT 32 688 rw 61 PHASEPCTRQ2ANG DINT 32 720 rw 62 PHASEPCTRQ3EN INT 16 752 rw 63 PHASEPCTRQ3FREQ DINT 32 768 rw 64 PHASEPCTRQ3ANG DINT 32 800 rw DT2036 224 0 SubIndex 000 USINT 8 0 ro 3 IGRAVCOEF DINT 32 16 rw 5 IGRAVDECTIME UINT 16 48 rw 7 FRICINEG DINT 32 64 rw 8 IGRAV DINT 32 96 rw 10 FRICIPOS DINT 32 128 rw 11 FRICNVHYST DINT 32 160 rw 12 FRICPVHYST DINT 32 192 rw DT2037 80 0 SubIndex 000 USINT 8 0 ro 1 PHASEFINDMODE UINT 16 16 rw 24 ZERO INT 16 32 rw 25 IZERO DINT 32 48 rw DT2042 512 0 SubIndex 000 USINT 8 0 ro 1 COLDETTYPE UINT 16 16 rw 2 COLDETCALIB INT 16 32 rw 3 COLDETCOEF DINT 32 48 rw 4 COLDETCURTYPE UINT 16 80 rw 5 COLDETHOME UINT 16 96 rw 6 COLDETJCOEF DINT 32 112 rw 7 COLDETJLPF UDINT 32 144 rw 8 COLDETKCOEF DINT 32 176 rw 9 COLDETKOFFSET DINT 32 208 rw 10 COLDETNEGCUR DINT 32 240 rw 11 COLDETNEGHOLDCUR DINT 32 272 rw 12 COLDETNEGPFB DINT 32 304 rw 13 COLDETNEGPFB_H DINT 32 336 rw 14 COLDETPOSCUR DINT 32 368 rw 15 COLDETPOSHOLDCUR DINT 32 400 rw 16 COLDETPOSPFB DINT 32 432 rw 17 COLDETPOSPFB_H DINT 32 464 rw 18 COLDETSPEED UINT 16 496 rw DT2043 112 0 SubIndex 000 USINT 8 0 ro 1 LowBits UDINT 32 16 ro 2 MiddleBits UDINT 32 48 ro 3 HighBits UDINT 32 80 ro DT204C 544 0 SubIndex 000 USINT 8 0 ro 1 MULTIPOSTYPE UINT 16 16 rw 2 MULTIPOSCMD1 DINT 32 32 rw 3 MULTIPOSCMD2 DINT 32 64 rw 4 MULTIPOSCMD3 DINT 32 96 rw 5 MULTIPOSCMD4 DINT 32 128 rw 6 MULTIPOSVEL1 UINT 16 160 rw 7 MULTIPOSVEL2 UINT 16 176 rw 8 MULTIPOSVEL3 UINT 16 192 rw 9 MULTIPOSVEL4 UINT 16 208 rw 10 MULTISPDCMD1 INT 16 224 rw 11 MULTISPDCMD2 INT 16 240 rw 12 MULTISPDCMD3 INT 16 256 rw 13 MULTISPDCMD4 INT 16 272 rw 14 MULTIPOSACCDEC1 DINT 32 288 rw 15 MULTIPOSACCDEC2 DINT 32 320 rw 16 MULTIPOSACCDEC3 DINT 32 352 rw 17 MULTIPOSACCDEC4 DINT 32 384 rw 18 MULTIPOSDELAY1 UDINT 32 416 rw 19 MULTIPOSDELAY2 UDINT 32 448 rw 20 MULTIPOSDELAY3 UDINT 32 480 rw 21 MULTIPOSDELAY4 UDINT 32 512 rw DT20E0 96 0 SubIndex 000 USINT 8 0 ro 2 CONFIG UINT 16 16 wo 3 SAVE INT 16 32 wo 4 FACTORYRESTORE INT 16 48 wo 7 PHASEFIND UINT 16 64 wo 9 HOMECMD INT 16 80 wo DT20F0 288 0 SubIndex 000 USINT 8 0 ro 2 LIMSWITCHPOS INT 16 16 ro 3 LIMSWITCHNEG INT 16 32 ro 4 ZEROST INT 16 48 ro 18 ID DINT 32 64 ro 19 IQ DINT 32 96 ro 23 IU DINT 32 128 ro 24 IV DINT 32 160 ro 30 ILOADD DINT 32 192 ro 31 ILOADM DINT 32 224 ro 42 VBUS DINT 32 256 ro DT20F1 112 0 SubIndex 000 USINT 8 0 ro 1 REMOTE INT 16 16 ro 2 SWEN INT 16 32 ro 3 READY INT 16 48 ro 4 FOLD INT 16 64 ro 5 HOMESTATE INT 16 80 ro 6 INPOS INT 16 96 ro DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min software position limit DINT 32 16 rw 2 Max software position limit DINT 32 48 rw DT608F 80 0 SubIndex 000 USINT 8 0 ro 1 Encoder Increments UDINT 32 16 ro 2 Motor Revolutions UDINT 32 48 ro DT6091 80 0 SubIndex 000 USINT 8 0 ro 1 Motor Revolutions 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 For Switch Search UDINT 32 16 rw r 2 Homing Speed For Zero Search UDINT 32 48 rw r DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation Time Period Value USINT 8 16 rw 2 Interpolation Time Index SINT 8 24 rw DT60FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw r 2 Digital Outputs Bit Mask UDINT 32 48 rw DTF000 48 0 SubIndex 000 USINT 8 0 ro 1 Index distance UINT 16 16 ro 2 Maximum number of modules UINT 16 32 ro #x1000 Device type UDINT 32 92010000 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(5) 40 4C44484433 ro #x1009 Hardware version STRING(3) 24 312E30 ro #x100A Software version STRING(19) 152 5353435F355F31325F4332385F315F305F3033 ro #x1010 Store parameters DT1010 48 SubIndex 000 01 #x1011 Restore default parameters DT1011 48 SubIndex 000 01 #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID E1020000 Product code EBD30100 Revision 00000000 Serial number 00000000 #x10F0 Backup parameter handling DT10F0 48 SubIndex 000 01 Checksum 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1600 RxPDO1 DT1600 336 SubIndex 000 06 1st Input Object to be mapped 20007A60 2nd Input Object to be mapped 2000FF60 3rd Input Object to be mapped 08006060 4th Input Object to be mapped 10004060 5th Input Object to be mapped 10007160 6th Input Object to be mapped 1000B860 7th Input Object to be mapped 00000000 8th Input Object to be mapped 00000000 9th Input Object to be mapped 00000000 10th Input Object to be mapped 00000000 #x1601 RxPDO2 DT1601 80 SubIndex 000 02 1st Input Object to be mapped 10004060 2nd Input Object to be mapped 20007A60 #x1602 RxPDO3 DT1602 80 SubIndex 000 02 1st Input Object to be mapped 10004060 2nd Input Object to be mapped 2000FF60 #x1603 RxPDO4 DT1603 80 SubIndex 000 02 1st Input Object to be mapped 10004060 2nd Input Object to be mapped 10007160 #x1A00 TxPDO1 DT1A00 336 SubIndex 000 09 1st Output Object to be mapped 10004160 2nd Output Object to be mapped 20006460 3rd Output Object to be mapped 20006C60 4th Output Object to be mapped 10007760 5th Output Object to be mapped 08006160 6th Output Object to be mapped 1000B960 7th Output Object to be mapped 2000BA60 8th Output Object to be mapped 10003F60 9th Output Object to be mapped 2000FD60 10th Output Object to be mapped 00000000 #x1A01 TxPDO2 DT1A01 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 20006460 #x1A02 TxPDO3 DT1A02 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 20006C60 #x1A03 TxPDO4 DT1A03 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 10007760 #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 32 SubIndex 000 01 SubIndex 001 0016 #x1C13 SM3 assignment DT1C13 32 SubIndex 000 01 SubIndex 001 001A #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 #x2000 Drive Parameters DT2000 480 SubIndex 000 35 DICONT 770F0000 DIPEAK 672E0000 COMMODE 0100 DRIVETYPE 0100 LINELOSSMODE 0000 LINELOSSRECOVER 0000 LINELOSSTYPE 0000 UVMODE 0300 UVTHRESH B9000000 UVTIME 2800 UVRECOVER 0000 IUOFFSET 00000000 IVOFFSET 00000000 RELAYOFFVOLT 00710200 RELAYONVOLT 10980200 DRIVETEMP 00000000 UPGRADE 0000 EEPROMVER 03010600 EEPROMVERDATE 01061A14 #x2001 Motor Parameters DT2001 1088 SubIndex 000 2E MTPMODE 0000 MOTORTYPE 0200 MPOWER 90010000 MVOLT 605B0300 MPOLES 0A00 MPITCH 204E0000 MRATEDSPEED B80B0000 MSPEED 70170000 MRATEDT F9040000 MICONT 770F0000 MIPEAK 672E0000 MICHAR A0860100 MKT 41010000 MKE A4740000 MKF 41010000 MR 9A100000 ML F0230000 MLD F0230000 MLQ F0230000 MLSCM D0070000 MLSCOEF E8030000 MMAXT EC0E0000 MJ EA010000 MMASS E8030000 MACC E8030000 MDEC E8030000 MAXACC 40420F00 MAXDEC 40420F00 OUTBRAKEENGAGETIME 6400 OUTBRAKERELEASETIME F401 OUTBRAKESAFESPD 0A000000 MPHASE 0000 ELECTANGLE 0000 MECHANGLE 0000 HALLMODE 0000 HALLSINV 0000 HALLINITHOLDTIME 0A00 HALLINITOVERTIME 0A00 HALLOVERTIME E8030000 HALLSDIR 0000 #x2002 Feedback Parameters DT2002 400 SubIndex 000 2D FEEDBACKTYPE 0200 MENCTYPE 0200 MENCTYPEUSER 0000 MENCRES 00800000 ENCOUTMODE 0000 ENCOUTRES C4090000 ENCOUTZPOS 00000000 IENCRESOFFSET 00000000 ENCMULTITURNENDLESS 0000 ENCMULTITURNMODE 0000 ENCMULTITURNOFFSET 0080 ENCMULTITURNTHRESH 0200 ENCMULTITURNTIME 0000 BATFLTCLR 0000 IGNOREBATTFLT 0000 ENCFLTCLRMODE 0100 MENCERRTHRESH 0505 MSININT 0C00 PM1ENC 00000000 #x2003 Motor Setup DT2003 48 SubIndex 000 03 MOTORSETUP 0000 DIR 0000 #x2004 Basic Control DT2004 608 SubIndex 000 19 OPMODE 0800 PDEN 01000000 PNUM 00000200 FBGDS 01000000 FBGMS 01000000 GEARIN 01000000 GEAROUT 01000000 GEARTOTALMAX 00127A00 GEARTOTALMIN 01000000 JOGSPD1 A0860100 DECSTOP A0860100 DECSTOPTIME C800 PWMSWITCHEN 0000 REGENPOW 23000000 REGENRES FFFFFFFF SWENMODE 0000 REGENCHECKENABLE 0100 REGENMAXONTIME 2D00 REGENMAXPOW 64000000 REGENTYPE 0000 ZCLAMPMODE 0000 ZCLAMPVEL 32000000 LOADTYPE 0200 #x2005 Digital Analog Input Parameters DT2005 112 SubIndex 000 07 INMODE_Index 0100 INMODE_Value 0000 ININV_Index 0100 ININV_Value 0000 INFLTTIME_Index 0100 INFLTTIME_Value 0000 #x2006 Digital Analog Output Parameters DT2006 80 SubIndex 000 05 OUTMODE_Index 0100 OUTMODE_Value 0000 OUTINV_Index 0100 OUTINV_Value 0000 #x2007 Fault Emergency Stop DT2007 416 SubIndex 000 18 DISMODE 0200 DISSPEED 0A000000 DISTIME 6400 DISTOTALTIME C800 MOTORPHASESCAN 0000 MOTORPHASESCANCUR 00000000 MOTORPHASESCANMODE 0000 OVELTHRESH 4C1D0000 OVELTIME 0100 STALLI 18FCFFFF STALLTIME E803 STALLVEL 1E000000 STOMODE 0100 STORECOVERMODE 0000 OCTHRESH A0860100 OVTHRESH 90010000 ISTOP A0860100 #x2008 Limit DT2008 624 SubIndex 000 18 COMMERRITHRESH 32000000 COMMERRMODE 0100 COMMERRPTHRESH F4010000 COMMERRTTHRESH 1400 COMMERRVTHRESH 3C00 PASV 00000000 PEMAX 00000100 PEMAX2 00000000 PEMAXTIME 0100 POSLIMMODE 0000 POSLIMNEG 00000000 POSLIMNEG2 C0FFFFFF POSLIMPOS FFFFFFFF POSLIMPOS2 3F000000 POSLIMRECTHRESH 0A000000 VEMAX 00000000 VETIME 6400 VLIM 581B0000 VMAX 70170000 ILIM 672E0000 VLIMT C0C62D00 IMAX 672E0000 #x2009 Foldback DT2009 336 SubIndex 000 0B MFOLD 0000 MFOLDR 00000000 MIFOLD 00000000 MFOLDD B80B0000 MFOLDDIS 0000 MFOLDF E8030000 MFOLDT B80B0000 MIFOLDFTHRESH 00000000 MIFOLDWTHRESH 00000000 IFOLD 00000000 IFOLDFTHRESH 770F0000 #x2010 Basic Parameters DT2010 224 SubIndex 000 0A ACC E8030000 DEC E8030000 MOVESMOOTHAVG A00F0000 MOVESMOOTHMODE 0200 PEINPOS D0070000 PEINPOSTIME 0100 LMJR E8030000 RIGID 0E00 #x2015 Gain Switch DT2015 544 SubIndex 000 40 GSEN 0000 GSMODE 0000 GSLEVEL 00000000 GSTIME 64000000 GSDELAY 02000000 GSHYST 00000000 GSPCMDTHRESH 02000000 GSRIGID 0D00 GSKPP 80BB0000 GSKVP 08000000 GSKVI 05000000 GSICMDLPF C8000000 GSLPFEN 0000 ROBGSEN 0000 ROBGSACC A0860100 ROBGSSLOPTIME 6400 ROBGSSTABLETIME 0000 ROBGSTARGETRIGID FFFF ROBGSTARGETRIGID2 FFFF ROBGSVELMAX 801A0600 ROBGSVELMIN E0930400 #x2016 Position Parameters DT2016 560 SubIndex 000 19 KPBW 18F60000 KPP 18F60000 KPI 00000000 KPD 00000000 KPAFRC 00000000 KPAFRCLPF E8030000 KPAFRV 00000000 KPAFRVLPF E8030000 KPAFRVMODE 02000000 KPAFRVVEL 00000000 KPE 00000000 KPEFRC 00000000 KPEFRCLPF E8030000 KPVFR 52030000 KPVFRLPF E8030000 KPVFRR E8030000 PCMDFWLPFBD F401 PCMDFWPHASEK 0000 #x2017 Velocity Parameters DT2017 688 SubIndex 000 21 SOBBW C0270900 SOBJCOMPCOEF E8030000 SOBTGAIN 00000000 SOBTINTC 00000000 SOBTOUTTC F4010000 SOBVFBK2 00000000 SOBVFBKTYPE 0100 PAEN 0000 PAF 84030000 PALPFFREQ 64000000 VELFILTFRQ 20030000 VELFILTMODE 0100 VELTHRESH 0A000000 VELTHRESHTIME 0500 VELWINDOW 32000000 VELWINDOWTIME 0500 FILTMODE 0100 KVBW 78690000 KVFR 84030000 KVFRC 00000000 KVFRCLPF E8030000 KVI 05000000 KVP 08000000 KVTI 08520000 #x2018 Current Parameters DT2018 448 SubIndex 000 0E CLVD 00000000 CLVQ 00000000 IADCHYST 14000000 IADCSWITCH 0100 IADCTHRESH C8000000 ICMDLPF C8000000 KCA 14000000 KCBEMF E8030000 KCBW 80841E00 KCFF C8000000 KCGLOBALGAIN E8030000 KCI 68000000 KCP A5210000 KCTICOEF E8030000 #x2019 Homing DT2019 288 SubIndex 000 0B PFBOFFSET 00000000 PFBOFFSET2 00000000 HOMEACC A00F0000 HOMEDONE 0000 HOMEERRCHKMODE 0100 HOMEOFFSET 00000000 HOMEOFSTMOVE 0000 HOMEPTEN 0000 HOMESPEED1 A0860100 HOMESPEED2 204E0000 HOMETYPE 0100 #x201A Pulse train input_output DT201A 32 SubIndex 000 01 INFLTTIME2 3C00 #x2020 Serial Communication Parameters DT2020 32 SubIndex 000 01 ADDR 0000 #x2021 Ecat Parameters DT2021 272 SubIndex 000 44 FBINTTYPE 0000 FBINTTYPEDELAY 0100 FBITIDX FDFF FBITPRD 0100 ECCOMPMODE 0000 ECCRMODE 0000 ECMAXMISSCNT 0800 ECML 0100 BIT12THRESH 0000 DCSYNC 0100 DITHERFRQ 00000000 DITHERMODE 0000 DITHERTHRESH 01000000 FEEDFORWARDTYPE 0200 #x2030 Inertial Estimation DT2030 240 SubIndex 000 09 LOADESTEN 0000 LOADESTMOTION 0000 LOADESTMAXVEL C0270900 LOADESTACC 204E0000 LOADESTDIST D0070000 LOADESTLOAD 0000 LOADESTRATIO 00000000 LOADESTSTATUS 0000 LOADESTVAL AC000000 #x2031 T-Notch Autonotch DT2031 512 SubIndex 000 16 ANFEN 0000 ANFFREQMIN E0930400 ANFMAGTHRESH 78000000 ANFMETHOD 0100 NOTCHBW E0930400 NOTCHDEP 983A0000 NOTCHMODE 0000 NOTCHCENTER A00F NOTCHCENTERLOW 0000 NOTCH2BW E0930400 NOTCH2DEP 983A0000 NOTCH2MODE 0000 NOTCH2CENTER A00F NOTCH3BW 80380100 NOTCH3DEP 409C0000 NOTCH3MODE 0000 NOTCH3CENTER A00F NOTCH4BW 80380100 NOTCH4DEP 409C0000 NOTCH4MODE 0000 NOTCH4CENTER A00F #x2032 Sdob DT2032 272 SubIndex 000 0A ATYPEEN 0000 ATYPEFREQ A0860100 ATYPEJGAIN A0860100 ATYPEDAMPGAIN1 00000000 ATYPELPFCMP 00000000 ATYPEHPF1CMP 00000000 ATYPEDAMPGAIN2 00000000 ATYPELPFTYPE 0000 ATYPEHPF2FREQ 80841E00 #x2033 P-Notch Inputshape Mfc DT2033 464 SubIndex 000 12 ANTIVIBTYPE 0000 PNOTCH2BW C0270900 PNOTCH2CENTER E0930400 PNOTCH2DEP 00000000 PNOTCH2MODE 0000 PNOTCH3BW C0270900 PNOTCH3CENTER E0930400 PNOTCH3DEP 00000000 PNOTCH3MODE 0000 PNOTCHBW C0270900 PNOTCHCENTER E0930400 PNOTCHDEP 00000000 PNOTCHMODE 0000 INSHAPEREN 0000 INSHAPERFREQ E0930400 INSHAPERIDENT 0000 LFOIEN 0000 LFOIFGTRATIO 5A00 #x2034 Tuning Parameters DT2034 832 SubIndex 000 40 TUNELESSMODE 0000 TUNELESSTIME 0A00 AUTOTUNEMODE 0000 AUTOTUNEMAXVEL C0270900 AUTOTUNELMJREN 0100 AUTOTUNEACC 10270000 AUTOTUNEDIR 0000 AUTOTUNEDIST 88130000 PHASEPCSPD0EN 0000 PHASEPCSPD0FREQ 00000000 PHASEPCSPD0ANG 00000000 PHASEPCSPD1EN 0000 PHASEPCSPD1FREQ 00000000 PHASEPCSPD1ANG 00000000 PHASEPCSPD2EN 0000 PHASEPCSPD2FREQ 00000000 PHASEPCSPD2ANG 00000000 PHASEPCSPD3EN 0000 PHASEPCSPD3FREQ 00000000 PHASEPCSPD3ANG 00000000 PHASEPCTRQ0EN 0000 PHASEPCTRQ0FREQ 00000000 PHASEPCTRQ0ANG 00000000 PHASEPCTRQ1EN 0000 PHASEPCTRQ1FREQ 00000000 PHASEPCTRQ1ANG 00000000 PHASEPCTRQ2EN 0000 PHASEPCTRQ2FREQ 00000000 PHASEPCTRQ2ANG 00000000 PHASEPCTRQ3EN 0000 PHASEPCTRQ3FREQ 00000000 PHASEPCTRQ3ANG 00000000 #x2036 Friction Gravity Compensation DT2036 224 SubIndex 000 0C IGRAVCOEF E8030000 IGRAVDECTIME F401 FRICINEG 00000000 IGRAV 00000000 FRICIPOS 00000000 FRICNVHYST 00000000 FRICPVHYST 00000000 #x2037 Phase Find DT2037 80 SubIndex 000 19 PHASEFINDMODE 0C00 ZERO 0000 IZERO 00000000 #x2042 Force Control & Softlanding DT2042 512 SubIndex 000 12 COLDETTYPE 0000 COLDETCALIB 0000 COLDETCOEF E8030000 COLDETCURTYPE 0000 COLDETHOME 0000 COLDETJCOEF E8030000 COLDETJLPF A00F0000 COLDETKCOEF 00000000 COLDETKOFFSET 00000000 COLDETNEGCUR 00000000 COLDETNEGHOLDCUR 00000000 COLDETNEGPFB 00000000 COLDETNEGPFB_H 00000000 COLDETPOSCUR 00000000 COLDETPOSHOLDCUR 00000000 COLDETPOSPFB 00000000 COLDETPOSPFB_H 00000000 COLDETSPEED 0000 #x2043 Error Correction DT2043 112 SubIndex 000 03 LowBits 00000000 MiddleBits 00000000 HighBits 00000000 #x204C Motion Buffer DT204C 544 SubIndex 000 15 MULTIPOSTYPE 0000 MULTIPOSCMD1 00000000 MULTIPOSCMD2 00000000 MULTIPOSCMD3 00000000 MULTIPOSCMD4 00000000 MULTIPOSVEL1 0000 MULTIPOSVEL2 0000 MULTIPOSVEL3 0000 MULTIPOSVEL4 0000 MULTISPDCMD1 0000 MULTISPDCMD2 0000 MULTISPDCMD3 0000 MULTISPDCMD4 0000 MULTIPOSACCDEC1 E8030000 MULTIPOSACCDEC2 E8030000 MULTIPOSACCDEC3 E8030000 MULTIPOSACCDEC4 E8030000 MULTIPOSDELAY1 E8030000 MULTIPOSDELAY2 E8030000 MULTIPOSDELAY3 E8030000 MULTIPOSDELAY4 E8030000 #x20E0 Command DT20E0 96 SubIndex 000 09 CONFIG 0000 SAVE 0000 FACTORYRESTORE 0000 PHASEFIND 0000 HOMECMD 0000 #x20F0 Monitor Parameters DT20F0 288 SubIndex 000 2A LIMSWITCHPOS 0000 LIMSWITCHNEG 0000 ZEROST 0000 ID 00000000 IQ 00000000 IU 00000000 IV 00000000 ILOADD 00000000 ILOADM 00000000 VBUS 00E20400 #x20F1 Miscellaneous DT20F1 112 SubIndex 000 06 REMOTE 0100 SWEN 0000 READY 0000 FOLD 0000 HOMESTATE 0000 INPOS 0000 #x5001 Application layer status UINT 16 0000 ro t #x5002 Position Compare Enable UINT 16 0000 rw r #x5003 Drive Load Rate UINT 16 0000 ro t #x5004 Motor Load Rate UINT 16 0000 ro t #x603F Error Code UINT 16 0000 ro t #x6040 Controlword UINT 16 0000 rw r #x6041 Statusword UINT 16 0000 ro t #x605A Quick Stop Option Code INT 16 FFFF rw #x605B Shut Down Option Code INT 16 FFFF rw #x605C Disable Operation Option Code INT 16 FFFF rw #x605D Halt Option Code INT 16 0100 rw #x605E Fault Response Options INT 16 FFFF rw #x6060 Modes of operation SINT 8 00 rw r #x6061 Modes of operation display SINT 8 08 ro t #x6062 Position Demand Value DINT 32 00000000 ro #x6063 Position Actual Internal Value DINT 32 00000000 ro t #x6064 Position actual value DINT 32 00000000 ro t #x6065 Following Error Window UDINT 32 01000000 rw r #x6066 Following Error Time Out UINT 16 0000 rw #x6067 Position Window UDINT 32 00000000 rw r #x6068 Position Window Time UINT 16 0A00 rw #x606B Velocity Demand Value DINT 32 00000000 ro #x606C Velocity Actual Value DINT 32 00000000 ro t #x606D Velocity Window UINT 16 0000 rw #x606E Velocity Window Time UINT 16 0000 rw #x606F Velocity Threshold UINT 16 0000 rw #x6070 Velocity Threshold Time UINT 16 0000 rw #x6071 Target Torque INT 16 0000 rw r #x6072 Max Torque UINT 16 8813 rw r #x6073 Max Current UINT 16 0000 rw r #x6074 Torque Demand Value INT 16 0000 ro t #x6075 Motor Rated Current UDINT 32 00000000 ro #x6076 Motor Rated Torque UDINT 32 00000000 ro #x6077 Torque actual value INT 16 0000 ro t #x6078 Current Actual Value INT 16 0000 ro t #x6079 Dclink Circuit Voltage UDINT 32 00000000 ro t #x607A Target position DINT 32 00000000 rw r #x607C Home Offset DINT 32 00000000 rw r #x607D Software Position Limit DT607D 80 SubIndex 000 02 Min software position limit 00000000 Max software position limit 00000000 #x607E Polarity USINT 8 00 rw #x607F Maximum Profile Velocity UDINT 32 01000000 rw r #x6080 Motor Maximum Speed UDINT 32 00000000 rw #x6081 Profile Velocity UDINT 32 00000000 rw r #x6083 Profile Acceleration UDINT 32 E8030000 rw r #x6084 Profile Deceleration UDINT 32 E8030000 rw r #x6085 Quick Stop Deceleration UDINT 32 01000000 rw #x6087 Torque Slope UDINT 32 00000000 rw r #x608F Position encoder resolution DT608F 80 SubIndex 000 02 Encoder Increments 00080000 Motor Revolutions 01000000 #x6091 Gear Ratio DT6091 80 SubIndex 000 02 Motor Revolutions 01000000 Shaft Revolutions 01000000 #x6092 Feed Constant DT6092 80 SubIndex 000 02 Feed 01000000 Shaft Revolutions 01000000 #x6098 Homing Method SINT 8 01 rw r #x6099 Homing Speeds DT6099 80 SubIndex 000 02 Homing Speed For Switch Search 01000000 Homing Speed For Zero Search 01000000 #x609A Homing Acceleration UDINT 32 01000000 rw r #x60B0 Position Offset DINT 32 00000000 rw r #x60B1 Velocity Offset DINT 32 00000000 rw r #x60B2 Torque Offset INT 16 0000 rw r #x60B8 Touch Probe Function UINT 16 0000 rw r #x60B9 Touch Probe Status UINT 16 0000 ro t #x60BA Touch Probe 1 Position Positive Value DINT 32 00000000 ro t #x60BB Touch Probe 1 Position Negative Value DINT 32 00000000 ro t #x60BC Touch Probe 2 Position Positive Value DINT 32 00000000 ro t #x60BD Touch Probe 2 Position Negative Value DINT 32 00000000 ro t #x60C0 Interpolation Type INT 16 0000 rw #x60C2 Interpolation Time Period DT60C2 32 SubIndex 000 02 Interpolation Time Period Value 01 Interpolation Time Index FD #x60C5 Max Acceleration UDINT 32 FFFFFFFF rw #x60C6 Max Deceleration UDINT 32 FFFFFFFF rw #x60D5 Touch Probe1 Positive Edge Counter UINT 16 0000 ro t #x60D6 Touch Probe1 Negative Edge Counter UINT 16 0000 ro t #x60D7 Touch Probe2 Positive Edge Counter UINT 16 0000 ro t #x60D8 Touch Probe2 Negative Edge Counter UINT 16 0000 ro t #x60E0 Positive Torque Limit Value UINT 16 1388 rw r #x60E1 Negative Torque Limit Value UINT 16 1388 rw r #x60F4 Following Error Actual Value DINT 32 00000000 ro t #x60FC Position Demand Internal Value DINT 32 00000000 ro #x60FD Digital Inputs UDINT 32 00000000 ro t #x60FE Digital Outputs DT60FE 80 SubIndex 000 02 Physical Outputs 00000000 Digital Outputs Bit Mask 00000000 #x60FF Target velocity DINT 32 00000000 rw r #x6502 Supported Drive Modes UDINT 32 AD030000 ro #xF000 Modular Device Profile DTF000 48 SubIndex 000 02 Index distance 1000 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO1 #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x6040 0 16 Controlword UINT #x6071 0 16 Target Torque INT #x60B8 0 16 Touch Probe Function UINT #x1A00 TxPDO1 #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 #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe 1 Position Positive Value DINT #x603F 0 16 Error Code UINT #x60FD 0 32 Digital Inputs UDINT DC DC-Synchron #x300 0 0 Synchron SM-Synchron #x0 2048 080E02EE409C0000000000000000