#x00400000 ANCTL Co.,Ltd 424DD6020000000000003600000028000000100000000E0000000100180000000000A002000000000000000000000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE9EEFEF7F0FDEAEFFEDEDCFCE9E8FCDFDFFCE1DEFCFFFFFEFFFFFFF8F6FEFFFFFFFEFFFFDDDBFCFDF9FEFFFFFFFFFFFFF0F7FF786FF1F1F5FFE5E4FC6B63F6DBD5F8E4DFFCBEDAFEE0C5F76F64F48598F6DACAF9B8C0FB9C80F2FFFFFFFFFFFFD1DEFD5F59F0CFCFFB9F9DF7837EF6B5B1F7BDA9F7DEF8FF9E92F55F51F195A1F79DA9FAC5A9F5A290F4FFFFFFFFFFFFCEDCFD5553F0C6C1F9A7A0F8FFF3FBAEC3FBB5ABF7A0A1F7C2C2FA5A4DF1CBC6F99CB4FBC2A7F4A18FF4FFFFFFFFFFFFFFFFFF8787F4FAFFFFB9B9F94B54F3B49FF5CCC4F9D3EAFE8974F35B4FF1B7B4F8D5DFFDD2C8F9A18DF4FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFEFFFFAEAFFAB7B1F8B0AAF8D3D1FAB1B5F9B4A8F7FFFFFECAD7FDA49FF7F8F4FD9C9DF8B3B1F89891F7F9EFFCFFFFFFFFFFFFFFFFFF9895F7B4B7F9848FF7BA95F4FFFFFFE6F4FFBEB5F89CAFF99191F7C7A3F4C9C4FAEEFFFFC3AAF6FFFFFFEDF5FEB5B7F9737DF58F7CF2C4C1FA7881F6B4A4F6E7E4FBBAB9FA8694F68D8DF6D2B2F68085F67A75F5FFF7FCFFFFFFF8FFFF8F7AF4FFFFFF9699F8F3EBFBFBFAFE9EA6FAF0E6FA9186F499B5FAA7B2F98168F1685FF27272F5F3DFFAFFFFFFFFFFFFD5D8FCCFCCFA9DACFA8E76F2D0CFFBD5CCFAECF4FE9696F67C7DF4E2DCFBEADBFA9993F7FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF AC Servo Driver ANCTL-AS730N-DRIVER 424DD6020000000000003600000028000000100000000E0000000100180000000000A002000000000000000000000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE9EEFEF7F0FDEAEFFEDEDCFCE9E8FCDFDFFCE1DEFCFFFFFEFFFFFFF8F6FEFFFFFFFEFFFFDDDBFCFDF9FEFFFFFFFFFFFFF0F7FF786FF1F1F5FFE5E4FC6B63F6DBD5F8E4DFFCBEDAFEE0C5F76F64F48598F6DACAF9B8C0FB9C80F2FFFFFFFFFFFFD1DEFD5F59F0CFCFFB9F9DF7837EF6B5B1F7BDA9F7DEF8FF9E92F55F51F195A1F79DA9FAC5A9F5A290F4FFFFFFFFFFFFCEDCFD5553F0C6C1F9A7A0F8FFF3FBAEC3FBB5ABF7A0A1F7C2C2FA5A4DF1CBC6F99CB4FBC2A7F4A18FF4FFFFFFFFFFFFFFFFFF8787F4FAFFFFB9B9F94B54F3B49FF5CCC4F9D3EAFE8974F35B4FF1B7B4F8D5DFFDD2C8F9A18DF4FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFEFFFFAEAFFAB7B1F8B0AAF8D3D1FAB1B5F9B4A8F7FFFFFECAD7FDA49FF7F8F4FD9C9DF8B3B1F89891F7F9EFFCFFFFFFFFFFFFFFFFFF9895F7B4B7F9848FF7BA95F4FFFFFFE6F4FFBEB5F89CAFF99191F7C7A3F4C9C4FAEEFFFFC3AAF6FFFFFFEDF5FEB5B7F9737DF58F7CF2C4C1FA7881F6B4A4F6E7E4FBBAB9FA8694F68D8DF6D2B2F68085F67A75F5FFF7FCFFFFFFF8FFFF8F7AF4FFFFFF9699F8F3EBFBFBFAFE9EA6FAF0E6FA9186F499B5FAA7B2F98168F1685FF27272F5F3DFFAFFFFFFFFFFFFD5D8FCCFCCFA9DACFA8E76F2D0CFFBD5CCFAECF4FE9696F67C7DF4E2DCFBEADBFA9993F7FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF ANCTL AS730N Servo Driver AS730N_sAxis_V0.10 ANCTL AS730N Servo Driver http://www.synland.com 3000 9000 5000 200 100 2000 AS Servo Driver 402 BIT2 2 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 USINT 8 SINT 8 STRING(10) 80 STRING(4) 32 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 DT1600 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 DT1701 336 0 SubIndex 000 USINT 8 0 ro 1 1st Output Object to be mapped UDINT 32 16 ro 2 2nd Output Object to be mapped UDINT 32 48 ro 3 3rd Output Object to be mapped UDINT 32 80 ro 4 4th Output Object to be mapped UDINT 32 112 ro 5 5th Output Object to be mapped UDINT 32 144 ro 6 6th Output Object to be mapped UDINT 32 176 ro 7 7th Output Object to be mapped UDINT 32 208 ro 8 8th Output Object to be mapped UDINT 32 240 ro 9 9th Output Object to be mapped UDINT 32 272 ro 10 10th Output Object to be mapped UDINT 32 304 ro DT1702 336 0 SubIndex 000 USINT 8 0 ro 1 1st Output Object to be mapped UDINT 32 16 ro 2 2nd Output Object to be mapped UDINT 32 48 ro 3 3rd Output Object to be mapped UDINT 32 80 ro 4 4th Output Object to be mapped UDINT 32 112 ro 5 5th Output Object to be mapped UDINT 32 144 ro 6 6th Output Object to be mapped UDINT 32 176 ro 7 7th Output Object to be mapped UDINT 32 208 ro 8 8th Output Object to be mapped UDINT 32 240 ro 9 9th Output Object to be mapped UDINT 32 272 ro 10 10th Output Object to be mapped UDINT 32 304 ro DT1703 336 0 SubIndex 000 USINT 8 0 ro 1 1st Output Object to be mapped UDINT 32 16 ro 2 2nd Output Object to be mapped UDINT 32 48 ro 3 3rd Output Object to be mapped UDINT 32 80 ro 4 4th Output Object to be mapped UDINT 32 112 ro 5 5th Output Object to be mapped UDINT 32 144 ro 6 6th Output Object to be mapped UDINT 32 176 ro 7 7th Output Object to be mapped UDINT 32 208 ro 8 8th Output Object to be mapped UDINT 32 240 ro 9 9th Output Object to be mapped UDINT 32 272 ro 10 10th Output Object to be mapped UDINT 32 304 ro DT1704 336 0 SubIndex 000 USINT 8 0 ro 1 1st Output Object to be mapped UDINT 32 16 ro 2 2nd Output Object to be mapped UDINT 32 48 ro 3 3rd Output Object to be mapped UDINT 32 80 ro 4 4th Output Object to be mapped UDINT 32 112 ro 5 5th Output Object to be mapped UDINT 32 144 ro 6 6th Output Object to be mapped UDINT 32 176 ro 7 7th Output Object to be mapped UDINT 32 208 ro 8 8th Output Object to be mapped UDINT 32 240 ro 9 9th Output Object to be mapped UDINT 32 272 ro 10 10th Output Object to be mapped UDINT 32 304 ro DT1705 336 0 SubIndex 000 USINT 8 0 ro 1 1st Output Object to be mapped UDINT 32 16 ro 2 2nd Output Object to be mapped UDINT 32 48 ro 3 3rd Output Object to be mapped UDINT 32 80 ro 4 4th Output Object to be mapped UDINT 32 112 ro 5 5th Output Object to be mapped UDINT 32 144 ro 6 6th Output Object to be mapped UDINT 32 176 ro 7 7th Output Object to be mapped UDINT 32 208 ro 8 8th Output Object to be mapped UDINT 32 240 ro 9 9th Output Object to be mapped UDINT 32 272 ro 10 10th Output Object to be mapped UDINT 32 304 ro DT1A00 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 DT1B01 336 0 SubIndex 000 USINT 8 0 ro 1 1st Input Object to be mapped UDINT 32 16 ro 2 2nd Input Object to be mapped UDINT 32 48 ro 3 3rd Input Object to be mapped UDINT 32 80 ro 4 4th Input Object to be mapped UDINT 32 112 ro 5 5th Input Object to be mapped UDINT 32 144 ro 6 6th Input Object to be mapped UDINT 32 176 ro 7 7th Input Object to be mapped UDINT 32 208 ro 8 8th Input Object to be mapped UDINT 32 240 ro 9 9th Input Object to be mapped UDINT 32 272 ro 10 10th Input Object to be mapped UDINT 32 304 ro DT1B02 336 0 SubIndex 000 USINT 8 0 ro 1 1st Input Object to be mapped UDINT 32 16 ro 2 2nd Input Object to be mapped UDINT 32 48 ro 3 3rd Input Object to be mapped UDINT 32 80 ro 4 4th Input Object to be mapped UDINT 32 112 ro 5 5th Input Object to be mapped UDINT 32 144 ro 6 6th Input Object to be mapped UDINT 32 176 ro 7 7th Input Object to be mapped UDINT 32 208 ro 8 8th Input Object to be mapped UDINT 32 240 ro 9 9th Input Object to be mapped UDINT 32 272 ro 10 10th Input Object to be mapped UDINT 32 304 ro DT1B03 336 0 SubIndex 000 USINT 8 0 ro 1 1st Input Object to be mapped UDINT 32 16 ro 2 2nd Input Object to be mapped UDINT 32 48 ro 3 3rd Input Object to be mapped UDINT 32 80 ro 4 4th Input Object to be mapped UDINT 32 112 ro 5 5th Input Object to be mapped UDINT 32 144 ro 6 6th Input Object to be mapped UDINT 32 176 ro 7 7th Input Object to be mapped UDINT 32 208 ro 8 8th Input Object to be mapped UDINT 32 240 ro 9 9th Input Object to be mapped UDINT 32 272 ro 10 10th Input Object to be mapped UDINT 32 304 ro DT1B04 336 0 SubIndex 000 USINT 8 0 ro 1 1st Input Object to be mapped UDINT 32 16 ro 2 2nd Input Object to be mapped UDINT 32 48 ro 3 3rd Input Object to be mapped UDINT 32 80 ro 4 4th Input Object to be mapped UDINT 32 112 ro 5 5th Input Object to be mapped UDINT 32 144 ro 6 6th Input Object to be mapped UDINT 32 176 ro 7 7th Input Object to be mapped UDINT 32 208 ro 8 8th Input Object to be mapped UDINT 32 240 ro 9 9th Input Object to be mapped UDINT 32 272 ro 10 10th Input Object to be mapped UDINT 32 304 ro DT1B05 336 0 SubIndex 000 USINT 8 0 ro 1 1st Input Object to be mapped UDINT 32 16 ro 2 2nd Input Object to be mapped UDINT 32 48 ro 3 3rd Input Object to be mapped UDINT 32 80 ro 4 4th Input Object to be mapped UDINT 32 112 ro 5 5th Input Object to be mapped UDINT 32 144 ro 6 6th Input Object to be mapped UDINT 32 176 ro 7 7th Input Object to be mapped UDINT 32 208 ro 8 8th Input Object to be mapped UDINT 32 240 ro 9 9th Input Object to be mapped UDINT 32 272 ro 10 10th Input Object to be mapped UDINT 32 304 ro DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 19 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 19 Sync Error BOOL 1 480 ro c DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 16 1 1 DT1C13 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 16 16 rw o DT2000 256 0 SubIndex 000 USINT 8 0 ro 1 Control mode selection UINT 16 16 rw 2 Forward direction UINT 16 32 rw 5 Gain auto-tuning mode UINT 16 48 rw 6 Stiffness level selection UINT 16 64 rw 7 Load moment of inertia ratio UINT 16 80 rw 8 Absolute mode selection UINT 16 96 rw 17 Regenerative resistor type UINT 16 112 rw 18 Power capacity of regenerative resistor UINT 16 128 rw 19 Resistance of regenerative resistor UINT 16 144 rw 20 Resistor heat dissipation coefficient UINT 16 160 rw 21 BrakeEn switch UINT 16 176 rw 22 Motor rotation phase sequence setting UINT 16 192 rw 23 Default keypad display function UINT 16 208 rw 49 Ordinary users UINT 16 224 rw 50 Super user UINT 16 240 rw 65 Non standard switch UINT 16 256 rw DT2001 832 0 SubIndex 000 USINT 8 0 ro 1 1st Position loop gain UINT 16 16 rw 2 1st Speed loop gain UINT 16 32 rw 3 1st Speed loop integral time constant UINT 16 48 rw 4 1st Torque reference filter time constant UINT 16 64 rw 9 2nd Position loop gain UINT 16 80 rw 10 2nd Speed loop gain UINT 16 96 rw 11 2nd Speed loop integral time constant UINT 16 112 rw 12 2nd Torque reference filter time constant UINT 16 128 rw 17 Speed feedback filter selection UINT 16 144 rw 18 Cutoff frequency of speed feedback low-pass filter UINT 16 160 rw 19 Speed feedback moving average filter time constant UINT 16 176 rw 20 Speed feedforward selection UINT 16 192 rw 21 Speed feedforward gain UINT 16 208 rw 22 Speed feedforward filter time constant UINT 16 224 rw 23 Torque feedforward selection UINT 16 240 rw 24 Torque feedforward gain UINT 16 256 rw 25 Torque feedforward filter time constant UINT 16 272 rw 28 PDFF control coefficient UINT 16 288 rw 29 Damping factor UINT 16 304 rw 33 Moving average filter time constant A UINT 16 320 rw 34 Moving average filter time constant B UINT 16 336 rw 35 First-order low-pass filter time constant A UINT 16 352 rw 36 First-order low-pass filter time constant B UINT 16 368 rw 37 Postion Frequency of the 1st notch UINT 16 384 rw 38 Postion Width level of the 1st notch UINT 16 400 rw 39 Postion Depth level of the 1st notch UINT 16 416 rw 40 Postion Frequency of the 2nd notch UINT 16 432 rw 41 Postion Width level of the 2nd notch UINT 16 448 rw 42 Postion Depth level of the 2nd notch UINT 16 464 rw 43 Postion Command buffer filter time UINT 16 480 rw 49 Adaptive notch mode UINT 16 496 rw 50 Adaptive notch detection times UINT 16 512 rw 57 Gain switchover condition UINT 16 528 rw 58 Gain switchover delay UINT 16 544 rw 59 Gain switchover threshold UINT 16 560 rw 60 Gain switching loop width UINT 16 576 rw 65 Frequency of the 1st notch UINT 16 592 rw 66 Width level of the 1st notch UINT 16 608 rw 67 Depth level of the 1st notch UINT 16 624 rw 68 Frequency of the 2nd notch UINT 16 640 rw 69 Width level of the 2nd notch UINT 16 656 rw 70 Depth level of the 2nd notch UINT 16 672 rw 71 Frequency of the 3rd notch UINT 16 688 rw 72 Width level of the 3rd notch UINT 16 704 rw 73 Depth level of the 3rd notch UINT 16 720 rw 74 Frequency of the 4th notch UINT 16 736 rw 75 Width level of the 4th notch UINT 16 752 rw 76 Depth level of the 4th notch UINT 16 768 rw 77 Frequency of the 5th notch UINT 16 784 rw 78 Width level of the 5th notch UINT 16 800 rw 79 Depth level of the 5th notch UINT 16 816 rw DT2002 640 0 SubIndex 000 USINT 8 0 ro 1 Model following control selection UINT 16 16 rw 2 Model following control gain UINT 16 32 rw 3 Inertia correction of MFC UINT 16 48 rw 49 Gain ratio of speed observer UINT 16 64 rw 50 Inertia correction of speed observer UINT 16 80 rw 51 Speed observer speed feedback cutoff frequency correction UINT 16 96 rw 57 Vibration suppression frequency 1 UINT 16 112 rw 58 Inertia correction of vibration suppression 1 UINT 16 128 rw 59 Correction of low pass filter for vibration suppression 1 INT 16 144 rw 60 Vibration suppression high pass filter 1 correction 1 INT 16 160 rw 61 Vibration suppression high pass filter 2 frequency 1 UINT 16 176 rw 62 Vibration suppression compensation 1 ratio 1 UINT 16 192 rw 63 Vibration suppression compensation 2 ratio 1 UINT 16 208 rw 65 Vibration suppression frequency 2 UINT 16 224 rw 66 Inertia correction of vibration suppression 2 UINT 16 240 rw 67 Correction of low pass filter for vibration suppression 2 INT 16 256 rw 68 Vibration suppression high pass filter 1 correction 2 INT 16 272 rw 69 Vibration suppression high pass filter 2 frequency 2 UINT 16 288 rw 70 Vibration suppression compensation 1 ratio 2 UINT 16 304 rw 71 Vibration suppression compensation 2 ratio 2 UINT 16 320 rw 73 Vibration suppression frequency 3 UINT 16 336 rw 74 Inertia correction of vibration suppression 3 UINT 16 352 rw 75 Correction of low pass filter for vibration suppression 3 INT 16 368 rw 76 Vibration suppression high pass filter 1 correction 3 INT 16 384 rw 77 Vibration suppression high pass filter 2 frequency 3 UINT 16 400 rw 78 Vibration suppression compensation 1 ratio 3 UINT 16 416 rw 79 Vibration suppression compensation 2 ratio 3 UINT 16 432 rw 97 Gain correction coefficient of disturbance observer UINT 16 448 rw 98 Inertia correction coefficient of disturbance observer UINT 16 464 rw 99 Low pass cutoff frequency correction of disturbance observer UINT 16 480 rw 100 Disturbance observer torque compensation percentage UINT 16 496 rw 105 Friction compensation switch and related settings UINT 16 512 rw 106 Friction compensation speed threshold UINT 16 528 rw 107 Static friction compensation value UINT 16 544 rw 108 Forward compensation value of Coulomb friction UINT 16 560 rw 109 Coulomb friction reverse compensation value INT 16 576 rw 110 Viscous friction torque corresponding to rated speed UINT 16 592 rw 111 Friction compensation filtering time UINT 16 608 rw 112 Friction compensation zero speed threshold UINT 16 624 rw DT2003 320 0 SubIndex 000 USINT 8 0 ro 34 Speed reference set INT 16 16 rw 35 Acceleration ramp time constant of speed reference UDINT 32 32 rw 37 Deceleration ramp time constant of speed reference UDINT 32 64 rw 40 Forward internal Speed limit UINT 16 96 rw 41 Reverse internal Speed limit UINT 16 112 rw 44 Arrive Speed threshold UINT 16 128 rw 45 Sync Speed threshold UINT 16 144 rw 46 Motor speed threshold UINT 16 160 rw 47 Zero speed threshold UINT 16 176 rw 66 Torque reference set INT 16 192 rw 68 Forward internal torque limit UINT 16 208 rw 69 Reverse internal torque limit UINT 16 224 rw 72 Forward Speed limit 1 in torque control UINT 16 240 rw 73 Reverse Speed limit 2 in torque control UINT 16 256 rw 74 Reference value for torque reached UINT 16 272 rw 75 Valid value for torque reached UINT 16 288 rw 76 Invalid value for torque reached UINT 16 304 rw DT2004 352 0 SubIndex 000 USINT 8 0 ro 1 DI1 function selection UINT 16 16 rw 2 DI1 logic selection UINT 16 32 rw 3 DI1 input filtering time constant UINT 16 48 rw 5 DI2 function selection UINT 16 64 rw 6 DI2 logic selection UINT 16 80 rw 7 DI2 input filtering time constant UINT 16 96 rw 9 DI3 function selection UINT 16 112 rw 10 DI3 logic selection UINT 16 128 rw 11 DI3 input filtering time constant UINT 16 144 rw 13 DI4 function selection UINT 16 160 rw 14 DI4 logic selection UINT 16 176 rw 15 DI4 input filtering time constant UINT 16 192 rw 17 DI5 function selection UINT 16 208 rw 18 DI5 logic selection UINT 16 224 rw 19 DI5 input filtering time constant UINT 16 240 rw 49 DO1 function selection UINT 16 256 rw 50 DO1 logic level selection UINT 16 272 rw 51 DO2 function selection UINT 16 288 rw 52 DO2 logic level selection UINT 16 304 rw 53 DO3 function selection UINT 16 320 rw 54 DO3 logic level selection UINT 16 336 rw DT2005 160 0 SubIndex 000 USINT 8 0 ro 3 Stop mode at overtravel UINT 16 16 rw 4 Stop mode at No. 1 fault UINT 16 32 rw 8 stop speed threshold UINT 16 48 rw 13 Torque stop limit UINT 16 64 rw 17 Delay from motor de-energized to brake output OFF in rotation state UINT 16 80 rw 18 Motor speed threshold at brake output OFF in rotation state UINT 16 96 rw 19 Delay from brake output OFF to motor de-energized in static state UINT 16 112 rw 20 Delay from brake output ON to command received UINT 16 128 rw 21 Power on delay time of DB relay UINT 16 144 rw DT2006 304 0 SubIndex 000 USINT 8 0 ro 1 Excessive position deviation threshold UDINT 32 16 rw 4 Overspeed threshold UINT 16 48 rw 5 Power inputphase loss protection disable UINT 16 64 rw 6 Power-off memory selection UINT 16 80 rw 8 Mechanical limit selection UINT 16 96 rw 9 Mechanical forward limit position DINT 32 112 rw 11 Mechanical negative limit position DINT 32 144 rw 17 Driver overload protection threshold UINT 16 176 rw 18 Motor overload protection gain UINT 16 192 rw 19 Locked rotor over-temperature protection UINT 16 208 rw 20 Motor locked rotor detection time UINT 16 224 rw 21 Motor locked rotor speed detection UINT 16 240 rw 22 Output phase loss detection is enabled UINT 16 256 rw 29 Encoder communication fault tolerance threshold UINT 16 272 rw 33 Runaway protection selection UINT 16 288 rw DT2010 336 0 SubIndex 000 USINT 8 0 ro 1 Homing Enable UINT 16 16 rw 9 Homing duration limit UDINT 32 16 rw 17 Multiturn absolute position bias 32 bits lower DINT 32 48 rw 19 Multiturn absolute position bias 32 bits higher DINT 32 80 rw 21 Multiple turn number data bias UINT 16 112 ro 22 Multi-turn overflow flag bit UINT 16 128 ro 23 Rotation mode Indicates the operation mode UINT 16 144 rw 25 Rotational mode mechanical gear ratio molecule UINT 16 160 rw 26 Rotary mode mechanical gear score female UINT 16 176 rw 27 Rotation mode mechanical absolute position upper limit 32 bits lower UDINT 32 192 rw 29 Rotation mode mechanical absolute position upper limit 32 bits UDINT 32 224 rw 31 single turn encoder homing offset DINT 32 256 rw 49 crash homing torque UINT 16 288 rw 50 crash homing speed UINT 16 304 rw 51 crash homing times UINT 16 320 rw DT2013 320 0 SubIndex 000 USINT 8 0 ro 1 station auto inc address UINT 16 16 ro 2 station alias UINT 16 32 rw 3 Sync lost window UINT 16 48 rw 4 Sync detection mode UINT 16 64 ro 5 Sync lost counter UINT 16 80 ro 6 Sync mode set UINT 16 96 rw 7 Sync error window UINT 16 112 rw 8 CSP postion increment over counter UINT 16 128 rw 9 Enhanced link detection enable UINT 16 144 rw 10 Port 0 invalid frame counter UINT 16 160 ro 11 Port 1 invalid frame counter UINT 16 176 ro 12 Port 0/1 transfer error counter UINT 16 192 ro 13 process unit and PDI error counter UINT 16 208 ro 14 Port 0/1 lost counter UINT 16 224 ro 15 EtherCAT network state and link state UINT 16 240 ro 16 EtherCAT AL code UINT 16 256 ro 17 Update function code values written via communication to EEPROM UINT 16 272 rw 18 Irq lost window UINT 16 288 rw 19 Irq lost counter UINT 16 304 ro DT2020 128 0 SubIndex 000 USINT 8 0 ro 1 Motor setting model UINT 16 16 rw 2 Internal motor model UINT 16 32 rw 9 Motor rated voltage UINT 16 48 rw 10 Motor rating UDINT 32 64 rw 33 Version number of the encoder software UINT 16 96 ro 35 Encoder type UINT 16 112 ro DT2021 192 0 SubIndex 000 USINT 8 0 ro 1 Driver Setting Model UINT 16 16 rw 2 Internal driver model UINT 16 32 ro 13 Driver voltage level UINT 16 48 ro 14 Driver rating UDINT 32 64 ro 16 Rated output current of driver UDINT 32 96 ro 18 Maximum output current of the driver UDINT 32 128 ro 20 Built-in relief resistor power UINT 16 160 ro 21 Built-in discharge resistance resistance value UINT 16 176 ro DT2031 112 0 SubIndex 000 USINT 8 0 ro 1 Fault reset UINT 16 16 rw 2 Software reset UINT 16 32 rw 3 Parameter initialization UINT 16 48 rw 4 Driver initialization UINT 16 64 rw 5 Fault record initialization UINT 16 80 rw 17 Encoder data reset UINT 16 96 rw DT2040 800 0 SubIndex 000 USINT 8 0 ro 1 Speed command INT 16 16 ro t 2 Speed feedback INT 16 32 ro t 3 Torque reference INT 16 48 ro t 4 Actual motor torque INT 16 64 ro t 5 Monitored DI states UINT 16 80 ro t 6 Monitored DO states UINT 16 96 ro t 7 Bus voltage UINT 16 112 ro t 8 Average load rate UINT 16 128 ro t 9 Electrical angle UINT 16 144 ro t 10 Mechanical angle UINT 16 160 ro t 13 Effective value of U-phase current INT 16 176 ro t 17 position Error counter DINT 32 192 ro t 21 Absolute position command (user unit) DINT 32 224 ro t 23 Absolute position feedback (user unit) DINT 32 256 ro t 25 Absolute position command (encoder unit) DINT 32 288 ro t 27 Absolute position feedback (encoder unit) DINT 32 320 ro t 29 Encoder single turn information DINT 32 352 ro t 31 Encoder multi turn information UINT 16 384 ro t 32 Encoder initial Angle UINT 16 400 ro t 33 Encoder multi turn information low 32 bits DINT 32 416 ro t 35 Encoder multi turn information High 32 bits DINT 32 448 ro t 37 Absolute position feedback (encoder unit)low 32 bits DINT 32 480 ro t 39 Absolute position feedback (encoder unit)High 32 bits DINT 32 512 ro t 41 ratation mode feedback (user unit) DINT 32 544 ro t 43 ratation mode feedback (encoder unit)low 32 bits DINT 32 576 ro t 45 ratation mode feedback (encoder unit)High 32 bits DINT 32 608 ro t 49 IGBT temperature INT 16 640 ro t 53 Offline inertia auto-tuning value UINT 16 656 ro t 55 Instantaneous value of u-phase current DINT 32 672 ro t 57 Instantaneous value of v-phase current DINT 32 704 ro t 59 EtherCAT SyncPeriod UDINT 32 736 ro t 61 Sync and IRQ phases DINT 32 768 ro t DT2041 176 0 SubIndex 000 USINT 8 0 ro 1 MCU System state UINT 16 16 ro 2 MCU Fault state UINT 16 32 ro 5 Encoder System state UINT 16 48 ro 6 Encoder Error state UINT 16 64 ro 7 Parameter Abnormal function code group number UINT 16 80 ro 8 Parameter abnormal function code group internal bias UINT 16 96 ro 11 Servo state UINT 16 112 ro 12 Servo mode UINT 16 128 ro 13 Servo run time UDINT 32 144 ro DT2042 192 0 SubIndex 000 USINT 8 0 ro 1 Arm version information UINT 16 16 ro 3 Encoder version information UINT 16 32 ro 4 Arm Non Stand version information UINT 16 48 ro 6 Internal version information UINT 16 64 ro 11 EtherCAT COE version number UINT 16 80 ro 12 EtherCAT xml file version number UINT 16 96 ro 17 Set Servo drive type UINT 16 112 ro 18 Set Servo motor type UINT 16 128 ro 19 Encoder model UINT 16 144 ro 20 Rectifier type identification UINT 16 160 ro 21 Inverter type identification 1 UINT 16 176 ro DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min position limit DINT 32 16 rw R 2 Max position limit DINT 32 48 rw R DT6091 80 0 SubIndex 000 USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw R 2 Shaft revolutions UDINT 32 48 rw R DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw R 2 Speed during search for zero UDINT 32 48 rw R 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 DT60E3 512 0 SubIndex 000 USINT 8 0 ro 1 Support homing method 1 UINT 16 16 ro 2 Support homing method 2 UINT 16 32 ro 3 Support homing method 3 UINT 16 48 ro 4 Support homing method 4 UINT 16 64 ro 5 Support homing method 5 UINT 16 80 ro 6 Support homing method 6 UINT 16 96 ro 7 Support homing method 7 UINT 16 112 ro 8 Support homing method 8 UINT 16 128 ro 9 Support homing method 9 UINT 16 144 ro 10 Support homing method 10 UINT 16 160 ro 11 Support homing method 11 UINT 16 176 ro 12 Support homing method 12 UINT 16 192 ro 13 Support homing method 13 UINT 16 208 ro 14 Support homing method 14 UINT 16 224 ro 15 Support homing method 15 UINT 16 240 ro 16 Support homing method 16 UINT 16 256 ro 17 Support homing method 17 UINT 16 272 ro 18 Support homing method 18 UINT 16 288 ro 19 Support homing method 19 UINT 16 304 ro 20 Support homing method 20 UINT 16 320 ro 21 Support homing method 21 UINT 16 336 ro 22 Support homing method 22 UINT 16 352 ro 23 Support homing method 23 UINT 16 368 ro 24 Support homing method 24 UINT 16 384 ro 25 Support homing method 25 UINT 16 400 ro 26 Support homing method 26 UINT 16 416 ro 27 Support homing method 27 UINT 16 432 ro 28 Support homing method 28 UINT 16 448 ro 29 Support homing method 29 UINT 16 464 ro 30 Support homing method 30 UINT 16 480 ro 31 Support homing method 31 UINT 16 496 ro #x1000 Device type UDINT 32 #x00020192 ro o #x1001 Error Register USINT 8 00 ro o #x1008 Device name STRING(10) 80 AS730N-DRIVER ro #x1009 Hardware version STRING(4) 32 V001 ro #x100a Software version STRING(4) 32 V512 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID #x00400000 Product Code #x00000730 Revision #x0002EF8 Serial number 00000000 ro o #x1600 Outputs DT1600 336 SubIndex 000 00 10 #x03 1st Output Object to be mapped #x00000000 #xFFFFFFFF #x60400010 2nd Output Object to be mapped #x00000000 #xFFFFFFFF #x607A0020 3rd Output Object to be mapped #x00000000 #xFFFFFFFF #x60B80010 4th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 5th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 6th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 7th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 8th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1701 Outputs DT1701 336 SubIndex 000 #x04 1st Output Object to be mapped #x60400010 2nd Output Object to be mapped #x607A0020 3rd Output Object to be mapped #x60B80010 4th Output Object to be mapped #x60FE0120 ro #x1702 Outputs DT1702 336 SubIndex 000 #x07 1st Output Object to be mapped #x60400010 2nd Output Object to be mapped #x607A0020 3rd Output Object to be mapped #x60B80010 4th Output Object to be mapped #x60710010 5th Output Object to be mapped #x60600008 6th Output Object to be mapped #x60B80010 7th Output Object to be mapped #x607F0020 ro #x1703 Outputs DT1702 336 SubIndex 000 #x07 1st Output Object to be mapped #x60400010 2nd Output Object to be mapped #x607A0020 3rd Output Object to be mapped #x60FF0020 4th Output Object to be mapped #x60600008 5th Output Object to be mapped #x60B80010 6th Output Object to be mapped #x60E00010 7th Output Object to be mapped #x60E10010 ro #x1704 Outputs DT1704 336 SubIndex 000 #x09 1st Output Object to be mapped #x60400010 2nd Output Object to be mapped #x607A0020 3rd Output Object to be mapped #x60FF0020 4th Output Object to be mapped #x60710010 5th Output Object to be mapped #x60600008 6th Output Object to be mapped #x60B80010 7th Output Object to be mapped #x607F0020 8th Output Object to be mapped #x60E00010 9th Output Object to be mapped #x60E10010 ro #x1705 Outputs DT1705 336 SubIndex 000 #x08 1st Output Object to be mapped #x60400010 2nd Output Object to be mapped #x607A0020 3rd Output Object to be mapped #x60FF0020 4th Output Object to be mapped #x60600008 5th Output Object to be mapped #x60B80010 6th Output Object to be mapped #x60E00010 7th Output Object to be mapped #x60E10010 8th Output Object to be mapped #x60B20010 ro #x1A00 Inputs DT1A00 336 SubIndex 000 00 10 #x07 1st Input Object to be mapped #x00000000 #xFFFFFFFF #x60410010 2nd Input Object to be mapped #x00000000 #xFFFFFFFF #x60640020 3rd Input Object to be mapped #x00000000 #xFFFFFFFF #x60B90010 4th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BA0020 5th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BC0020 6th Input Object to be mapped #x00000000 #xFFFFFFFF #x603F0010 7th Input Object to be mapped #x00000000 #xFFFFFFFF #x60FD0020 8th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1B01 Inputs DT1B01 336 SubIndex 000 #x09 1st Input Object to be mapped #x603F0010 2nd Input Object to be mapped #x60410010 3rd Input Object to be mapped #x60640020 4th Input Object to be mapped #x60770010 5th Input Object to be mapped #x60F40020 6th Input Object to be mapped #x60B90010 7th Input Object to be mapped #x60BA0020 8th Input Object to be mapped #x60BC0020 9th Input Object to be mapped #x60FD0020 ro #x1B02 Inputs DT1B01 336 SubIndex 000 #x09 1st Input Object to be mapped #x603F0010 2nd Input Object to be mapped #x60410010 3rd Input Object to be mapped #x60640020 4th Input Object to be mapped #x60770010 5th Input Object to be mapped #x60610008 6th Input Object to be mapped #x60B90010 7th Input Object to be mapped #x60BA0020 8th Input Object to be mapped #x60BC0020 9th Input Object to be mapped #x60FD0020 ro #x1B03 Inputs DT1B03 336 SubIndex 000 #x10 1st Input Object to be mapped #x603F0010 2nd Input Object to be mapped #x60410010 3rd Input Object to be mapped #x60640020 4th Input Object to be mapped #x60770010 5th Input Object to be mapped #x60F40020 6th Input Object to be mapped #x60610008 7th Input Object to be mapped #x60B90010 8th Input Object to be mapped #x60BA0020 9th Input Object to be mapped #x60BC0020 10th Input Object to be mapped #x60FD0020 ro #x1B04 Inputs DT1B03 336 SubIndex 000 #x10 1st Input Object to be mapped #x603F0010 2nd Input Object to be mapped #x60410010 3rd Input Object to be mapped #x60640020 4th Input Object to be mapped #x60770010 5th Input Object to be mapped #x60610008 6th Input Object to be mapped #x60B90010 7th Input Object to be mapped #x60BA0020 8th Input Object to be mapped #x60BC0020 9th Input Object to be mapped #x60FD0020 10th Input Object to be mapped #x606C0020 ro #x1c32 SM output parameter DT1C32 488 SubIndex 000 32 Sync mode 0200 Cycle time 00000000 Sync modes supported 0004 Minimum cycle time 00000000 Calc and copy time #x0003d090 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 SubIndex 000 32 Sync mode 0002 Cycle time 00000000 Sync modes supported 4 Minimum cycle time 00000000 Calc and copy time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 00 SubIndex 001 0000 ro #x1c13 TxPDO assign DT1C13 32 SubIndex 000 00 SubIndex 001 0000 ro #x2000 Configuration Parameter DT2000 256 SubIndex 000 50 Control mode selection 0 10 10 Forward direction 0 1 0 Gain auto-tuning mode 0 2 1 Stiffness level selection 1 31 12 Load moment of inertia ratio 0 12000 100 Absolute mode selection 0 5 0 Regenerative resistor type 0 3 0 Power capacity of regenerative resistor 1 65535 50 Resistance of regenerative resistor 1 65535 40 Resistor heat dissipation coefficient 1 100 30 BrakeEn switch 0 1 0 Motor rotation phase sequence setting 0 1 0 Default keypad display function 0 4 0 Ordinary users 0 65535 0 Super user 0 65535 0 Non standard switch 0 65535 0 #x2001 Gain Parameter DT2001 816 SubIndex 000 79 1st Position loop gain 0 20000 400 1st Speed loop gain 1 20000 250 1st Speed loop integral time constant 1 51200 3184 1st Torque reference filter time constant 5 16000 200 2nd Position loop gain 0 20000 560 2nd Speed loop gain 1 20000 350 2nd Speed loop integral time constant 1 51200 2274 2nd Torque reference filter time constant 5 16000 280 Speed feedback filter selection 0 4 0 Cutoff frequency of speed feedback low-pass filter 10 16000 8000 Speed feedback moving average filter time constant 0 6 0 Speed feedforward selection 0 5 0 Speed feedforward gain 0 2000 0 Speed feedforward filter time constant 5 16000 318 Torque feedforward selection 0 5 0 Torque feedforward gain 0 2000 0 Torque feedforward filter time constant 5 16000 318 PDFF control coefficient 0 1000 1000 Damping factor 0 1000 0 Moving average filter time constant A 0 1280 0 Moving average filter time constant B 0 1280 0 First-order low-pass filter time constant A 0 65535 0 First-order low-pass filter time constant B 0 65535 0 Postion Frequency of the 1st notch 0 2000 0 Postion Width level of the 1st notch 0 1000 0 Postion Depth level of the 1st notch 10 1000 1000 Postion Frequency of the 2nd notch 0 2000 0 Postion Width level of the 2nd notch 0 1000 0 Postion Depth level of the 2nd notch 10 1000 1000 Postion Command buffer filter time 0 1280 0 Adaptive notch mode 0 3 0 Adaptive notch detection times 0 65535 0 Gain switchover condition 0 8 0 Gain switchover delay 10 10000 50 Gain switchover threshold 0 65535 10 Gain switching loop width 0 65535 10 Frequency of the 1st notch 10 8000 8000 Width level of the 1st notch 0 4000 0 Depth level of the 1st notch 10 1000 1000 Frequency of the 2nd notch 10 8000 8000 Width level of the 2nd notch 0 4000 0 Depth level of the 2nd notch 10 1000 1000 Frequency of the 3rd notch 10 8000 8000 Width level of the 3rd notch 0 4000 0 Depth level of the 3rd notch 10 1000 1000 Frequency of the 4th notch 10 8000 8000 Width level of the 4th notch 0 4000 0 Depth level of the 4th notch 10 1000 1000 Frequency of the 5th notch 10 8000 8000 Width level of the 5th notch 0 4000 0 Depth level of the 5th notch 10 1000 1000 #x2002 Gain auto-tuning mode Parameter DT2002 704 SubIndex 000 70 Model following control selection 0 1 0 Model following control gain 10 20000 500 Inertia correction of MFC 10 8000 1000 Gain ratio of speed observer 0 40000 0 Inertia correction of speed observer 10 8000 1000 Speed observer speed feedback cutoff frequency correction 0 16000 0 Vibration suppression frequency 1 10 20000 1000 Inertia correction of vibration suppression 1 10 8000 1000 Correction of low pass filter for vibration suppression 1 -9999 9999 0 Vibration suppression high pass filter 1 correction 1 -9999 9999 0 Vibration suppression high pass filter 2 frequency 1 10 50000 20000 Vibration suppression compensation 1 ratio 1 0 20000 0 Vibration suppression compensation 2 ratio 1 0 20000 0 Vibration suppression frequency 2 10 20000 1000 Inertia correction of vibration suppression 2 10 8000 1000 Correction of low pass filter for vibration suppression 2 -9999 9999 0 Vibration suppression high pass filter 1 correction 2 -9999 9999 0 Vibration suppression high pass filter 2 frequency 2 10 50000 20000 Vibration suppression compensation 1 ratio 2 0 20000 0 Vibration suppression compensation 2 ratio 2 0 20000 0 Vibration suppression frequency 3 10 20000 1000 Inertia correction of vibration suppression 3 10 8000 1000 Correction of low pass filter for vibration suppression 3 -9999 9999 0 Vibration suppression high pass filter 1 correction 3 -9999 9999 0 Vibration suppression high pass filter 2 frequency 3 10 50000 20000 Vibration suppression compensation 1 ratio 3 0 20000 0 Vibration suppression compensation 2 ratio 3 0 20000 0 Gain correction coefficient of disturbance observer 0 40000 0 Inertia correction coefficient of disturbance observer 1 10000 1000 Low pass cutoff frequency correction of disturbance observer 0 16000 0 Disturbance observer torque compensation percentage 0 2000 0 Friction compensation switch and related settings 0 #xFF 0 Friction compensation speed threshold 0 5000 20 Static friction compensation value 0 2000 0 Forward compensation value of Coulomb friction 0 2000 0 Coulomb friction reverse compensation value -2000 0 0 Viscous friction torque corresponding to rated speed 0 2000 0 Friction compensation filtering time 0 65535 0 Friction compensation zero speed threshold 0 1000 10 #x2003 Command Parameter DT2003 256 SubIndex 000 76 Speed reference set -8000 8000 100 Acceleration ramp time constant of speed reference 00 #x36EE80 010 Deceleration ramp time constant of speed reference 00 #x36EE80 010 Forward internal Speed limit 0 8000 6000 Reverse internal Speed limit 0 8000 6000 Arrive Speed threshold 0 8000 1000 Sync Speed threshold 0 1000 10 Motor speed threshold 0 1000 20 Zero speed threshold 0 1000 10 Torque reference set -4000 4000 0 Forward internal torque limit 0 4000 3000 Reverse internal torque limit 0 4000 3000 Forward Speed limit 1 in torque control 0 8000 3000 Reverse Speed limit 2 in torque control 0 8000 3000 Reference value for torque reached 0 4000 0 Valid value for torque reached 0 4000 200 Invalid value for torque reached 0 4000 100 #x2004 InOutput Parameter DT2004 352 SubIndex 000 54 DI1 function selection 0 32 6 DI1 logic selection 0 1 0 DI1 input filtering time constant 0 65535 0 DI2 function selection 0 32 7 DI2 logic selection 0 1 0 DI2 input filtering time constant 0 65535 0 DI3 function selection 0 32 5 DI3 logic selection 0 1 0 DI3 input filtering time constant 0 65535 0 DI4 function selection 0 32 2 DI4 logic selection 0 1 0 DI4 input filtering time constant 0 65535 0 DI5 function selection 0 32 1 DI5 logic selection 0 1 0 DI5 input filtering time constant 0 65535 0 DO1 function selection 0 20 1 DO1 logic level selection 0 1 0 DO2 function selection 0 20 4 DO2 logic level selection 0 1 0 DO3 function selection 0 20 3 DO3 logic level selection 0 1 0 #x2005 Shutdown Parameter DT2005 192 SubIndex 000 33 Stop mode at overtravel 0 7 1 Stop mode at No. 1 fault 0 2 2 stop speed threshold 0 1000 10 Torque stop limit 0 3000 1000 Delay from motor de-energized to brake output OFF in rotation state 0 65535 100 Motor speed threshold at brake output OFF in rotation state 10 3000 30 Delay from brake output OFF to motor de-energized in static state 0 65535 100 Delay from brake output ON to command received 0 65535 100 Power on delay time of DB relay 0 65535 20 #x2006 Protection Parameter DT2006 448 SubIndex 000 37 Excessive position deviation threshold 00 #xFFFFFFFF 032767 Overspeed threshold 0 9000 0 Power inputphase loss protection disable 0 1 0 Power-off memory selection 0 1 0 Mechanical limit selection 0 2 0 Mechanical forward limit position #x80000000 #x7FFFFFFF #x7FFFFFFF Mechanical negative limit position #x80000000 #x7FFFFFFF #x80000000 Driver overload protection threshold 0 3500 1150 Motor overload protection gain 0 3500 1150 Locked rotor over-temperature protection 0 1 1 Motor locked rotor detection time 0 3000 200 Motor locked rotor speed detection 0 1000 10 Output phase loss detection is enabled 0 1 0 Encoder communication fault tolerance threshold 0 88 3 Runaway protection selection 0 1 1 #x2010 Homing Parameter DT2010 272 SubIndex 000 29 Homing Enable 0 3 0 Homing duration limit 0 65535 60000 Multiturn absolute position bias 32 bits lower 0 #xFFFF 0 Multiturn absolute position bias 32 bits higher 0 #xFFFF 0 Multiple turn number data bias 0 65535 0 Multi-turn overflow flag bit 0 1 0 Rotation mode Indicates the operation mode 0 4 0 Rotational mode mechanical gear ratio molecule 1 65535 1 Rotary mode mechanical gear score female 1 65535 1 Rotation mode mechanical absolute position upper limit 32 bits lower 0 65535 0 Rotation mode mechanical absolute position upper limit 32 bits 0 65535 0 single turn encoder homing offset 0 #xFFFF 0 crash homing torque 0 3000 1000 crash homing speed 0 1000 10 crash homing times 0 65535 30 #x2013 Ethercat Parameter DT2013 304 SubIndex 000 19 station auto inc address 0 65535 0 station alias 0 65535 0 Sync lost window 1 20 8 Sync detection mode 0 65535 0 Sync lost counter 0 65535 0 Sync mode set 0 2 1 Sync error window 0 6000 3000 CSP postion increment over counter 1 30 5 Enhanced link detection enable 0 1 0 Port 0 invalid frame counter 0 65535 0 Port 1 invalid frame counter 0 65535 0 Port 0/1 transfer error counter 0 65535 0 process unit and PDI error counter 0 65535 0 Port 0/1 lost counter 0 65535 0 EtherCAT network state and link state 0 65535 0 EtherCAT AL code 0 65535 0 Update function code values written via communication to EEPROM 0 1 1 Irq lost window 0 10 5 Irq lost counter 0 65535 0 #x2020 Motor Parameter DT2020 144 SubIndex 000 35 Motor setting model 0 65535 20000 Internal motor model 0 65535 20063 Motor rated voltage 0 2 0 Motor rating 01 #xFFFFFFFF 040 Version number of the encoder software 0 65535 0 Encoder type 0 65535 0 #x2021 Drive Parameter DT2021 192 SubIndex 000 21 Driver Setting Model 0 65535 3 Internal driver model 0 65535 3 Driver voltage level 0 2 0 Driver rating 01 #xFFFFFFFF 040 Rated output current of driver 01 #xFFFFFFFF 0280 Maximum output current of the driver 01 #xFFFFFFFF 0980 Built-in relief resistor power 1 65535 40 Built-in discharge resistance resistance value 1 65535 50 #x2031 Operation reset Parameter DT2031 96 SubIndex 000 17 Fault reset 0 1 0 Software reset 0 1 0 Parameter initialization 0 2 0 Driver initialization 0 2 0 Fault record initialization 0 1 0 Encoder data reset 0 #x1F 0 #x2040 Operation monitoring Parameter DT2040 624 SubIndex 000 57 Speed command -9000 9000 0 Speed feedback -9000 9000 0 Torque reference -4000 4000 0 Actual motor torque -4000 4000 0 Monitored DI states 0 65535 0 Monitored DO states 0 65535 0 Bus voltage 0 9000 0 Average load rate 0 4000 0 Electrical angle 0 36000 0 Mechanical angle 0 36000 0 Effective value of U-phase current -9000 9000 0 position Error counter #x80000000 #x7FFFFFFF 00 Absolute position command (user unit) #x80000000 #x7FFFFFFF 00 Absolute position feedback (user unit) #x80000000 #x7FFFFFFF 00 Absolute position command (encoder unit) #x80000000 #x7FFFFFFF 00 Absolute position feedback (encoder unit) #x80000000 #x7FFFFFFF 00 Encoder single turn information #x80000000 #x7FFFFFFF 00 Encoder multi turn information 0 65535 0 Encoder initial Angle 0 36000 0 Encoder multi turn information low 32 bits #x80000000 #x7FFFFFFF 00 Encoder multi turn information High 32 bits #x80000000 #x7FFFFFFF 00 Absolute position feedback (encoder unit)low 32 bits #x80000000 #x7FFFFFFF 00 Absolute position feedback (encoder unit)High 32 bits #x80000000 #x7FFFFFFF 00 ratation mode feedback (user unit) #x80000000 #x7FFFFFFF 00 ratation mode feedback (encoder unit)low 32 bits #x80000000 #x7FFFFFFF 00 ratation mode feedback (encoder unit)High 32 bits #x80000000 #x7FFFFFFF 00 IGBT temperature -9000 9000 0 Offline inertia auto-tuning value 0 12000 0 Instantaneous value of u-phase current #x80000000 #x7FFFFFFF 00 Instantaneous value of v-phase current #x80000000 #x7FFFFFFF 00 EtherCAT SyncPeriod 00 #x7FFFFFFF 00 Sync and IRQ phases #x80000000 #x7FFFFFFF 00 #x2041 Condition monitoring Parameter DT2041 112 SubIndex 000 13 MCU System state 0 65535 0 MCU Fault state 0 65535 0 Encoder System state 0 65535 0 Encoder Error state 0 65535 0 Parameter Abnormal function code group number 0 #xFF 0 Parameter abnormal function code group internal bias 0 #xFF 0 Servo state 0 3 0 Servo mode 0 9 0 Servo run time 0 65535 0 #x2042 Version Parameter DT2042 192 SubIndex 000 21 Arm version information 0 65535 0 Encoder version information 0 65535 0 Arm Non Stand version information 0 65535 0 Internal version information 0 65535 0 EtherCAT COE version number 0 65535 0 EtherCAT xml file version number 0 65535 0 Set Servo drive type 0 65535 0 Set Servo motor type 0 65535 0 Encoder model 0 65535 0 Rectifier type identification 0 65535 0 Inverter type identification 1 0 #xFFFF 0 #x203F Manufacturor Error code UDINT 32 #x00000000 #xFFFFFFFF #x00000000 ro T #x603F Error code UINT 16 #x0000 #xFFFF #x0000 ro T #x6040 Control word UINT 16 #x0000 #xFFFF #x0000 rw R #x6041 Status word UINT 16 #x0000 #xFFFF #x0000 ro T #x605A Quick stop option code INT 16 #x0000 #x0007 #x0002 rw #x605C Disable operation option Code INT 16 #xFFFC #x0001 #x0000 rw #x605D Halt option Code INT 16 #x0001 #x0003 #x0001 rw #x605E Fault Reaction option Code INT 16 #xFFFB #x0003 #x0002 rw #x6060 Modes of operation SINT 8 0 10 0 rw R #x6061 Modes of operation display SINT 8 0 10 0 ro T #x6062 Position demand value DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x6063 Position actual value* DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x6064 Position actual value DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x6065 Following error window UDINT 32 #x0 #xFFFFFFFF #x100000 rw R #x6066 Following error time out UINT 16 #x0 #xFFFF #x0 rw R #x6067 Position window UDINT 32 #x0 #xFFFFFFFF #x2DE rw R #x6068 Position window time UINT 16 #x0 #xFFFF #x0 rw R #x606C Velocity actual value DINT 32 #x80000000 #x7FFFFFFF 0 ro T #x606D Velocity window UINT 16 #x0000 #xFFFF #xA rw R #x606E Velocity window time UINT 16 #x0000 #xFFFF #x0 rw #x606F Velocity threshold UINT 16 #x0000 #xFFFF #xA rw R #x6070 Velocity threshold time UINT 16 #x0000 #xFFFF #x0 rw #x6071 Target torque INT 16 #xF448 #x0BB8 #x0 rw R #x6072 Max Torque UINT 16 #x0 #x0BB8 #x0BB8 rw R #x6074 Torque demand INT 16 #xF448 #x0BB8 #x0 ro T #x6077 Torque actual value INT 16 #xF448 #x0BB8 #x0 ro T #x607A Target position DINT 32 #x80000000 #x7FFFFFFF #x0 rw R #x607C Home offset DINT 32 #x80000000 #x7FFFFFFF #x0 rw R #x607D Software position limit DT607D 80 SubIndex 000 #x02 Min position limit #x80000000 #x7FFFFFFF #x80000000 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro #x607E Polarity USINT 8 #x0 #xFF #x0 rw R #x607F Max profile velocity UDINT 32 #x0 #xFFFFFFFF #x6400000 rw R #x6081 Profile velocity UDINT 32 #x0 #xFFFFFFFF #x001AAAAB rw R #x6083 Profile acceleration UDINT 32 #x0 #xFFFFFFFF #x0A6AAAAA rw R #x6084 Profile deceleration UDINT 32 #x0 #xFFFFFFFF #x0A6AAAAA rw R #x6085 Quick stop deceleration UDINT 32 #x0 #xFFFFFFFF #x7FFFFFFF rw R #x6086 Motion profile type INT 16 #x8000 #x7FFF #x0 rw R #x6087 Torque slope UDINT 32 #x0 #xFFFFFFFF #xFFFFFFFF rw R #x6091 Gear ratio DT6091 80 SubIndex 000 #x02 Motor revolutions #x1 #xFFFFFFFF #x1 Shaft revolutions #x1 #xFFFFFFFF #x1 ro #x6098 Homing method SINT 8 #xFE #x23 1 rw R #x6099 Homing speeds DT6099 80 Number of entries #x02 Speed during search for switch 0 #xFFFFFFFF #x001AAAAB Speed during search for zero 0 #xFFFFFFFF #x0002AAAB ro #x609A Homing acceleration UDINT 32 0 #xFFFFFFFF #x0A6AAAAA rw R #x60B0 Position offset DINT 32 #x80000000 #x7FFFFFFF #x0 rw R #x60B1 Velocity offset DINT 32 #x80000000 #x7FFFFFFF #x0 rw R #x60B2 Torque offset INT 16 #xF448 #x0BB8 #x0 rw R #x60B8 Touch probe function UINT 16 #x0 #xFFFF #x0 rw R #x60B9 Touch Probe Status UINT 16 #x0 #xFFFF #x0 ro T #x60BA Touch Probe pos 1 pos value DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x60BB Touch Probe pos 1 neg value DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x60BC Touch Probe pos 2 pos value DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x60BD Touch Probe pos 2 neg value DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x60C5 Max Acceleration UDINT 32 #x0 #xFFFFFFFF #xFFFFFFFF rw R #x60C6 Max Deceleration UDINT 32 #x0 #xFFFFFFFF #xFFFFFFFF rw R #x60D5 Touch Probe 1 positive egde counter UINT 16 #x0 #xFFFF #x0 ro T #x60D6 Touch Probe 1 negative egde counter UINT 16 #x0 #xFFFF #x0 ro T #x60D7 Touch Probe 2 positive egde counter UINT 16 #x0 #xFFFF #x0 ro T #x60D8 Touch Probe 2 negative egde counter UINT 16 #x0 #xFFFF #x0 ro T #x60E0 Positive torque limit value UINT 16 #x0 #x0BB8 #x0BB8 rw R #x60E1 Negative torque limit value UINT 16 #x0 #x0BB8 #x0BB8 rw R #x60E3 Support homing method DT60E3 512 SubIndex 000 #x0 #x1F 31 Support homing method 1 #x0301 Support homing method 2 #x0302 Support homing method 3 #x0303 Support homing method 4 #x0304 Support homing method 5 #x0305 Support homing method 6 #x0306 Support homing method 7 #x0307 Support homing method 8 #x0308 Support homing method 9 #x0309 Support homing method 10 #x030A Support homing method 11 #x030B Support homing method 12 #x030C Support homing method 13 #x030D Support homing method 14 #x030E Support homing method 15 #x030F Support homing method 16 #x0310 Support homing method 17 #x0311 Support homing method 18 #x0312 Support homing method 19 #x0313 Support homing method 20 #x0314 Support homing method 21 #x0315 Support homing method 22 #x0316 Support homing method 23 #x0317 Support homing method 24 #x0318 Support homing method 25 #x0319 Support homing method 26 #x031A Support homing method 27 #x031B Support homing method 28 #x031C Support homing method 29 #x031D Support homing method 30 #x031E Support homing method 31 #x031F ro #x60E6 Actual Position Calucation Method SINT 8 0 1 0 rw #x60F4 Following error actual value DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x60FC Position demand internal value DINT 32 #x80000000 #x7FFFFFFF #x0 ro T #x60FD Digital inputs UDINT 32 #x0 #xFFFFFFFF #x0 ro T #x60FE Digital outputs DT60FE 80 SubIndex 000 #x02 Physical outputs #x00000000 #xFFFFFFFF #x00000000 Bit Mask #x00000000 #xFFFFFFFF #x00000000 ro #x60FF Target velocity DINT 32 #x80000000 #x7FFFFFFF #x0 rw R #x6502 Supported drive modes UDINT 32 #x00000000 #xFFFFFFFF #x000003AD ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Outputs #x1701 #x1702 #x1703 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x1701 Outputs #x1600 #x1702 #x1703 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x60FE 1 32 Physical outputs UDINT #x1702 Outputs #x1600 #x1701 #x1703 #x1704 #x1705 #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 #x607F 0 32 Max profile velocity UDINT #x1703 Outputs #x1600 #x1701 #x1702 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch probe function UINT #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x1704 Outputs #x1600 #x1701 #x1702 #x1703 #x1705 #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 #x607F 0 32 Max profile velocity UDINT #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x1705 Outputs #x1600 #x1701 #x1702 #x1703 #x1704 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch probe function UINT #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x60B2 0 16 Torque offset INT #x1A00 Inputs #x1B01 #x1B02 #x1B03 #x1B04 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x603F 0 16 Error code UINT #x60FD 0 32 Digital inputs UDINT #x1B01 Inputs #x1A00 #x1B02 #x1B03 #x1B04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60FD 0 32 Digital inputs UDINT #x1B02 Inputs #x1A00 #x1B01 #x1B03 #x1B04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position 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 pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60FD 0 32 Digital inputs UDINT #x1B03 Inputs #x1A00 #x1B01 #x1B02 #x1B04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60FD 0 32 Digital inputs UDINT #x1B04 Inputs #x1A00 #x1B01 #x1B02 #x1B03 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x60F4 0 32 Following error actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x606C 0 32 Velocity actual value DINT PS #x6060 0 08 Modes of operation DC DC-Synchron #x300 0 0 0 2048 800C42EEC80000000000 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