#x00100000 Inovance 汇川技术 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ServoDrive Servo Drives 伺服驱动器 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IS620N IS620N_ECAT_v2.5.8 ServoDrivehttp://www.inovance.cn 3000 9000 5000 200 100 2000 ServoDrive 402 BIT2 2 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 USINT 8 SINT 8 STRING(31) 248 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 Number UDINT 32 80 ro DT10F1 144 0 SubIndex 000 USINT 8 0 ro 2 Sync Error Counter Limit UDINT 32 16 rw 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 400 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 9 Delay time UDINT 32 224 ro c 32 Sync error BOOL 1 384 ro c DT1C33 400 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 9 Delay time UDINT 32 224 ro c 32 Sync error BOOL 1 384 ro c DT1C12ARR UINT 32 1 1 DT1C12 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 32 16 rw o DT1C13ARR UINT 32 1 1 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 32 16 rw o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UINT 32 1 2 DTF010 80 0 SubIndex 000 USINT 8 0 ro o Elements DTF010ARR 64 16 ro o DTF050ARR UINT 32 1 2 DTF050 80 0 SubIndex 000 USINT 8 0 ro o Elements DTF050ARR 64 16 ro o DT2000 40 0 SubIndex 000 USINT 8 0 ro 1 Motor SN UINT 16 0 rw 3 Customized motor SN UDINT 32 0 ro 5 Encoder Version UINT 16 0 ro 6 Bus motor SN UINT 16 0 ro DT2001 40 0 SubIndex 000 USINT 8 0 ro 1 DSP Software Version UINT 16 0 ro 2 Fpga Software Version UINT 16 0 ro 3 Servo drive SN UINT 16 0 rw DT2002 40 0 SubIndex 000 USINT 8 0 ro 1 Control mode UINT 16 0 ro 2 Absolute Encoder Mode UINT 16 0 rw 3 Rotating direction UINT 16 0 rw 4 Direction of output pulse UINT 16 0 rw 6 Stop mode at servo drive disabled UINT 16 0 rw 7 Stop mode at fault 2 UINT 16 0 rw 8 Stop mode at overtravel UINT 16 0 rw 9 Stop mode at fault 1 UINT 16 0 rw 10 Brake release command delay at servo drive enabled UINT 16 0 rw 11 Servo drive disable delay at brake apply command UINT 16 0 rw 12 Output speed limit of brake reference UINT 16 0 rw 13 Waiting time from servo disable signal to brake apply command UINT 16 0 rw 16 Display of keypad warning UINT 16 0 rw 22 Allowed minimum braking resistance UINT 16 0 ro 23 Power of built-in braking resistor UINT 16 0 ro 24 Resistance of built-in braking resistor UINT 16 0 ro 25 Resistor heat dissipation coefficient UINT 16 0 rw 26 braking resistor type UINT 16 0 rw 27 Power of external dynamic resistor UINT 16 0 rw 28 Resistance of external braking resistor UINT 16 0 rw 32 Parameter initialization UINT 16 0 rw 33 Default keypad display UINT 16 0 rw 36 Display frequency of keypad UINT 16 0 rw DT2003 80 0 SubIndex 000 USINT 8 0 ro 1 States of functions not allocated among FunIN 1–16 (HEX) UINT 16 0 rw 2 States of functions not allocated among FunIN 17–32 (HEX) UINT 16 0 rw 3 DI1 Function Selection UINT 16 0 rw 4 DI1 Logic Selection UINT 16 0 rw 5 DI2 Function Selection UINT 16 0 rw 6 DI2 Logic Selection UINT 16 0 rw 7 DI3 Function Selection UINT 16 0 rw 8 DI3 Logic Selection UINT 16 0 rw 9 DI4 Function Selection UINT 16 0 rw 10 DI4 Logic Selection UINT 16 0 rw 11 DI5 Function Selection UINT 16 0 rw 12 DI5 Logic Selection UINT 16 0 rw 13 DI6 Function Selection UINT 16 0 rw 14 DI6 Logic Selection UINT 16 0 rw 17 DI8 Function Selection UINT 16 0 rw 18 DI8 Logic Selection UINT 16 0 rw 19 DI9 Function Selection UINT 16 0 rw 20 DI9 Logic Selection UINT 16 0 rw 35 States of functions not allocatedamong FunIN 33–48 (HEX) UINT 16 0 rw 36 States of functions not allocatedamong FunIN 49–64 (HEX) UINT 16 0 rw DT2004 80 0 SubIndex 000 USINT 8 0 ro 1 DO1 Function Selection UINT 16 0 rw 2 DO1 Logic Level Selection UINT 16 0 rw 3 DO2 function selection UINT 16 0 rw 4 DO2 Logic Level Selection UINT 16 0 rw 5 DO3 Function Selection UINT 16 0 rw 6 DO3 Logic Level Selection UINT 16 0 rw 23 DO source UINT 16 0 rw 51 AO1 Signal Selection UINT 16 0 rw 52 AO1 offset Voltage UINT 16 0 rw 53 AO1 multiplying factor UINT 16 0 rw 54 AO2 Signal Selection UINT 16 0 rw 55 AO2 offset Voltage UINT 16 0 rw 56 AO2 multiplying factor UINT 16 0 rw DT2005 104 0 SubIndex 000 USINT 8 0 ro 17 Clear action UINT 16 0 rw 18 Encoder frequency division pulses UINT 16 0 rw 20 Speed feedforward control selection UINT 16 0 rw 31 Control of home return UINT 16 0 rw 36 Time of home searching UINT 16 0 rw 39 Servo pulse output source UINT 16 0 rw 42 Output polarity of Z pulse UINT 16 0 rw 45 Absolute encode multi-turns offset UINT 16 0 rw 47 Absolute position offset of absolute encode(Low) DINT 32 0 rw 49 Absolute position offset of absolute encode(High) DINT 32 0 rw 51 Mechanical Gear ratio numerator of absolute encode mode 2 UINT 16 0 rw 52 Mechanical Gear ratio denominator of absolute encode mode 2 UINT 16 0 rw 53 Max value of mechanical absolute position(inc) of absolute encode mode 2(Low) UDINT 32 0 rw 55 Max value of mechanical absolute position(inc) of absolute encode mode 2(High) UDINT 32 0 rw 61 Positon reach hold time UINT 16 0 rw 62 Position window unit set UINT 16 0 rw DT2006 104 0 SubIndex 000 USINT 8 0 ro 5 Jog speed setting value UINT 16 0 rw 12 Torque feedforward selection UINT 16 0 rw 16 Speed limit for zero clamp UINT 16 0 rw DT2007 104 0 SubIndex 000 USINT 8 0 ro 6 Torque reference filter time UINT 16 0 rw 7 Thes second torque reference filter time UINT 16 0 rw 8 Torque limit source UINT 16 0 rw 10 Internal forward torque limit UINT 16 0 rw 11 Internal reverse torque limit UINT 16 0 rw 12 External forward torque limit UINT 16 0 rw 13 External reverse torque limit UINT 16 0 rw 16 Emergency stop torque UINT 16 0 rw 18 Speed limit source UINT 16 0 rw 20 Forward speed limit/Speed limit 1 in torque control UINT 16 0 rw 21 Reverse speed limit/Speed limit 2 in torque control UINT 16 0 rw 22 Base value for torque reached UINT 16 0 rw 23 Threshold of torque reached valid UINT 16 0 rw 24 Threshold of torque reached invalid UINT 16 0 rw 41 Detection time of speed limit exceeded UINT 16 0 rw DT2008 80 0 SubIndex 000 USINT 8 0 ro 1 Speed-loop Gain UINT 16 0 rw 2 Speed-loop integral time constant UINT 16 0 rw 3 Position-loop Gain UINT 16 0 rw 4 The second speed loop gain UINT 16 0 rw 5 The second speed loop integral time constant UINT 16 0 rw 6 The second position loop gain UINT 16 0 rw 9 Second gain mode setting UINT 16 0 rw 10 Gain switchover condition UINT 16 0 rw 11 Gain switchover delay UINT 16 0 rw 12 Gain switchover level UINT 16 0 rw 13 Gain switchover hysteresis UINT 16 0 rw 14 Position gain switchover time UINT 16 0 rw 16 Average value of load inertia ratio UINT 16 0 rw 19 Speed feedforward filter time constant UINT 16 0 rw 20 Speed feedforward gain UINT 16 0 rw 21 Torque feedforward filter time constant UINT 16 0 rw 22 Torque feedforward gain UINT 16 0 rw 23 Speed feedback filter UINT 16 0 rw 24 Cutoff frequency of speed feedback lowpass filter UINT 16 0 rw 25 Pseudo-differential forward feedback control coefficient UINT 16 0 rw DT2009 80 0 SubIndex 000 USINT 8 0 ro 1 Auto-adjusting mode UINT 16 0 rw 2 Rigidity level selection UINT 16 0 rw 3 Working mode of self-adaptive notch UINT 16 0 rw 4 Online inertia auto-tuning mode UINT 16 0 rw 5 Low-frequency vibration mode selection UINT 16 0 rw 6 Offline inertia auto-tuning mode UINT 16 0 rw 7 Maximum speed for inertia autotuning UINT 16 0 rw 8 Acceleration/Deceleration time for inertia autotuning UINT 16 0 rw 9 Interval after an inertia autotuning UINT 16 0 rw 10 Motor revolutions for an inertia auto-tuning UINT 16 0 ro 13 1st notch frequency UINT 16 0 rw 14 1st notch width level UINT 16 0 rw 15 1st notch attenuation level UINT 16 0 rw 16 2nd notch frequency UINT 16 0 rw 17 2nd notch width level UINT 16 0 rw 18 2nd notch attenuation level UINT 16 0 rw 19 3rd notch frequency UINT 16 0 rw 20 3rd notch width level UINT 16 0 rw 21 3rd notch attenuation level UINT 16 0 rw 22 4th notch frequency UINT 16 0 rw 23 4th notch width level UINT 16 0 rw 24 4th notch attenuation level UINT 16 0 rw 25 Obtained resonance frequency UINT 16 0 ro 31 Disturbance torque compensation gain UINT 16 0 rw 32 Disturbance observer filter time constant UINT 16 0 rw 39 Low-frequency vibration frequency UINT 16 0 rw 40 Filter of lowfrequency vibration frequency UINT 16 0 rw DT200A 80 0 SubIndex 000 USINT 8 0 ro 1 Power inputphase loss protection UINT 16 0 rw 2 Absolute position limit set UINT 16 0 rw 4 Retentive at power failure UINT 16 0 rw 5 Motor overload protection gain UINT 16 0 rw 9 Overspeed threshold UINT 16 0 rw 10 Maximum position pulse frequency UINT 16 0 rw 13 Runaway protection UINT 16 0 rw 17 Position deviation threshold in low-frequency vibration UINT 16 0 rw 20 DI8 filter time UINT 16 0 rw 21 DI9 filter time UINT 16 0 rw 26 Filter time of speed feedback display UINT 16 0 rw 27 Motor overload shielding UINT 16 0 rw 28 Speed DO Filter time constant UINT 16 0 rw 29 Quadrature encoder filter time UINT 16 0 rw 33 Overheat protection time duration for locked rotor UINT 16 0 rw 34 Overheat protection for locked rotor UINT 16 0 rw 37 Absolute Encode multi-turns error forbidden UINT 16 0 rw DT200B 168 0 SubIndex 000 USINT 8 0 ro 1 Actual motor rotational speed INT 16 0 ro 2 Speed reference INT 16 0 ro 3 Internal torque reference INT 16 0 ro 4 Monitored DI states INT 16 0 ro 6 Monitored DO states INT 16 0 ro 8 Absolute position counter DINT 32 0 ro 10 Mechanical angle UINT 16 0 ro 11 Electrical angle DINT 16 0 ro 12 Speed corresponding to input position reference INT 16 0 ro 13 Average load rate DINT 16 0 ro 14 Input reference pulse counter DINT 32 0 ro 16 Encoder position deviation counter DINT 32 0 ro 18 Feedback pulse counter DINT 32 0 ro 20 Total power-on time UDINT 32 0 ro 25 Phase current valid value UINT 16 0 ro 27 Bus voltage UINT 16 0 ro 28 Module temperature UINT 16 0 ro T 34 Displayed fault record UINT 16 0 rw 35 Fault code UINT 16 0 ro 36 Time stamp upon displayed fault UDINT 32 0 ro 38 Current rotational speed upon displayed fault INT 16 0 ro 39 Current U upon displayed fault INT 16 0 ro 40 Current V upon displayed fault INT 16 0 ro 41 Bus voltage upon displayed fault UINT 16 0 ro 42 Input terminal state upon displayed fault UINT 16 0 ro 43 Output terminal state upon displayed fault UINT 16 0 ro 44 Group of unusual function code UINT 16 0 ro 45 Offset of unusual function code UINT 16 0 ro 46 Inner error code UINT 16 0 ro 47 Fault message of absolute encode from Fpga upon displayed UINT 16 0 ro 48 System state from Fpga upon displayed fault UINT 16 0 ro 49 System fault message from Fpga upon displayed fault UINT 16 0 ro 50 Encode state 1 upon displayed fault UINT 16 0 ro 52 Inner error code upon displayed fault UINT 16 0 ro 53 Fpga overtime state upon displayed fault UINT 16 0 ro 54 Reference position deviation DINT 32 0 ro 56 Actual motor rotational speed(0.1rpm) DINT 32 0 ro 58 Control bus voltage UINT 16 0 ro 59 Mechanical absolute position inc(Low) DINT 32 0 ro T 61 Mechanical absolute position inc(High) DINT 32 0 ro T 65 Real Time Input reference pulse counter DINT 32 0 ro 69 Fpga over time state UINT 16 0 ro 71 Number of turns of absolute encode UINT 16 0 ro T 72 Single feedback postion of absolute encode DINT 32 0 ro T 78 feedback postion of absolute encode(Low) DINT 32 0 ro T 80 feedback postion of absolute encode(High) DINT 32 0 ro T 82 feedback postion inc of rotating load(Low) UDINT 32 0 ro T 84 feedback postion inc of rotating load(High) UDINT 32 0 ro T 86 Single feedback postion of rotating load UDINT 32 0 ro T DT200C 80 0 SubIndex 000 USINT 8 0 ro 1 Servo shaft address UINT 16 0 rw 3 Serial port baud rate UINT 16 0 rw 4 Modbus data format UINT 16 0 rw 10 Communication virtual DI UINT 16 0 rw 11 Default virtual level of VDI at power-on UINT 16 0 rw 12 Communication virtual DO UINT 16 0 rw 13 Default virtual level of VDO allocated with function 0 UINT 16 0 rw 14 Update function code values written via communication to EEPROM UINT 16 0 rw 26 CM_SendDelay UINT 16 0 rw 27 Modbus 32-bit function code transmission sequence UINT 16 0 rw 36 Sync lost window UINT 16 0 rw 37 Port 0 invalid frame counter UINT 16 0 ro 38 Port 1 invalid frame counter UINT 16 0 ro 39 Port 0/1 transfer error counter UINT 16 0 ro 40 Process unit and PDI error counter UINT 16 0 ro 41 Port 0/1 lost counter UINT 16 0 ro 42 DI monitor Parameter set UINT 16 0 rw 43 Sync error detection UINT 16 0 rw 44 Sync mode set UINT 16 0 rw 45 Sync error window UINT 16 0 rw 46 Position control buffer UINT 16 0 rw 47 CSP target position error UINT 16 0 rw 48 CSP target position error counter UINT 16 0 ro 49 ESM State UINT 16 0 ro DT200D 80 0 SubIndex 000 USINT 8 0 ro 1 Software reset UINT 16 0 rw 2 Fault reset UINT 16 0 rw 3 Load inertia autotuning UINT 16 0 rw 6 Emergency stop UINT 16 0 rw 12 Jog function UINT 16 0 rw 18 Forced input and output mode of DI/DO UINT 16 0 rw 19 Forced input setting of DI UINT 16 0 rw 20 Forced output setting of DO UINT 16 0 rw 21 Absolute Encode Fault Reset UINT 16 0 rw DT200F 80 0 SubIndex 000 USINT 8 0 ro 1 Encoder feedback mode UINT 16 0 rw 2 Running mode of external encoder UINT 16 0 rw 5 External encoder pulses per motor revolution UDINT 32 0 rw 9 Hybrid deviation excess setting UDINT 32 0 rw 11 Hybrid deviation clear setting UINT 16 0 rw 14 First-order lowpass filter time of external/internal deviation UINT 16 0 rw 17 Hybrid deviation counter UDINT 32 0 ro 19 Pulse feedback display of internal encoder UDINT 32 0 ro 21 Pulse feedback display of external encoder UDINT 32 0 ro 26 Touch Probe Extend Setting UINT 16 0 rw DT2017 80 0 SubIndex 000 USINT 8 0 ro 1 VDI1 Terminal Function Selection UINT 16 0 rw 2 VDI1 Terminal Logic Selection UINT 16 0 rw 3 VDI2 Terminal Function Selection UINT 16 0 rw 4 VDI2 Terminal Logic Selection UINT 16 0 rw 5 VDI3 Terminal Function Selection UINT 16 0 rw 6 VDI3 Terminal Logic Selection UINT 16 0 rw 7 VDI4 Terminal Function Selection UINT 16 0 rw 8 VDI4 Terminal Logic Selection UINT 16 0 rw 9 VDI5 Terminal Function Selection UINT 16 0 rw 10 VDI5 Terminal Logic Selection UINT 16 0 rw 11 VDI6 Terminal Function Selection UINT 16 0 rw 12 VDI6 Terminal Logic Selection UINT 16 0 rw 13 VDI7 Terminal Function Selection UINT 16 0 rw 14 VDI7 Terminal Logic Selection UINT 16 0 rw 15 VDI8 Terminal Function Selection UINT 16 0 rw 16 VDI8 Terminal Logic Selection UINT 16 0 rw 17 VDI9 Terminal Function Selection UINT 16 0 rw 18 VDI9 Terminal Logic Selection UINT 16 0 rw 19 VDI10 Terminal Function Selection UINT 16 0 rw 20 VDI10 Terminal Logic Selection UINT 16 0 rw 21 VDI11 Terminal Function Selection UINT 16 0 rw 22 VDI11 Terminal Logic Selection UINT 16 0 rw 23 VDI12 Terminal Function Selection UINT 16 0 rw 24 VDI12 Terminal Logic Selection UINT 16 0 rw 25 VDI13 Terminal Function Selection UINT 16 0 rw 26 VDI13 Terminal Logic Selection UINT 16 0 rw 27 VDI14 Terminal Function Selection UINT 16 0 rw 28 VDI14 Terminal Logic Selection UINT 16 0 rw 29 VDI15 Terminal Function Selection UINT 16 0 rw 30 VDI15 Terminal Logic Selection UINT 16 0 rw 31 VDI16 Terminal Function Selection UINT 16 0 rw 32 VDI16 Terminal Logic Selection UINT 16 0 rw 33 VDO virtual level UINT 16 0 ro 34 VDO1 Terminal Function Selection UINT 16 0 rw 35 VDO1 Terminal Logic Level Selection UINT 16 0 rw 36 VDO2 Terminal Function Selection UINT 16 0 rw 37 VDO2 Terminal Logic Level Selection UINT 16 0 rw 38 VDO3 Terminal Function Selection UINT 16 0 rw 39 VDO3 Terminal Logic Level Selection UINT 16 0 rw 40 VDO4 Terminal Function Selection UINT 16 0 rw 41 VDO4 Terminal Logic Level Selection UINT 16 0 rw 42 VDO5 Terminal Function Selection UINT 16 0 rw 43 VDO5 Terminal Logic Level Selection UINT 16 0 rw 44 VDO6 Terminal Function Selection UINT 16 0 rw 45 VDO6 Terminal Logic Level Selection UINT 16 0 rw 46 VDO7 Terminal Function Selection UINT 16 0 rw 47 VDO7 Terminal Logic Level Selection UINT 16 0 rw 48 VDO8 Terminal Function Selection UINT 16 0 rw 49 VDO8 Terminal Logic Level Selection UINT 16 0 rw 50 VDO9 Terminal Function Selection UINT 16 0 rw 51 VDO9 Terminal Logic Level Selection UINT 16 0 rw 52 VDO10 Terminal Function Selection UINT 16 0 rw 53 VDO10 Terminal Logic Level Selection UINT 16 0 rw 54 VDO11 Terminal Function Selection UINT 16 0 rw 55 VDO11 Terminal Logic Level Selection UINT 16 0 rw 56 VDO12 Terminal Function Selection UINT 16 0 rw 57 VDO12 Terminal Logic Level Selection UINT 16 0 rw 58 VDO13 Terminal Function Selection UINT 16 0 rw 59 VDO13 Terminal Logic Level Selection UINT 16 0 rw 60 VDO14 Terminal Function Selection UINT 16 0 rw 61 VDO14 Terminal Logic Level Selection UINT 16 0 rw 62 VDO15 Terminal Function Selection UINT 16 0 rw 63 VDO15 Terminal Logic Level Selection UINT 16 0 rw 64 VDO16 Terminal Function Selection UINT 16 0 rw 65 VDO16 Terminal Logic Level Selection UINT 16 0 rw DT2030 40 0 SubIndex 000 USINT 8 0 ro 1 Servo state read via communication UINT 16 0 ro 2 DO functionstate 1 read via communication UINT 16 0 ro 3 DO function state 2 read via communication UINT 16 0 ro 4 Reverse UINT 16 0 ro DT2031 88 0 SubIndex 000 USINT 8 0 ro 1 VDI virtuallevel set via communication UINT 16 0 rw 5 DO state set via communication UINT 16 0 rw DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min position limit DINT 32 0 rw R 2 Max position limit DINT 32 0 rw R DT6091 80 0 SubIndex 000 USINT 8 0 ro 1 Motor revolutions UDINT 32 0 rw R 2 Shaft revolutions UDINT 32 0 rw R DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 0 rw R 2 Speed during search for zero UDINT 32 0 rw R DT60FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw R 2 Bit Mask UDINT 32 16 rw DT60E3 80 0 SubIndex 000 USINT 8 0 ro 1 Support homing method 1 UINT 16 0 ro 2 Support homing method 2 UINT 16 0 ro 3 Support homing method 3 UINT 16 0 ro 4 Support homing method 4 UINT 16 0 ro 5 Support homing method 5 UINT 16 0 ro 6 Support homing method 6 UINT 16 0 ro 7 Support homing method 7 UINT 16 0 ro 8 Support homing method 8 UINT 16 0 ro 9 Support homing method 9 UINT 16 0 ro 10 Support homing method 10 UINT 16 0 ro 11 Support homing method 11 UINT 16 0 ro 12 Support homing method 12 UINT 16 0 ro 13 Support homing method 13 UINT 16 0 ro 14 Support homing method 14 UINT 16 0 ro 15 Support homing method 15 UINT 16 0 ro 16 Support homing method 16 UINT 16 0 ro 17 Support homing method 17 UINT 16 0 ro 18 Support homing method 18 UINT 16 0 ro 19 Support homing method 19 UINT 16 0 ro 20 Support homing method 20 UINT 16 0 ro 21 Support homing method 21 UINT 16 0 ro 22 Support homing method 22 UINT 16 0 ro 23 Support homing method 23 UINT 16 0 ro 24 Support homing method 24 UINT 16 0 ro 25 Support homing method 25 UINT 16 0 ro 26 Support homing method 26 UINT 16 0 ro 27 Support homing method 27 UINT 16 0 ro 28 Support homing method 28 UINT 16 0 ro 29 Support homing method 29 UINT 16 0 ro 30 Support homing method 30 UINT 16 0 ro 31 Support homing method 31 UINT 16 0 ro #x1000 Device type UDINT 32 #x00020192 ro o #x1001 Error Register USINT 8 00 ro o #x1008 Device name STRING(31) 248 IS560-ECAT ro #x1009 Hardware version STRING(4) 32 V1 ro #x100a Software version STRING(4) 32 352E3031 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 #x00100000 Product Code #x000C0108 Revision Number #x00010001 ro o #x1600 1st receive PDO Mapping 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 258th receive PDO Mapping DT1701 144 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 259th receive PDO Mapping DT1702 240 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 260th receive PDO Mapping DT1702 240 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 261th receive PDO Mapping DT1704 304 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 262th receive PDO Mapping DT1705 272 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 1st transmit PDO Mapping 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 258th transmit PDO Mapping DT1B01 304 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 259th transmit PDO Mapping DT1B01 304 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 260th transmit PDO Mapping 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 261th transmit PDO Mapping 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 400 SubIndex 000 20 Sync mode 0002 Cycle time 00000000 Sync modes supported 0004 Minimum cycle time 00000000 Calc and copy time #x0003d090 Delay time 00000000 Sync error 00 ro o #x1c33 SM input parameter DT1C33 400 SubIndex 000 20 Sync mode #x0002 Cycle time 00000000 Sync modes supported 4 Minimum cycle time 00000000 Calc and copy time 00000000 Delay time 00000000 Sync error 00 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 00 SubIndex 001 0000 ro #x1c13 TxPDO assign DT1C13 48 SubIndex 000 00 SubIndex 001 0000 ro #x2000 Servo Motor Parameters 伺服电机参数 DT2000 40 SubIndex 000 6 Motor SN 0 #xFFFFFFFF 14000 Customized motor SN 0 65535 0 Encoder Version 0 65535 0 Bus motor SN 0 65535 0 ro #x2001 Servo Drive Parameters 伺服驱动器参数 DT2001 40 SubIndex 000 32 DSP Software Version 0 65535 0 Fpga Software Version 0 65535 0 Servo drive SN 0 65535 0 ro #x2002 Basic control 基本控制参数 DT2002 40 SubIndex 000 35 Control mode 0 9 #x0009 Absolute Encoder Mode 0 2 #x0 Rotating direction 0 1 0 Direction of output pulse 0 1 0 Stop mode at servo drive disabled 0 1 0 Stop mode at overtravel 0 2 1 Stop mode at fault 1 0 0 0 Brake release command delay at servo drive enabled 0 500 250 Servo drive disable delay at brake apply command 1 1000 150 Output speed limit of brake reference 0 3000 30 Waiting time from servo disable signal to brake apply command 1 1000 500 Display of keypad warning 0 1 0 Allowed minimum braking resistance 1 1000 40 Power of built-in braking resistor 1 65535 40 Resistance of built-in braking resistor 1 1000 50 Resistor heat dissipation coefficient 10 100 30 braking resistor type 0 3 0 Power of external dynamic resistor 1 65535 40 Resistance of external braking resistor 1 1000 50 Parameter initialization 0 2 0 Default keypad display 0 99 50 Display frequency of keypad 0 20 0 ro #x2003 Input Terminal Parameters 端子输入参数 DT2003 0 SubIndex 000 36 States of functions not allocated among FunIN 1–16 (HEX) 0 65535 0 States of functions not allocated among FunIN 17–32 (HEX) 0 65535 0 DI1 Function Selection 0 39 14 DI1 Logic Selection 0 4 0 DI2 Function Selection 0 39 15 DI2 Logic Selection 0 4 0 DI3 Function Selection 0 39 0 DI3 Logic Selection 0 4 0 DI4 Function Selection 0 39 0 DI4 Logic Selection 0 4 0 DI5 Function Selection 0 39 0 DI5 Logic Selection 0 4 0 DI6 Function Selection 0 39 0 DI6 Logic Selection 0 4 0 DI8 Function Selection 0 39 0 DI8 Logic Selection 0 4 38 DI9 Function Selection 0 39 31 DI9 Logic Selection 0 4 0 States of functions not allocatedamong FunIN 33–48 (HEX) 0 65535 0 States of functions not allocatedamong FunIN 49–64 (HEX) 0 65535 0 ro #x2004 Output terminal Parameters 端子输出参数 DT2004 0 SubIndex 000 56 DO1 Function Selection 0 20 1 DO1 Logic Level Selection 0 1 0 DO2 function selection 0 20 5 DO2 Logic Level Selection 0 1 0 DO3 Function Selection 0 20 3 DO3 Logic Level Selection 0 1 0 DO source 0 7 0 AO1 Signal Selection 0 7 0 AO1 offset Voltage -10000 10000 5000 AO1 multiplying factor -9999 9999 100 AO2 Signal Selection 0 7 0 AO2 AO2 offset Voltage -10000 10000 5000 AO2 multiplying factor -9999 9999 100 ro #x2005 Position Control Parameters 位置控制参数组 DT2005 104 SubIndex 000 42 Clear action 0 2 0 Encoder frequency division pulses 0 32767 2500 Speed feedforward control selection 0 2 1 Control of home return 0 7 0 Time of home searching 0 65535 50000 Servo pulse output source 0 2 0 Output polarity of Z pulse 0 1 1 Absolute encode multi-turns offset 0 65535 0 Absolute position offset of absolute encode(Low) -2147483647 2147483647 1 Absolute position offset of absolute encode(High) -2147483648 2147483647 0 Mechanical Gear ratio numerator of absolute encode mode 2 1 65535 1 Mechanical Gear ratio denominator of absolute encode mode 2 1 65535 1 Max value of mechanical absolute position(inc) of absolute encode mode 2(Low) 0 4294967295 0 Max value of mechanical absolute position(inc) of absolute encode mode 2(High) 0 4294967295 0 Positon reach hold time 0 30000 0 Position window unit set 0 1 0 ro #x2006 Speed control 速度控制 DT2006 104 SubIndex 000 16 Jog speed setting value 0 6000 100 Torque feedforward selection 0 2 1 Speed limit for zero clamp 0 6000 10 ro #x2007 Torque control 转矩控制参数 DT2007 104 SubIndex 000 41 Torque reference filter time 0 3000 79 Thes second torque reference filter time 0 3000 79 Torque limit source 0 4 2 Internal forward torque limit 0 3000 3000 Internal reverse torque limit 0 3000 3000 External forward torque limit 0 3000 3000 External reverse torque limit 0 3000 3000 Emergency stop torque 0 3000 3000 Speed limit source 0 2 0 Forward speed limit/Speed limit 1 in torque control 0 6000 3000 Reverse speed limit/Speed limit 2 in torque control 0 6000 3000 Base value for torque reached 0 3000 0 Threshold of torque reached valid 0 3000 200 Threshold of torque reached invalid 0 3000 100 Detection time of speed limit exceeded 5 3000 10 ro #x2008 Gain Parameters 增益参数 DT2008 0 SubIndex 000 25 Speed-loop Gain 1 20000 250 Speed-loop integral time constant 15 51200 3183 Position-loop Gain 0 20000 400 The second speed loop gain 1 20000 400 The second speed loop integral time constant 15 51200 2000 The second position loop gain 0 20000 640 Second gain mode setting 0 1 1 Gain switchover condition 0 10 0 Gain switchover delay 0 10000 50 Gain switchover level 0 20000 50 Gain switchover hysteresis 0 20000 30 Position gain switchover time 0 10000 30 Average value of load inertia ratio 0 12000 100 Speed feedforward filter time constant 0 6400 50 Speed feedforward gain 0 1000 0 Torque feedforward filter time constant 0 6400 50 Torque feedforward gain 0 2000 0 Speed feedback filter 0 4 0 Cutoff frequency of speed feedback lowpass filter 0 4000 4000 Pseudo-differential forward feedback control coefficient 0 1000 1000 ro #x2009 Auto-adjusting Parameters 自整定参数 DT2009 0 SubIndex 000 40 Auto-adjusting mode 0 2 0 Rigidity level selection 0 31 12 Working mode of self-adaptive notch 0 4 0 Online inertia auto-tuning mode 0 3 0 Low-frequency vibration mode selection 0 1 0 Offline inertia auto-tuning mode 0 1 0 Maximum speed for inertia autotuning 100 1000 500 Acceleration/Deceleration time for inertia autotuning 20 800 250 Interval after an inertia autotuning 50 10000 800 Motor revolutions for an inertia auto-tuning 0 65535 0 1st notch frequency 50 4000 4000 1st notch width level 0 20 2 1st notch attenuation level 0 99 0 2nd notch frequency 50 4000 4000 2nd notch width level 0 20 2 2nd notch attenuation level 0 99 0 3rd notch frequency 50 4000 4000 3rd notch width level 0 20 2 3rd notch attenuation level 0 99 0 4th notch frequency 50 4000 4000 4th notch width level 0 2 20 4th notch attenuation level 0 99 0 Obtained resonance frequency 0 4000 0 Disturbance torque compensation gain -1000 1000 0 Disturbance observer filter time constant 0 2500 50 Low-frequency vibration frequency 10 1000 1000 Filter of lowfrequency vibration frequency 0 10 2 ro #x200A Error and Protection Parameter 故障与保护参数 DT200A 0 SubIndex 000 34 Power inputphase loss protection 0 2 0 Absolute position limit set 0 2 0 Retentive at power failure 0 2 0 Motor overload protection gain 50 300 100 Overspeed threshold 0 10000 0 Maximum position pulse frequency 100 4000 4000 Runaway protection 0 1 1 Position deviation threshold in low-frequency vibration 1 1000 5 DI8 filter time 0 255 80 DI9 filter time 0 255 80 Filter time of speed feedback display 0 500 50 Motor overload shielding 0 1 0 Speed DO Filter time constant 0 5000 10 Quadrature encoder filter time 0 255 30 Overheat protection time duration for locked rotor 10 65535 200 Overheat protection for locked rotor 0 1 1 Absolute Encode multi-turns error forbidden 0 1 0 ro #x200B Display Parameters 显示参数组 DT200B 0 SubIndex 000 65 Actual motor rotational speed -32767 32767 0 Speed reference -32767 32767 0 Internal torque reference -32767 32767 0 Monitored DI states 0 511 0 Monitored DO states 0 31 0 Absolute position counter -2147483648 2147483648 0 Mechanical angle 0 65535 0 Electrical angle 0 65535 0 Speed corresponding to input position reference -32767 32767 0 Average load rate 0 8000 0 Input reference pulse counter -2147483648 2147483648 0 Encoder position deviation counter -2147483648 2147483648 0 Feedback pulse counter -2147483648 2147483648 0 Total power-on time 0 4294967295 0 Phase current valid value 0 65535 0 Bus voltage 0 65535 0 Module temperature 0 65535 0 Displayed fault record 0 9 0 Fault code 0 65535 0 Time stamp upon displayed fault 0 4294967295 0 Current rotational speed upon displayed fault -32767 32767 0 Current U upon displayed fault -32767 32767 0 Current V upon displayed fault -32767 32767 0 Bus voltage upon displayed fault 0 65535 0 Input terminal state upon displayed fault 0 511 0 Output terminal state upon displayed fault 0 31 0 Group of unusual function code 0 65535 0 Offset of unusual function code 0 65535 0 Inner error code 0 65535 0 Fault message of absolute encode from Fpga upon displayed 0 65535 0 System state from Fpga upon displayed fault 0 65535 0 System fault message from Fpga upon displayed fault 0 65535 0 Encode state 1 upon displayed fault 0 65535 0 Inner error code upon displayed fault 0 65535 0 Fpga overtime state upon displayed fault 0 65535 0 Reference position deviation -2147483648 2147483647 0 Actual motor rotational speed(0.1rpm) -2147483648 2147483648 0 Control bus voltage 0 65535 0 Mechanical absolute position inc(Low) -2147483648 2147483648 0 Mechanical absolute position inc(High) -2147483648 2147483648 0 Real Time Input reference pulse counter -2147483648 2147483648 0 Fpga over time state 0 65535 0 Number of turns of absolute encode 0 65535 0 Single feedback postion of absolute encode -2147483648 2147483648 0 feedback postion of absolute encode(Low) -2147483648 2147483648 0 feedback postion of absolute encode(High) -2147483648 2147483648 0 feedback postion inc of rotating load(Low) 0 4294967295 0 feedback postion inc of rotating load(High) 0 4294967295 0 Single feedback postion of rotating load 0 4294967295 0 ro #x200C Communication 通讯参数组 DT200C 168 SubIndex 000 27 Servo shaft address 1 247 1 Serial port baud rate 0 6 5 Modbus data format 0 3 0 Station auto inc address 0 65535 0 Stationalias 0 65535 0 Communication virtual DI 0 1 0 Default virtual level of VDI at power-on 0 65535 0 Communication virtual DO 0 1 0 Default virtual level of VDO allocated with function 0 0 65535 0 Update function code values written via communication to EEPROM 0 3 0 CM_SendDelay 0 5000 1 Modbus 32-bit function code transmission sequence 0 1 1 Sync lost window 4 20 9 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 Host set 0 3 2 Sync error detection 0 1 0 Sync mode set 0 2 2 Sync error window 0 2000 500 Position control buffer 0 1 1 CSP target position error 0 7 3 CSP target position error counter 0 65535 0 ESM State 0 65535 0 ro #x200D Auxiliary Function Parameters 辅助功能参数 DT200D 168 SubIndex 000 20 Software reset 0 1 0 Fault reset 0 1 0 Load inertia autotuning 0 1 0 Emergency stop 0 1 0 Jog function 0 6000 0 Forced input and output mode of DI/DO 0 4 0 Forced input setting of DI 0 447 447 Forced output setting of DO 0 7 0 Absolute Encode Fault Reset 0 2 0 ro #x200F Closed Loop Function 全闭环功能 DT200F 0 SubIndex 000 21 Encoder feedback mode 0 1 0 Running mode of external encoder 0 1 0 External encoder pulses per motor revolution 0 1073741824 100000 Hybrid deviation excess setting 0 1073741824 10000 Hybrid deviation clear setting 0 100 0 First-order lowpass filter time of external/internal deviation 0 65535 0 Hybrid deviation counter 0 1073741824 0 Pulse feedback display of internal encoder 0 1073741824 0 Pulse feedback display of external encoder 0 1073741824 0 Touch Probe Extend Setting 0 65535 0 ro #x2017 VDI VDO 虚拟DI、DO DT2017 0 SubIndex 000 65 VDI1 Terminal Function Selection 0 39 0 VDI1 Terminal Logic Selection 0 1 0 VDI2 Terminal Function Selection 0 39 0 VDI2 Terminal Logic Selection 0 1 0 VDI3 Terminal Function Selection 0 39 0 VDI3 Terminal Logic Selection 0 1 0 VDI4 Terminal Function Selection 0 39 0 VDI4 Terminal Logic Selection 0 1 0 VDI5 Terminal Function Selection 0 39 0 VDI5 Terminal Logic Selection 0 1 0 VDI6 Terminal Function Selection 0 39 0 VDI5 Terminal Logic Selection 0 1 0 VDI7 Terminal Function Selection 0 39 0 VDI7 Terminal Logic Selection 0 1 0 VDI8 Terminal Function Selection 0 39 0 VDI8 Terminal Logic Selection 0 1 0 VDI9 Terminal Function Selection 0 39 0 VDI9 Terminal Logic Selection 0 1 0 VDI10 Terminal Function Selection 0 39 0 VDI10 Terminal Logic Selection 0 1 0 VDI11 Terminal Function Selection 0 39 0 VDI11 Terminal Logic Selection 0 1 0 VDI12 Terminal Function Selection 0 39 0 VDI2 Terminal Logic Selection 0 1 0 VDI13 Terminal Function Selection 0 39 0 VDI13 Terminal Logic Selection 0 1 0 VDI14 Terminal Function Selection 0 39 0 VDI14 Terminal Logic Selection 0 1 0 VDI15 Terminal Function Selection 0 39 0 VDI15 Terminal Logic Selection 0 1 0 VDI16 Terminal Function Selection 0 39 0 VDI16 Terminal Logic Selection 0 1 0 VDO virtual level 0 65535 0 VDO1 Terminal Function Selection 0 20 0 VDO1 Terminal Logic Level Selection 0 1 0 VDO2 Terminal Function Selection 0 20 0 VDO2 Terminal Logic Level Selection 0 1 0 VDO3 Terminal Function Selection 0 20 0 VDO3 Terminal Logic Level Selection 0 1 0 VDO4 Terminal Function Selection 0 20 0 VDO4 Terminal Logic Level Selection 0 1 0 VDO5 Terminal Function Selection 0 20 0 VDO5 Terminal Logic Level Selection 0 1 0 VDO6 Terminal Function Selection 0 20 0 VDO6 Terminal Logic Level Selection 0 1 0 VDO7 Terminal Function Selection 0 20 0 VDO7 Terminal Logic Level Selection 0 1 0 VDO8 Terminal Function Selection 0 20 0 VDO8 Terminal Logic Level Selection 0 1 0 VDO9 Terminal Function Selection 0 20 0 VDO9 Terminal Logic Level Selection 0 1 0 VDO10 Terminal Function Selection 0 20 0 VDO10 Terminal Logic Level Selection 0 1 0 VDO11 Terminal Function Selection 0 20 0 VDO11 Terminal Logic Level Selection 0 1 0 VDO12 Terminal Function Selection 0 20 0 VDO12 Terminal Logic Level Selection 0 1 0 VDO13 Terminal Function Selection 0 20 0 VDO13 Terminal Logic Level Selection 0 1 0 VDO14 Terminal Function Selection 0 20 0 VDO14 Terminal Logic Level Selection 0 1 0 VDO15 Terminal Function Selection 0 20 0 VDO15 Terminal Logic Level Selection 0 1 0 VDO16 Terminal Function Selection 0 20 0 VDO16 Terminal Logic Level Selection 0 1 0 ro #x2030 Servo Related Variables Read via Communication 伺服状态 DT2030 0 SubIndex 000 04 Servo state read via communication 0 65535 0 DO functionstate 1 read via communication 0 65535 0 DO function state 2 read via communication 0 65535 0 ro #x2031 Servo Related Variables Set via Communication 通讯给定相关变量 DT2031 0 SubIndex 000 05 VDI virtuallevel set via communication 0 65535 0 DO state set via communication 0 7 0 ro #x203F Manufacturor Error code 厂家报警码 UDINT 32 #x00000000 #xFFFFFFFF #x00000000 ro T #x603F Error code UINT 16 #x0000 #xFFFF #x0000 ro T #x6040 Controlword UINT 16 #x0000 #xFFFF #x0000 rw R #x6041 Statusword UINT 16 #x0000 #xFFFF #x0000 ro T #x605A Quick stop option code INT 16 #x0000 #x0007 #x0002 rw #x605D Halt option Code INT 16 #x0001 #x0003 #x0001 rw #x6060 Modes of operation SINT 8 0 10 #x0 rw R #x6061 Modes of operation display SINT 8 0 10 #x0 ro T #x6062 Position demand value DINT 32 0 #xFFFFFFFF #x0 ro T #x6063 Position actual value* DINT 32 0 #xFFFFFFFF #x0 ro T #x6064 Position actual value DINT 32 -4294967295 #x7FFFFFFF 00000000 ro T #x6065 Following error window UDINT 32 0 4294967295 #x100000 rw R #x6067 Position window UDINT 32 0 4294967295 734 rw R #x6068 Position window time UINT 16 0 65535 16 rw R #x606C Velocity actual value DINT 32 -2147483648 #x7FFFFFFF 00000000 ro T #x606D Velocity window UINT 16 #x0000 #xFFFF 10 rw R #x606E Velocity window time UINT 16 0000 FFFF 00 rw #x6071 Target torque INT 16 #xEC78 #x1388 0010 rw R #x6072 Max Torque UINT 16 00 #x1388 #x1388 rw R #x6074 Torque demand INT 16 #xEC78 #x1388 0000 ro T #x6077 Torque actual value INT 16 #xEC78 #x1388 0000 ro T #x607A Target position DINT 32 -2147483648 #x7FFFFFFF 00000000 rw R #x607C Home offset DINT 32 -2147483648 #x7FFFFFFF 00000000 rw R #x607D Software position limit DT607D 80 SubIndex 000 #x02 Min position limit -2147483648 #x7FFFFFFF -2147483648 Max position limit -2147483648 #x7FFFFFFF #x7FFFFFFF ro #x607E Polarity USINT 8 00 FF 00 rw R #x607F Max profile velocity UDINT 32 #x0 #xFFFFFFFF #x64 rw R #x6081 Profile velocity UDINT 32 0 #xffffffff #x001AAAAB rw R #x6083 Profile acceleration UDINT 32 0 #xFFFFFFFF #x682AAAAB rw R #x6084 Profile deceleration UDINT 32 0 #xFFFFFFFF #x682AAAAB rw R #x6085 Quick stop deceleration UDINT 32 0 #xffffffff #x682AAAAB rw R #x6086 Motion profile type INT 16 #x8000 #x7FFF 0000 rw R #x6087 Torque slope UDINT 32 #x0 #xFFFFFFFF #xFFFFFFFF rw R #x6091 Gear ratio DT6091 80 SubIndex 000 #x02 Motor revolutions 0 #xFFFFFFFF #x1 Shaft revolutions 0 #xFFFFFFFF #x1 ro #x6098 Homing method SINT 8 0 #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 #x682AAAAB rw R #x60B0 Position offset DINT 32 -2147483648 #x7FFFFFFF 00000000 rw R #x60B1 Velocity offset DINT 32 -2147483648 #x7FFFFFFF 00000000 rw R #x60B2 Torque offset INT 16 #xEC78 #x1388 0000 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 -2147483648 #x7FFFFFFF #x0 ro T #x60BB Touch Probe pos 1 neg value DINT 32 -2147483648 #x7FFFFFFF #x0 ro T #x60BC Touch Probe pos 2 pos value DINT 32 -2147483648 #x7FFFFFFF #x0 ro T #x60BD Touch Probe pos 2 neg value DINT 32 -2147483648 #x7FFFFFFF #x0 ro T #x60D5 Touch Probe 1 positive egde counter UINT 16 0 #xFFFF #x0 ro T #x60D6 Touch Probe 1 negative egde counter UINT 16 0 #xFFFF #x0 ro T #x60D7 Touch Probe 2 positive egde counter UINT 16 0 #xFFFF #x0 ro T #x60D8 Touch Probe 2 negative egde counter UINT 16 0 #xFFFF #x0 ro T #x60E0 Positive torque limit value UINT 16 0 #x1388 #x1388 rw R #x60E1 Negative torque limit value UINT 16 0 #x1388 #x1388 rw R #x60E3 Support homing method DT60E3 0 SubIndex 000 0 #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 -2147483648 #x7FFFFFFF 00000000 ro T #x60FC Position demand internal value DINT 32 -2147483648 #x7FFFFFFF 00000000 ro T #x60FD Digital inputs UDINT 32 -2147483648 #x7FFFFFFF #x00000000 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 -2147483648 #x7FFFFFFF 00000000 rw R #x6502 Supported drive modes UDINT 32 #x00000000 #xFFFFFFFF #x0 ro Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 1st receive PDO Mapping #x1701 #x1702 #x1703 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x1701 258th receive PDO Mapping #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 259th receive PDO Mapping #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 260th receive PDO Mapping #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 261th receive PDO Mapping #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 262th receive PDO Mapping #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 1st transmit PDO Mapping #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 258th transmit PDO Mapping #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 259th transmit PDO Mapping #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 260th transmit PDO Mapping #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 261th transmit PDO Mapping #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 DC DC-Synchron #x300 0 0 0 4096 080E0004640000000000 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