#x00100000 Inovance 汇川技术 424DF8010000000000003600000028000000100000000E0000000100100000000000C2010000202E0000202E00000000000000000000590A590A5A0A3906390239065906390239023906590639063902590A59065A0E1902190219027A167A125A12F8017A169A163906390639065A12390219023906390239021802DB325D53DB32BE73DB2E1C433C4B9A1E3C4B5D53F80139023906390239021802FB327D5BFB36FF7FBB26390A7D5FDB329E63DB36F8013902390639023902F801DB2EDF777D5B9E675D5339027D5F9E679E675A16190239023906390239021802DB2EBE6FFC3ABE6FFB369A221C439E677D5FFB3618023902390639023902390219065A1A1806590E1902F801F8015A0E190239023902390239063902390219029B225912BB26FC36DB2EDB2A7A1A19027A169A1E39023902390639023902F8011C3F9E671C3FBB267A163C473C479A1E5D4F5D5319023902390639023902F801BB26DF73BB2EB701D801BB2A3C4BBB265D4F3C4F19023902390639023902F801DB2EDE6FBB2EB701D801BB2A3D4BBB265D4F5D4F19023902390639023902F801DB2E7E5F3D4B1C3FDB32DB2E1C43BB263D4B3D4B1902390239063902390239025A0E59069A16DB2EBB265A0A590659065A0A590A39023902390639023902390219021902190218021802190219023902190219023902390239060000 InoServo Servo Drives 伺服驱动器 424DF8010000000000003600000028000000100000000E0000000100100000000000C2010000202E0000202E00000000000000000000590A590A5A0A3906390239065906390239023906590639063902590A59065A0E1902190219027A167A125A12F8017A169A163906390639065A12390219023906390239021802DB325D53DB32BE73DB2E1C433C4B9A1E3C4B5D53F80139023906390239021802FB327D5BFB36FF7FBB26390A7D5FDB329E63DB36F8013902390639023902F801DB2EDF777D5B9E675D5339027D5F9E679E675A16190239023906390239021802DB2EBE6FFC3ABE6FFB369A221C439E677D5FFB3618023902390639023902390219065A1A1806590E1902F801F8015A0E190239023902390239063902390219029B225912BB26FC36DB2EDB2A7A1A19027A169A1E39023902390639023902F8011C3F9E671C3FBB267A163C473C479A1E5D4F5D5319023902390639023902F801BB26DF73BB2EB701D801BB2A3C4BBB265D4F3C4F19023902390639023902F801DB2EDE6FBB2EB701D801BB2A3D4BBB265D4F5D4F19023902390639023902F801DB2E7E5F3D4B1C3FDB32DB2E1C43BB263D4B3D4B1902390239063902390239025A0E59069A16DB2EBB265A0A590659065A0A590A39023902390639023902390219021902190218021802190219023902190219023902390239060000 InoSV660N SV660_1Axis_00915 ServoDrive http://www.inovance.cn 3000 9000 5000 200 100 2000 InoServo 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 2 Cycle time UDINT 32 32 ro 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 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw 2 Cycle time UDINT 32 32 ro 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 32 Sync Error BOOL 1 480 ro c DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 16 1 1 DT1C13 32 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 16 16 rw o DT2000 128 0 SubIndex 000 USINT 8 0 ro 1 Motor SN UINT 16 16 rw 3 Customized firmware version UDINT 32 48 ro 5 Encoder Version UINT 16 96 ro 6 Serial encoder motor SN UINT 16 112 ro DT2001 672 0 SubIndex 000 USINT 8 0 ro 1 MCU firmware Version UINT 16 16 ro 2 Fpga firmware Version UINT 16 32 ro 11 Drive serial number UINT 16 176 rw 12 Drive voltage class UINT 16 192 ro 13 Drive rated power UDINT 32 208 ro 15 Drive maximum output power UDINT 32 240 ro 17 Drive rated output current UDINT 32 272 ro 19 Drive maximum output current UDINT 32 304 ro 41 DC bus overvoltage protective point UINT 16 656 ro DT2002 688 0 SubIndex 000 USINT 8 0 ro 1 Control mode selection UINT 16 16 rw 2 Absolute system selection UINT 16 32 rw 3 Rotating direction UINT 16 48 rw 8 Stop mode at limit switch signal UINT 16 128 rw 9 Stop mode at NO.1 fault UINT 16 144 rw 10 Delay from brake output on to command received UINT 16 160 rw 11 Delay from brake output off to motor de-energized UINT 16 176 rw 12 Motor speed threshold at brake output off in rotating state UINT 16 192 rw 13 Delay from servo off to brake output off in the rotating state UINT 16 208 rw 15 Motor speed threshold in holding state UINT 16 240 rw 16 LED warning display selection UINT 16 256 rw 21 Delay time after dynamic brake relay on UINT 16 336 rw 22 Allowed minimum braking resistance UINT 16 352 ro 23 Power of built-in braking resistor UINT 16 368 ro 24 Resistance of built-in braking resistor UINT 16 384 ro 25 Resistor heat dissipation coefficient UINT 16 400 rw 26 braking resistor type UINT 16 416 rw 27 Power of external dynamic resistor UINT 16 432 rw 28 Resistance of external braking resistor UINT 16 448 rw 31 User password UINT 16 496 wo 32 Parameter initialization UINT 16 512 rw 33 Default keypad display UINT 16 528 rw 36 Panel data refresh rate UINT 16 576 rw 42 OEM password UINT 16 672 wo DT2003 1056 0 SubIndex 000 USINT 8 0 ro 3 DI1 function selection UINT 16 48 rw 4 DI1 logic selection UINT 16 64 rw 5 DI2 function selection UINT 16 80 rw 6 DI2 logic selection UINT 16 96 rw 7 DI3 function selection UINT 16 112 rw 8 DI3 logic selection UINT 16 128 rw 9 DI4 function selection UINT 16 144 rw 10 DI4 logic selection UINT 16 160 rw 11 DI5 function selection UINT 16 176 rw 12 DI5 logic selection UINT 16 192 rw 61 DI1 filtertime constant UINT 16 976 rw 62 DI2 filtertime constant UINT 16 992 rw 63 DI3 filtertime constant UINT 16 1008 rw 64 DI4 filtertime constant UINT 16 1024 rw 65 DI5 filtertime constant UINT 16 1040 rw DT2004 112 0 SubIndex 000 USINT 8 0 ro 1 DO1 Function Selection UINT 16 16 rw 2 DO1 Logic Level Selection UINT 16 32 rw 3 DO2 function selection UINT 16 48 rw 4 DO2 Logic Level Selection UINT 16 64 rw 5 DO3 Function Selection UINT 16 80 rw 6 DO3 Logic Level Selection UINT 16 96 rw DT2005 912 0 SubIndex 000 USINT 8 0 ro 5 Time constant of first-order low-pass filter UINT 16 80 rw 6 Time constant of moving average filter 1 UINT 16 96 rw 7 Time constant of moving average filter 2 UINT 16 112 rw 20 Speed feedforward control selection UINT 16 320 rw 31 Local home mode UINT 16 496 rw 36 Time of home searching UINT 16 576 rw 37 Local home position offset DINT 32 592 rw 47 Absolute position offset of absolute encode(Low) UDINT 32 752 rw 49 Absolute position offset of absolute encode(High) DINT 32 784 rw 51 Mechanical Gear ratio numerator of absolute encode mode 2 UINT 16 816 rw 52 Mechanical Gear ratio denominator of absolute encode mode 2 UINT 16 832 rw 53 Max value of mechanical absolute position(inc) of absolute encode mode 2(Low) UDINT 32 848 rw 55 Max value of mechanical absolute position(inc) of absolute encode mode 2(High) UDINT 32 880 rw DT2006 480 0 SubIndex 000 USINT 8 0 ro 4 Keypad setting value of speed reference INT 16 64 rw 6 Acceleration ramp time constant of speed reference UINT 16 96 rw 7 Deceleration ramp time constant of speed reference UINT 16 112 rw 9 Positive speed limit UINT 16 144 rw 10 Reverse speed limit UINT 16 160 rw 11 Quick decelaration coefficient UINT 16 176 rw 12 Torque feedforward selection UINT 16 192 rw 13 Acceleration/Deceleration ramp time constant of jog speed reference UINT 16 208 rw 14 Speed feedforward filter time constant UINT 16 224 rw 17 Speed threshold of motor rotation signal UINT 16 240 rw 29 Cogging Torque Compensation Enable UINT 16 464 rw DT2007 640 0 SubIndex 000 USINT 8 0 ro 4 Keypad setting value of torque reference INT 16 64 rw 6 Torque reference filter time 1 UINT 16 96 rw 7 Torque reference filter time 2 UINT 16 112 rw 10 Internal forward torque limit UINT 16 160 rw 11 Internal reverse torque limit UINT 16 176 rw 16 Emergency stop torque UINT 16 256 rw 20 Forward speed limit/Speed limit 1 in local torque control UINT 16 320 rw 21 Reverse speed limit/Speed limit 2 in local torque control UINT 16 336 rw 22 Base value for torque reached UINT 16 352 rw 23 Threshold of torque reached valid UINT 16 368 rw 24 Threshold of torque reached invalid UINT 16 384 rw 25 Depth of field-weakening UINT 16 400 rw 26 Maximum field-weakening current UINT 16 416 rw 27 Field-weakening enable UINT 16 432 rw 28 Field-weakening gain UINT 16 448 rw 29 Field-weakening point speed UINT 16 464 ro 37 The second-stage torque reference filter time UINT 16 592 rw 38 Torque reference filter type select UINT 16 608 rw 39 Biquad low pass filter damping UINT 16 624 rw DT2008 1056 0 SubIndex 000 USINT 8 0 ro 1 Speed-loop Gain UINT 16 16 rw 2 Speed-loop integral time constant UINT 16 32 rw 3 Position-loop Gain UINT 16 48 rw 4 The second speed loop gain UINT 16 64 rw 5 The second speed loop integral time constant UINT 16 80 rw 6 The second position loop gain UINT 16 96 rw 9 Second gain mode setting UINT 16 144 rw 10 Gain switchover condition UINT 16 160 rw 11 Gain switchover delay UINT 16 176 rw 12 Gain switchover level UINT 16 192 rw 13 Gain switchover hysteresis UINT 16 208 rw 14 Position gain switchover time UINT 16 224 rw 16 Average value of load inertia ratio UINT 16 256 rw 18 Zero-Phase delay time UINT 16 288 rw 19 Speed feedforward filter time constant UINT 16 304 rw 20 Speed feedforward gain UINT 16 320 rw 21 Torque feedforward filter time constant UINT 16 336 rw 22 Torque feedforward gain UINT 16 352 rw 23 Speed feedback filter UINT 16 368 rw 24 Cut-off frequency of speed feedback low-pass filter UINT 16 384 rw 25 Pseudo-differential forward feedback control coefficient UINT 16 400 rw 28 Cut-off frequency of speed observer UINT 16 448 rw 29 Modified inertia coefficient of speed observer UINT 16 464 rw 30 Filter time of speed observer UINT 16 480 rw 32 Cut-off frequency of torque disturbance observer UINT 16 512 rw 33 Compensation gain of torque disturbance observer UINT 16 528 rw 34 Modified inertia coefficient of torque disturbance observer UINT 16 544 rw 41 Speed observer enable UINT 16 656 rw 43 Module control enable UINT 16 688 rw 44 Module control gain UINT 16 704 rw 47 Module feedforward value UINT 16 752 rw 54 3rd medium and low-frequency vibration suppression frequency UINT 16 864 rw 55 3rd compensation gain of medium and low-frequency vibration suppression frequency UINT 16 880 rw 57 3rd phase modulation of medium and low-frequency vibration suppression frequency UINT 16 912 rw 60 4th medium and low-frequency vibration suppression frequency UINT 16 960 rw 61 4th compensation gain of medium and low-frequency vibration suppression frequency UINT 16 976 rw 62 4th phase modulation of medium and low-frequency vibration suppression frequency UINT 16 992 rw 63 Time constant of position loop integration UINT 16 1008 rw 64 2nd time constant of position loop integration UINT 16 1024 rw 65 Speed observation feedback source selection UINT 16 1040 rw DT2009 848 0 SubIndex 000 USINT 8 0 ro 1 Auto-adjusting mode UINT 16 16 rw 2 Rigidity level selection UINT 16 32 rw 3 Working mode of self-adaptive notch UINT 16 48 rw 4 Online inertia auto-tuning mode UINT 16 64 rw 6 Offline inertia auto-tuning mode UINT 16 96 rw 7 Maximum speed for inertia autotuning UINT 16 112 rw 8 Acceleration/Deceleration time for inertia autotuning UINT 16 128 rw 9 Interval after an inertia autotuning UINT 16 144 rw 10 Motor revolutions for an inertia auto-tuning UINT 16 160 rw 12 Vibration threshold setting UINT 16 192 rw 13 1st notch frequency UINT 16 208 rw 14 1st notch width level UINT 16 224 rw 15 1st notch attenuation level UINT 16 240 rw 16 2nd notch frequency UINT 16 256 rw 17 2nd notch width level UINT 16 272 rw 18 2nd notch attenuation level UINT 16 288 rw 19 3rd notch frequency UINT 16 304 rw 20 3rd notch width level UINT 16 320 rw 21 3rd notch attenuation level UINT 16 336 rw 22 4th notch frequency UINT 16 352 rw 23 4th notch width level UINT 16 368 rw 24 4th notch attenuation level UINT 16 384 rw 25 Obtained resonance frequency UINT 16 400 ro 26 1st anti-resonance point frequency UINT 16 416 rw 27 2nd anti-resonance point frequency UINT 16 432 rw 33 Gravity compensation value INT 16 528 rw 34 Forward friction compensation INT 16 544 rw 35 Reverse friction compensation INT 16 560 rw 36 Friction compensation speed UINT 16 576 rw 37 Friction compensation speed selection UINT 16 592 rw 38 Vibration monitor time UINT 16 608 rw 39 1st terminal low-frequency vibration suppression frequency UINT 16 624 rw 40 1st filter order of low-frequency vibration suppression frequency UINT 16 640 rw 42 5th notch frequency UINT 16 672 rw 43 5th notch width level UINT 16 688 rw 44 5th notch attenuation level UINT 16 704 rw 45 2nd terminal low-frequency vibration suppression frequency UINT 16 720 rw 46 2nd damping frequency ratio of low-frequency vibration suppression frequency UINT 16 736 rw 48 2nd damping coefficient of low-frequency vibration suppression frequency UINT 16 768 rw 50 3rd terminal low-frequency vibration suppression frequency UINT 16 800 rw 51 3rd damping frequency ratio of low-frequency vibration suppression frequency UINT 16 816 rw 53 3rd damping coefficient of low-frequency vibration suppression frequency UINT 16 832 rw DT200A 1232 0 SubIndex 000 USINT 8 0 ro 1 Power inputphase loss protection disable UINT 16 16 rw 2 Absolute position limit set UINT 16 32 rw 5 Motor overload protection gain UINT 16 80 rw 9 Overspeed threshold UINT 16 144 rw 11 Local following error window UDINT 32 176 rw 13 Runaway protection enable UINT 16 208 rw 19 Over Temperature value of IPM UINT 16 304 rw 20 Touch Probe 1 filter time constant UINT 16 320 rw 21 Touch Probe 2 filter time constant UINT 16 336 rw 22 STO Display Function Selection UINT 16 352 rw 24 Filter time constant of TZ signal UINT 16 384 rw 26 Filter time of speed feedback display UINT 16 416 rw 27 Motor overload shielding UINT 16 432 rw 28 Speed DO Filter time constant UINT 16 448 rw 33 Overheat protection time duration for locked rotor UINT 16 528 rw 34 Overheat protection for locked rotor enable UINT 16 544 rw 37 Absolute Encode multi-turns error forbidden UINT 16 592 rw 40 OEM parameter UINT 16 640 rw 41 Over Travel Compensation UINT 16 656 rw 50 Over Temperature value of discharge tube UINT 16 800 rw 51 Encoder communiction error threshold UINT 16 816 rw 52 Phase lack threshold UINT 16 832 rw 53 Over Temperature value of Encoder UINT 16 848 rw 56 Runaway current threshold UINT 16 896 rw 57 Fault reset delay time UINT 16 912 rw 58 Runaway speed threshold UINT 16 928 rw 59 Runaway speed filter time constant UINT 16 944 rw 60 Runaway protection time window UINT 16 960 rw 71 The 2nd over speed threshold UINT 16 1136 rw 72 Motor over load monitor switch UINT 16 1152 rw 73 Maximum ramp stop time UINT 16 1168 rw 74 STO Disconnect filter time UINT 16 1184 rw 75 STO Mismatch filter time UINT 16 1200 rw 76 STO Servo off filter time UINT 16 1216 rw DT200B 1488 0 Number of Entries USINT 8 0 ro 1 Actual motor rotational speed INT 16 16 ro T 2 Speed reference INT 16 32 ro T 3 Internal torque reference INT 16 48 ro T 4 Monitored DI states UINT 16 64 ro T 6 Monitored DO states UINT 16 96 ro T 8 Absolute position counter DINT 32 128 ro T 10 Mechanical angle UINT 16 160 ro T 11 Electrical angle UINT 16 176 ro T 13 Average load rate UINT 16 208 ro T 16 Encoder position deviation counter DINT 32 256 ro T 18 Feedback pulse counter DINT 32 288 ro T 20 Total power-on time UDINT 32 320 ro T 25 Phase current valid value UINT 16 400 ro T 27 Bus voltage UINT 16 432 ro T 28 Module temperature UINT 16 448 ro T 29 Absolute encoder fault info. from FPGA UINT 16 464 ro 30 Axis state from FPGA UINT 16 480 ro 31 Axis fault info. from FPGA UINT 16 496 ro 32 Encoder internal fault info. UINT 16 512 rw 34 Displayed fault record UINT 16 544 rw 35 Fault code UINT 16 560 ro 36 Time stamp upon displayed fault UDINT 32 576 ro 38 Current rotational speed upon displayed fault INT 16 608 ro 39 Current U upon displayed fault INT 16 624 ro 40 Current V upon displayed fault INT 16 640 ro 41 Bus voltage upon displayed fault UINT 16 656 ro 42 Input terminal state upon displayed fault UINT 16 672 ro 44 Output terminal state upon displayed fault UINT 16 704 ro 46 Inner error code UINT 16 736 ro 47 Fault message of absolute encode from Fpga upon displayed UINT 16 752 ro 48 System state from Fpga upon displayed fault UINT 16 768 ro 49 System fault message from Fpga upon displayed fault UINT 16 784 ro 50 Encode state 1 upon displayed fault UINT 16 800 ro 52 Inner error code upon displayed fault UINT 16 832 ro 53 Fpga overtime state upon displayed fault UINT 16 848 ro 54 Reference position deviation DINT 32 864 ro T 56 Actual motor rotational speed(0.1rpm) DINT 32 896 ro T 58 Control bus voltage UINT 16 928 ro T 59 Mechanical absolute position inc(Low) UDINT 32 944 ro T 61 Mechanical absolute position inc(High) DINT 32 976 ro T 64 Not ready reason UINT 16 1024 ro 67 Encoder temperature UINT 16 1072 ro 68 Discharge load rate UINT 16 1088 ro T 69 Fpga over time state UINT 16 1104 ro 71 Number of turns of absolute encode UINT 16 1136 ro T 72 Single feedback postion of absolute encode UDINT 32 1152 ro T 75 System Error UINT 16 1200 ro 78 feedback postion of absolute encode(Low) UDINT 32 1248 ro T 80 feedback postion of absolute encode(High) DINT 32 1280 ro T 82 feedback postion inc of rotating load(Low) UDINT 32 1312 ro T 84 feedback postion inc of rotating load(High) UDINT 32 1344 ro T 86 Single feedback postion of rotating load UDINT 32 1376 ro T 88 IGBT Temperature UINT 16 1408 ro 91 Group of unusual function code UINT 16 1456 ro 92 Offset of unusual function code UINT 16 1472 ro DT200D 400 0 Number of Entries USINT 8 0 ro 1 Software reset UINT 16 16 rw 2 Fault reset UINT 16 32 rw 5 Encoder ROM reading/writing UINT 16 80 rw 6 Emergency stop UINT 16 96 rw 13 UV phase current auto-tuning UINT 16 208 rw 18 Forced DI/DO setting UINT 16 288 rw 19 Forced DI level UINT 16 304 rw 20 Forced DO setting UINT 16 320 rw 21 Absolute Encode Fault Reset UINT 16 336 rw 24 Cogging torque self-learning UINT 16 384 rw DT200E 1568 0 Number of Entries USINT 8 0 ro 1 Node address UINT 16 16 rw 2 Update function code values written via communication to EEPROM UINT 16 32 rw 21 station auto inc address UINT 16 336 ro 22 station alias UINT 16 352 rw 23 Sync lost window UINT 16 368 rw 25 Sync lost counter UINT 16 400 ro 26 Port 0 invalid frame counter UINT 16 416 ro 27 Port 1 invalid frame counter UINT 16 432 ro 28 Port 0/1 transfer error counter UINT 16 448 ro 29 process unit and PDI error counter UINT 16 464 ro 30 Port 0/1 lost counter UINT 16 480 ro 32 Sync mode set UINT 16 512 rw 33 Sync error window UINT 16 528 rw 34 EtherCAT network state and link state UINT 16 544 ro 35 Time Limit Of abnormal CSP command UINT 16 560 rw 37 Enhanced link detection enable UINT 16 592 rw 38 Reset EtherCAT xml file UINT 16 608 rw 94 EtherCAT COE version number UINT 16 1504 ro 97 EtherCAT xml file version number UINT 16 1552 ro DT2018 240 0 Number of Entries USINT 8 0 ro 1 Enable Comparison UINT 16 16 rw R 3 Encoder Resolution UINT 16 48 rw R 4 Mode Of Comparison UINT 16 64 rw R 5 Current Position As Zero UINT 16 80 rw R 6 Output Duration UINT 16 96 rw R 8 Starting Point Number UINT 16 128 rw R 9 Ending Point Number UINT 16 144 rw R 10 Comparison Status UINT 16 160 ro T 11 Current Position DINT 32 176 ro T 13 Position Offset DINT 32 208 rw R DT2019 1456 0 Number of Entries USINT 8 0 ro 1 1st Comparing Position DINT 32 16 rw R 3 1st Point Property UINT 16 48 rw R 4 2nd Comparing Position DINT 32 64 rw R 6 2nd Point Property UINT 16 96 rw R 7 3rd Comparing Position DINT 32 112 rw R 9 3rd Point Property UINT 16 144 rw R 10 4th Comparing Position DINT 32 160 rw R 12 4th Point Property UINT 16 192 rw R 13 5th Comparing Position DINT 32 208 rw R 15 5th Point Property UINT 16 240 rw R 16 6th Comparing Position DINT 32 256 rw R 18 6th Point Property UINT 16 288 rw R 19 7th Comparing Position DINT 32 304 rw R 21 7th Point Property UINT 16 336 rw R 22 8th Comparing Position DINT 32 352 rw R 24 8th Point Property UINT 16 384 rw R 25 9th Comparing Position DINT 32 400 rw R 27 9th Point Property UINT 16 432 rw R 28 10th Comparing Position DINT 32 448 rw R 30 10th Point Property UINT 16 480 rw R 31 11th Comparing Position DINT 32 496 rw R 33 11th Point Property UINT 16 528 rw R 34 12th Comparing Position DINT 32 544 rw R 36 12th Point Property UINT 16 576 rw R 37 13th Comparing Position DINT 32 592 rw R 39 13th Point Property UINT 16 624 rw R 40 14th Comparing Position DINT 32 640 rw R 42 14th Point Property UINT 16 672 rw R 43 15th Comparing Position DINT 32 688 rw R 45 15th Point Property UINT 16 720 rw R 46 16th Comparing Position DINT 32 736 rw R 48 16th Point Property UINT 16 768 rw R 49 17th Comparing Position DINT 32 784 rw R 51 17th Point Property UINT 16 816 rw R 52 18th Comparing Position DINT 32 832 rw R 54 18th Point Property UINT 16 864 rw R 55 19th Comparing Position DINT 32 880 rw R 57 19th Point Property UINT 16 912 rw R 58 20th Comparing Position DINT 32 928 rw R 60 20th Point Property UINT 16 960 rw R 61 21th Comparing Position DINT 32 976 rw R 63 21th Point Property UINT 16 1008 rw R 64 22th Comparing Position DINT 32 1024 rw R 66 22th Point Property UINT 16 1056 rw R 67 23th Comparing Position DINT 32 1072 rw R 69 23th Point Property UINT 16 1104 rw R 70 24th Comparing Position DINT 32 1120 rw R 72 24th Point Property UINT 16 1152 rw R 73 25th Comparing Position DINT 32 1168 rw R 75 25th Point Property UINT 16 1200 rw R 76 26th Comparing Position DINT 32 1216 rw R 78 26th Point Property UINT 16 1248 rw R 79 27th Comparing Position DINT 32 1264 rw R 81 27th Point Property UINT 16 1296 rw R 82 28th Comparing Position DINT 32 1312 rw R 84 28th Point Property UINT 16 1344 rw R 85 29th Comparing Position DINT 32 1360 rw R 87 29th Point Property UINT 16 1392 rw R 88 30th Comparing Position DINT 32 1408 rw R 90 30th Point Property UINT 16 1440 rw R 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 560 0 SubIndex 000 USINT 8 0 ro 1 Support homing method 1 INT 16 16 ro 2 Support homing method 2 INT 16 32 ro 3 Support homing method 3 INT 16 48 ro 4 Support homing method 4 INT 16 64 ro 5 Support homing method 5 INT 16 80 ro 6 Support homing method 6 INT 16 96 ro 7 Support homing method 7 INT 16 112 ro 8 Support homing method 8 INT 16 128 ro 9 Support homing method 9 INT 16 144 ro 10 Support homing method 10 INT 16 160 ro 11 Support homing method 11 INT 16 176 ro 12 Support homing method 12 INT 16 192 ro 13 Support homing method 13 INT 16 208 ro 14 Support homing method 14 INT 16 224 ro 15 Support homing method 15 INT 16 240 ro 16 Support homing method 16 INT 16 256 ro 17 Support homing method 17 INT 16 272 ro 18 Support homing method 18 INT 16 288 ro 19 Support homing method 19 INT 16 304 ro 20 Support homing method 20 INT 16 320 ro 21 Support homing method 21 INT 16 336 ro 22 Support homing method 22 INT 16 352 ro 23 Support homing method 23 INT 16 368 ro 24 Support homing method 24 INT 16 384 ro 25 Support homing method 25 INT 16 400 ro 26 Support homing method 26 INT 16 416 ro 27 Support homing method 27 INT 16 432 ro 28 Support homing method 28 INT 16 448 ro 29 Support homing method 29 INT 16 464 ro 30 Support homing method 30 INT 16 480 ro 31 Support homing method 31 INT 16 496 ro 32 Support homing method 32 INT 16 512 ro 33 Support homing method 33 INT 16 528 ro 34 Support homing method 34 INT 16 544 ro #x1000 Device type UDINT 32 #x00020192 ro o #x1001 Error Register USINT 8 00 ro o #x1008 Device name STRING(10) 80 SV660-ECAT ro #x1009 Hardware version STRING(4) 32 V001 ro #x100a Software version STRING(4) 32 V001 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 #x000C010D Revision #x00010001 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 20 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 20 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 Servo Motor Parameters 伺服电机参数 DT2000 128 SubIndex 000 6 Motor SN 0 65535 14101 Customized firmware version 0 65535 0 Encoder Version 0 65535 0 Serial encoder motor SN 0 65535 0 ro #x2001 Servo Drive Parameters 伺服驱动器参数 DT2001 672 SubIndex 000 41 MCU firmware Version 0 65535 0 Fpga firmware Version 0 65535 0 Drive serial number 0 65535 3 Drive voltage class 0 65535 220 Drive rated power 0 1073741824 400 Drive maximum output power 0 1073741824 400 Drive rated output current 0 1073741824 280 Drive maximum output current 0 1073741824 1010 DC bus overvoltage protective point 0 2000 420 ro #x2002 Basic control 基本控制参数 DT2002 688 SubIndex 000 36 Control mode selection 0 9 9 Absolute system selection 0 4 0 Rotating direction 0 1 0 Stop mode at limit switch signal 0 7 1 Stop mode at NO.1 fault 0 2 2 Delay from brake output on to command received 0 500 250 Delay from brake output off to motor de-energized 50 1000 150 Motor speed threshold at brake output off in rotating state 20 3000 30 Delay from servo off to brake output off in the rotating state 1 1000 500 Motor speed threshold in holding state 1 6000 10 LED warning display selection 0 1 0 Delay time after dynamic brake relay on 30 30000 30 Allowed minimum braking resistance 1 1000 40 Power of built-in braking resistor 0 65535 0 Resistance of built-in braking resistor 0 65535 0 Resistor heat dissipation coefficient 10 100 30 braking resistor type 1 3 3 Power of external dynamic resistor 1 65535 40 Resistance of external braking resistor 15 1000 50 User password 0 65535 0 Parameter initialization 0 2 0 Default keypad display 0 99 50 Panel data refresh rate 0 20 0 OEM password 0 65535 0 ro #x2003 Input Terminal Parameters 端子输入参数 DT2003 1056 SubIndex 000 65 DI1 function selection 0 40 14 DI1 logic selection 0 1 0 DI2 function selection 0 40 15 DI2 logic selection 0 1 0 DI3 function selection 0 40 0 DI3 logic selection 0 1 0 DI4 function selection 0 40 38 DI4 logic selection 0 1 0 DI5 function selection 0 40 39 DI5 logic selection 0 1 0 DI1 filtertime constant 0 50000 50 DI2 filtertime constant 0 50000 50 DI3 filtertime constant 0 50000 50 DI4 filtertime constant 0 50000 50 DI5 filtertime constant 0 50000 50 ro #x2004 Output terminal Parameters 端子输出参数 DT2004 112 SubIndex 000 6 DO1 Function Selection 0 32 1 DO1 Logic Level Selection 0 1 0 DO2 function selection 0 32 11 DO2 Logic Level Selection 0 1 0 DO3 Function Selection 0 32 9 DO3 Logic Level Selection 0 1 0 ro #x2005 Position Control Parameters 位置控制参数组 DT2005 912 SubIndex 000 55 Time constant of first-order low-pass filter 0 65535 0 Time constant of moving average filter 1 0 10000 0 Time constant of moving average filter 2 0 1280 0 Speed feedforward control selection 0 3 1 Local home mode 0 8 0 Time of home searching 0 65535 50000 Local home position offset -1073741824 1073741824 0 Absolute position offset of absolute encode(Low) 0 4294967295 0 Absolute position offset of absolute encode(High) -2147483648 2147483647 0 Mechanical Gear ratio numerator of absolute encode mode 2 0 65535 1 Mechanical Gear ratio denominator of absolute encode mode 2 0 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 ro #x2006 Speed control 速度控制 DT2006 480 SubIndex 000 16 Keypad setting value of speed reference -6000 6000 200 Acceleration ramp time constant of speed reference 0 65535 0 Deceleration ramp time constant of speed reference 0 65535 0 Positive speed limit 0 6000 6000 Reverse speed limit 0 6000 6000 Quick decelaration coefficient 0 2 0 Torque feedforward selection 0 2 1 Acceleration/Deceleration ramp time constant of jog speed reference 0 65535 10 Speed feedforward filter time constant 0 2000 0 Speed threshold of motor rotation signal 0 1000 20 Cogging Torque Compensation Enable 0 1 1 ro #x2007 Torque control 转矩控制参数 DT2007 640 SubIndex 000 40 Keypad setting value of torque reference -4000 4000 0 Torque reference filter time 1 0 3000 79 Torque reference filter time 2 0 3000 79 Internal forward torque limit 0 4000 3500 Internal reverse torque limit 0 4000 3500 Emergency stop torque 0 4000 1000 Forward speed limit/Speed limit 1 in local torque control 0 6000 3000 Reverse speed limit/Speed limit 2 in local torque control 0 6000 3000 Base value for torque reached 0 4000 0 Threshold of torque reached valid 0 4000 200 Threshold of torque reached invalid 0 4000 100 Depth of field-weakening 60 115 115 Maximum field-weakening current 0 200 100 Field-weakening enable 0 1 0 Field-weakening gain 1 1000 30 Field-weakening point speed 0 65535 0 The second-stage torque reference filter time 0 1000 0 Torque reference filter type select 0 1 0 Biquad low pass filter damping 0 50 16 ro #x2008 Gain Parameters 增益参数 DT2008 1056 SubIndex 000 65 Speed-loop Gain 1 20000 400 Speed-loop integral time constant 15 51200 1989 Position-loop Gain 1 20000 640 The second speed loop gain 1 20000 750 The second speed loop integral time constant 15 51200 1061 The second position loop gain 1 20000 1200 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 Zero-Phase delay time 0 40 0 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 3000 0 Speed feedback filter 0 4 0 Cut-off frequency of speed feedback low-pass filter 100 8000 8000 Pseudo-differential forward feedback control coefficient 0 2000 1000 Cut-off frequency of speed observer 50 600 170 Modified inertia coefficient of speed observer 1 1600 100 Filter time of speed observer 0 1000 80 Cut-off frequency of torque disturbance observer 10 4000 600 Compensation gain of torque disturbance observer 0 100 0 Modified inertia coefficient of torque disturbance observer 1 1600 100 Speed observer enable 0 1 0 Module control enable 0 1 0 Module control gain 1 20000 400 Module feedforward value 0 1024 950 3rd medium and low-frequency vibration suppression frequency 0 3000 0 3rd compensation gain of medium and low-frequency vibration suppression frequency 0 200 0 3rd phase modulation of medium and low-frequency vibration suppression frequency 0 600 100 4th medium and low-frequency vibration suppression frequency 0 3000 0 4th compensation gain of medium and low-frequency vibration suppression frequency 0 200 0 4th phase modulation of medium and low-frequency vibration suppression frequency 0 600 100 Time constant of position loop integration 15 51200 51200 2nd time constant of position loop integration 15 51200 51200 Speed observation feedback source selection 0 1 0 ro #x2009 Auto-adjusting Parameters 自整定参数 DT2009 848 SubIndex 000 60 Auto-adjusting mode 0 7 4 Rigidity level selection 0 41 15 Working mode of self-adaptive notch 0 4 0 Online inertia auto-tuning mode 0 3 0 Offline inertia auto-tuning mode 0 1 1 Maximum speed for inertia autotuning 100 1000 500 Acceleration/Deceleration time for inertia autotuning 20 800 125 Interval after an inertia autotuning 50 10000 800 Motor revolutions for an inertia auto-tuning 0 10000 100 Vibration threshold setting 0 1000 50 1st notch frequency 50 8000 8000 1st notch width level 0 20 2 1st notch attenuation level 0 99 0 2nd notch frequency 50 8000 8000 2nd notch width level 0 20 2 2nd notch attenuation level 0 99 0 3rd notch frequency 50 8000 8000 3rd notch width level 0 20 2 3rd notch attenuation level 0 99 0 4th notch frequency 50 8000 8000 4th notch width level 0 20 2 4th notch attenuation level 0 99 0 Obtained resonance frequency 0 5000 0 1st anti-resonance point frequency 0 5000 0 2nd anti-resonance point frequency 0 5000 0 Gravity compensation value 0 1000 0 Forward friction compensation 0 1000 0 Reverse friction compensation -1000 0 0 Friction compensation speed 0 200 20 Friction compensation speed selection 0 19 0 Vibration monitor time 0 65535 300 1st terminal low-frequency vibration suppression frequency 10 1000 1000 1st filter order of low-frequency vibration suppression frequency 0 3 2 5th notch frequency 50 8000 8000 5th notch width level 0 20 2 5th notch attenuation level 0 99 0 2nd terminal low-frequency vibration suppression frequency 0 2000 0 2nd damping frequency ratio of low-frequency vibration suppression frequency 1 1000 100 2nd damping coefficient of low-frequency vibration suppression frequency 0 200 100 3rd terminal low-frequency vibration suppression frequency 0 2000 0 3rd damping frequency ratio of low-frequency vibration suppression frequency 1 1000 100 3rd damping coefficient of low-frequency vibration suppression frequency 0 200 100 ro #x200A Error and Protection Parameter 故障与保护参数 DT200A 1232 SubIndex 000 60 Power inputphase loss protection disable 0 3 0 Absolute position limit set 0 2 0 Motor overload protection gain 50 300 100 Overspeed threshold 0 20000 0 Local following error window 0 4294967295 27486951 Runaway protection enable 0 1 1 Over Temperature value of IPM 0 175 135 Touch Probe 1 filter time constant 0 630 200 Touch Probe 2 filter time constant 0 630 200 STO Display Function Selection 0 1 0 Filter time constant of TZ signal 0 31 15 Filter time of speed feedback display 0 5000 50 Motor overload shielding 0 1 0 Speed DO Filter time constant 0 5000 50 Overheat protection time duration for locked rotor 10 65535 200 Overheat protection for locked rotor enable 0 1 1 Absolute Encode multi-turns error forbidden 0 1 0 OEM parameter 0 3 0 Over Travel Compensation 0 1 0 Over Temperature value of discharge tube 0 175 115 Encoder communiction error threshold 0 31 3 Phase lack threshold 3 65535 20 Over Temperature value of Encoder 0 175 0 Runaway current threshold 1 4000 2000 Fault reset delay time 0 60000 10000 Runaway speed threshold 1 1000 50 Runaway speed filter time constant 1 1000 20 Runaway protection time window 10 1000 30 The 2nd over speed threshold 0 20000 0 Motor over load monitor switch 0 65535 10000 Maximum ramp stop time 0 65535 10000 STO Disconnect filter time 0 5 5 STO Mismatch filter time 0 1000 10 STO Servo off filter time 0 25 20 ro #x200B Display Parameters 显示参数 DT200B 1488 Number of Entries 92 Actual motor rotational speed 0 Speed reference 0 Internal torque reference 0 Monitored DI states 0 Monitored DO states 0 Absolute position counter 0 Mechanical angle 0 Electrical angle 0 Average load rate 0 Encoder position deviation counter 0 Feedback pulse counter 0 Total power-on time 0 Phase current valid value 0 Bus voltage 0 Module temperature 0 Absolute encoder fault info. from FPGA 0 Axis state from FPGA 0 Axis fault info. from FPGA 0 Encoder internal fault info. 0 Displayed fault record 0 9 0 Fault code 0 Time stamp upon displayed fault 0 Current rotational speed upon displayed fault 0 Current U upon displayed fault 0 Current V upon displayed fault 0 Bus voltage upon displayed fault 0 Input terminal state upon displayed fault 0 Output terminal state upon displayed fault 0 Inner error code 0 Fault message of absolute encode from Fpga upon displayed 0 System state from Fpga upon displayed fault 0 System fault message from Fpga upon displayed fault 0 Encode state 1 upon displayed fault 0 Inner error code upon displayed fault 0 Fpga overtime state upon displayed fault 0 Reference position deviation 0 Actual motor rotational speed(0.1rpm) 0 Control bus voltage 0 Mechanical absolute position inc(Low) 0 Mechanical absolute position inc(High) 0 Not ready reason 0 Encoder temperature 0 Discharge load rate 0 Fpga over time state 0 Number of turns of absolute encode 0 Single feedback postion of absolute encode 0 System Error 0 feedback postion of absolute encode(Low) 0 feedback postion of absolute encode(High) 0 feedback postion inc of rotating load(Low) 0 feedback postion inc of rotating load(High) 0 Single feedback postion of rotating load 0 IGBT Temperature 0 Group of unusual function code 0 Offset of unusual function code 0 ro #x200D Auxiliary Function Parameters 辅助功能参数 DT200D 400 Number of Entries 21 Software reset 0 1 0 Fault reset 0 1 0 Encoder ROM reading/writing 0 2 0 Emergency stop 0 1 0 UV phase current auto-tuning 0 1 0 Forced DI/DO setting 0 4 0 Forced DI level 0 31 0 Forced DO setting 0 7 0 Absolute Encode Fault Reset 0 2 0 Cogging torque self-learning 0 1 0 ro #x200E Communication parameters 通信参数 DT200E 1568 Number of Entries 97 Node address 1 127 1 Update function code values written via communication to EEPROM 0 3 3 station auto inc address 0 65535 0 station alias 0 65535 0 Sync lost window 1 20 8 Sync lost counter 0 65535 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 Sync mode set 0 2 1 Sync error window 100 4000 3000 EtherCAT network state and link state 0 65535 0 Time Limit Of abnormal CSP command 1 30 20 Enhanced link detection enable 0 1 0 Reset EtherCAT xml file 0 1 0 EtherCAT COE version number 0 65535 0 EtherCAT xml file version number 0 65535 0 ro #x2018 Position Comparison 位置比较参数 DT2018 240 Number of Entries 13 Enable Comparison 0 Encoder Resolution 0 7 0 Mode Of Comparison 0 1 0 Current Position As Zero 0 1 0 Output Duration 0 2047 0 Starting Point Number 1 30 1 Ending Point Number 1 30 1 Comparison Status 0 1024 0 Current Position -2147483648 2147483647 0 Position Offset -2147483648 2147483647 0 ro #x2019 Comparing Points 位置比较点 DT2019 1456 Number of Entries 90 1st Comparing Position -2147483648 2147483647 0 1st Point Property 0 3 0 2nd Comparing Position -2147483648 2147483647 0 2nd Point Property 0 3 0 3rd Comparing Position -2147483648 2147483647 0 3rd Point Property 0 3 0 4th Comparing Position -2147483648 2147483647 0 4th Point Property 0 3 0 5th Comparing Position -2147483648 2147483647 0 5th Point Property 0 3 0 6th Comparing Position -2147483648 2147483647 0 6th Point Property 0 3 0 7th Comparing Position -2147483648 2147483647 0 7th Point Property 0 3 0 8th Comparing Position -2147483648 2147483647 0 8th Point Property 0 3 0 9th Comparing Position -2147483648 2147483647 0 9th Point Property 0 3 0 10th Comparing Position -2147483648 2147483647 0 10th Point Property 0 3 0 11th Comparing Position -2147483648 2147483647 0 11th Point Property 0 3 0 12th Comparing Position -2147483648 2147483647 0 12th Point Property 0 3 0 13th Comparing Position -2147483648 2147483647 0 13th Point Property 0 3 0 14th Comparing Position -2147483648 2147483647 0 14th Point Property 0 3 0 15th Comparing Position -2147483648 2147483647 0 15th Point Property 0 3 0 16th Comparing Position -2147483648 2147483647 0 16th Point Property 0 3 0 17th Comparing Position -2147483648 2147483647 0 17th Point Property 0 3 0 18th Comparing Position -2147483648 2147483647 0 18th Point Property 0 3 0 19th Comparing Position -2147483648 2147483647 0 19th Point Property 0 3 0 20th Comparing Position -2147483648 2147483647 0 20th Point Property 0 3 0 21th Comparing Position -2147483648 2147483647 0 21th Point Property 0 3 0 22th Comparing Position -2147483648 2147483647 0 22th Point Property 0 3 0 23th Comparing Position -2147483648 2147483647 0 23th Point Property 0 3 0 24th Comparing Position -2147483648 2147483647 0 24th Point Property 0 3 0 25th Comparing Position -2147483648 2147483647 0 25th Point Property 0 3 0 26th Comparing Position -2147483648 2147483647 0 26th Point Property 0 3 0 27th Comparing Position -2147483648 2147483647 0 27th Point Property 0 3 0 28th Comparing Position -2147483648 2147483647 0 28th Point Property 0 3 0 29th Comparing Position -2147483648 2147483647 0 29th Point Property 0 3 0 30th Comparing Position -2147483648 2147483647 0 30th Point Property 0 3 0 ro #x203F Manufacturor Error code 伺服故障码 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 #x1A36AE7 rw R #x6066 Following error time out UINT 16 #x0 #xFFFF #x0 rw R #x6067 Position window UDINT 32 #x0 #xFFFFFFFF #x16F0 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 #xF040 #x0FA0 #x0 rw R #x6072 Max Torque UINT 16 #x0 #x0FA0 #x0DAC rw R #x6074 Torque demand INT 16 #xF040 #x0FA0 #x0 ro T #x6077 Torque actual value INT 16 #xF040 #x0FA0 #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 #xFD #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 #xF040 #x0FA0 #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 #x0FA0 #x0DAC rw R #x60E1 Negative torque limit value UINT 16 #x0 #x0FA0 #x0DAC rw R #x60E3 Support homing method DT60E3 560 SubIndex 000 #x0 #x23 34 Support homing method 1 #x0001 Support homing method 2 #x0002 Support homing method 3 #x0003 Support homing method 4 #x0004 Support homing method 5 #x0005 Support homing method 6 #x0006 Support homing method 7 #x0007 Support homing method 8 #x0008 Support homing method 9 #x0009 Support homing method 10 #x000A Support homing method 11 #x000B Support homing method 12 #x000C Support homing method 13 #x000D Support homing method 14 #x000E Support homing method 15 #x0011 Support homing method 16 #x0012 Support homing method 17 #x0013 Support homing method 18 #x0014 Support homing method 19 #x0015 Support homing method 20 #x0016 Support homing method 21 #x0017 Support homing method 22 #x0018 Support homing method 23 #x0019 Support homing method 24 #x001A Support homing method 25 #x001B Support homing method 26 #x001C Support homing method 27 #x001D Support homing method 28 #x001E Support homing method 29 #x0021 Support homing method 30 #x0022 Support homing method 31 #x0023 Support homing method 32 #xFFFF Support homing method 33 #xFFFE Support homing method 34 #xFFFD 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 424DF8010000000000003600000028000000100000000E0000000100100000000000C2010000202E0000202E00000000000000000000590A590A5A0A3906390239065906390239023906590639063902590A59065A0E1902190219027A167A125A12F8017A169A163906390639065A12390219023906390239021802DB325D53DB32BE73DB2E1C433C4B9A1E3C4B5D53F80139023906390239021802FB327D5BFB36FF7FBB26390A7D5FDB329E63DB36F8013902390639023902F801DB2EDF777D5B9E675D5339027D5F9E679E675A16190239023906390239021802DB2EBE6FFC3ABE6FFB369A221C439E677D5FFB3618023902390639023902390219065A1A1806590E1902F801F8015A0E190239023902390239063902390219029B225912BB26FC36DB2EDB2A7A1A19027A169A1E39023902390639023902F8011C3F9E671C3FBB267A163C473C479A1E5D4F5D5319023902390639023902F801BB26DF73BB2EB701D801BB2A3C4BBB265D4F3C4F19023902390639023902F801DB2EDE6FBB2EB701D801BB2A3D4BBB265D4F5D4F19023902390639023902F801DB2E7E5F3D4B1C3FDB32DB2E1C43BB263D4B3D4B1902390239063902390239025A0E59069A16DB2EBB265A0A590659065A0A590A39023902390639023902390219021902190218021802190219023902190219023902390239060000