#x000002E1 Servotronix Motion Control Ltd. 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EtherCAT_Drive EtherCAT Drives ETHERCAT_DRIVE CDHD 10000 10000 10000 1000 2000 2000 EtherCAT_Drive 402 BOOL 1 BYTE 8 WORD 16 DWORD 32 USINT 8 UINT 16 UDINT 32 SINT 8 INT 16 DINT 32 REAL 32 DT1010ARR UDINT 64 1 2 DT1010 80 0 Number of Entries USINT 8 0 ro Elements DT1010ARR 64 16 DT1018 144 0 number of entries 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 4 Serial number UDINT 32 112 ro DT1600 208 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw DT1601 208 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw DT1602 208 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw DT1603 208 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw DT1A00 208 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw DT1A01 208 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw DT1A02 208 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw DT1A03 208 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of Entries USINT 8 0 ro Elements DT1C00ARR 32 16 DT1C10 8 0 Number of assigned PDOs USINT 8 0 ro DT1C11 8 0 Number of assigned PDOs USINT 8 0 ro DT1C12ARR UINT 64 1 4 DT1C12 80 0 Number of assigned RxPDO USINT 8 0 rw Elements DT1C12ARR 64 16 DT1C13ARR UINT 64 1 4 DT1C13 80 0 Number of assigned TxPDOs USINT 8 0 rw Elements DT1C13ARR 64 16 DT2011ARR UDINT 64 1 2 DT2011 80 0 Number of Entries USINT 8 0 ro Elements DT2011ARR 64 16 DT2044ARR INT 32 1 2 DT2044 48 0 Number of Entries USINT 8 0 ro Elements DT2044ARR 32 16 DT2056ARR USINT 24 1 3 DT2056 40 0 Highest sub-index supported USINT 8 0 ro Elements DT2056ARR 24 16 DT2057ARR USINT 24 1 3 DT2057 40 0 Highest sub-index supported USINT 8 0 ro Elements DT2057ARR 24 16 DT205AARR UDINT 128 1 4 DT205A 144 0 NumOfEntries USINT 8 0 ro Elements DT205AARR 128 16 DT205BARR UDINT 128 1 4 DT205B 144 0 NumOfEntries USINT 8 0 ro Elements DT205BARR 128 16 DT205D 88 0 numOfEntries USINT 8 0 ro 1 Config USINT 8 16 rw 2 Argument_1 UINT 16 24 rw 3 Argument_2 UINT 16 40 rw 4 Argument_3 REAL 32 56 rw DT205E 88 0 numOfEntries USINT 8 0 ro 1 Config USINT 8 16 rw 2 Argument_1 UINT 16 24 rw 3 Argument_2 UINT 16 40 rw 4 Argument_3 REAL 32 56 rw DT2070ARR UINT 32 1 2 DT2070 48 0 NumOfEntries UINT 8 0 ro Elements DT2070ARR 32 16 DT209BARR UINT 32 1 2 DT209B 48 0 Number of Entries USINT 8 0 ro Elements DT209BARR 32 16 DT209CARR UINT 32 1 2 DT209C 48 0 Number of Entries UINT 8 0 ro Elements DT209CARR 32 16 DT20AF 128 0 numOfEntries USINT 8 0 ro 1 Signal Type UINT 16 16 rw 2 Current Amplitude DINT 32 32 rw 3 Velocity Amplitude DINT 32 64 rw 4 Counter Period UINT 16 96 rw 5 Config UINT 16 112 rw DT20D8ARR UINT 128 1 8 DT20D8 144 0 Number of Entries UINT 8 0 ro Elements DT20D8ARR 128 16 DT20D9ARR UINT 128 1 8 DT20D9 144 0 Number of Entries UINT 8 0 ro Elements DT20D9ARR 128 16 DT20DAARR UINT 208 1 13 DT20DA 224 0 Number of Entries UINT 8 0 ro Elements DT20DAARR 208 16 DT20DBARR UINT 176 1 11 DT20DB 192 0 Number of Entries UINT 8 0 ro Elements DT20DBARR 176 16 DT20E0ARR UINT 32 1 2 DT20E0 48 0 Number of Entries UINT 8 0 ro Elements DT20E0ARR 32 16 DT2115 128 0 NumOfEntries USINT 8 0 ro 1 Duration1 UINT 16 16 rw 2 Velocity1 DINT 32 32 rw 3 Duration2 INT 16 64 rw 4 Velocity2 DINT 32 80 rw 5 Activate USINT 8 112 rw 6 Select USINT 8 120 rw DT2147 96 0 numOfEntries USINT 8 0 ro 1 PE_INTRP DINT 32 16 ro t 2 V_INTRP DINT 32 48 ro t 3 I_INTRP INT 16 80 ro t DT2148 96 0 numOfEntries USINT 8 0 ro 1 PE_INTRP DINT 32 16 ro t 2 V_INTRP DINT 32 48 ro t 3 I_INTRP INT 16 80 ro t DT214FARR DINT 64 1 2 DT214F 80 0 numOfEntries UINT 8 0 ro Elements DT214FARR 64 16 DT2169ARR DINT 352 1 11 DT2169 368 0 Highest index supported DINT 8 0 ro Elements DT2169ARR 352 16 DT216AARR DINT 352 1 11 DT216A 368 0 Highest index supported DINT 8 0 ro Elements DT216AARR 352 16 DT216DARR UDINT 64 1 2 DT216D 80 0 Highest index supported DINT 8 0 ro Elements DT216DARR 64 16 DT2171ARR DINT 128 1 4 DT2171 144 0 Highest index supported DINT 8 0 ro Elements DT2171ARR 128 16 DT2172ARR DINT 96 1 3 DT2172 112 0 Highest index supported DINT 8 0 ro Elements DT2172ARR 96 16 DT2174ARR UDINT 64 1 2 DT2174 80 0 Number of Entries USINT 8 0 ro Elements DT2174ARR 64 16 DT2175ARR UDINT 64 1 2 DT2175 80 0 Number of Entries USINT 8 0 ro Elements DT2175ARR 64 16 DT2176ARR UINT 64 1 4 DT2176 80 0 numOfEntries UDINT 8 0 ro Elements DT2176ARR 64 16 DT2177ARR UINT 32 1 2 DT2177 48 0 numOfEntries UDINT 8 0 ro Elements DT2177ARR 32 16 DT2178ARR UINT 32 1 2 DT2178 48 0 numOfEntries UDINT 8 0 ro Elements DT2178ARR 32 16 DT217DARR UINT 32 1 2 DT217D 48 0 Number of Entries USINT 8 0 ro Elements DT217DARR 32 16 DT2184 96 0 numOfEntries USINT 8 0 ro 1 PE_INTRP DINT 32 16 ro t 2 V_INTRP DINT 32 48 ro t 3 I_INTRP INT 16 80 ro t DT2185 96 0 numOfEntries USINT 8 0 ro 1 PE_INTRP DINT 32 16 ro t 2 V_INTRP DINT 32 48 ro t 3 I_INTRP INT 16 80 ro t DT607DARR DINT 64 1 2 DT607D 80 0 Number of Entries USINT 8 0 ro Elements DT607DARR 64 16 DT608FARR UDINT 64 1 2 DT608F 80 0 Number of Entries USINT 8 0 ro Elements DT608FARR 64 16 DT6091ARR UDINT 64 1 2 DT6091 80 0 Number of Entries USINT 8 0 ro Elements DT6091ARR 64 16 DT6092ARR UDINT 64 1 2 DT6092 80 0 Number of Entries USINT 8 0 ro Elements DT6092ARR 64 16 DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of Entries USINT 8 0 ro Elements DT6099ARR 64 16 DT60C1ARR DINT 128 1 4 DT60C1 144 0 Highest sub-index supported DINT 8 0 ro Elements DT60C1ARR 128 16 DT60C2 32 0 Highest index supported USINT 8 0 ro 1 Interpolation time units USINT 8 16 rw 2 Interpolation time index SINT 8 24 rw DT60C4 120 0 Highest sub-index supported USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw 5 Size of data record USINT 8 104 rw 6 Buffer clear USINT 8 112 rw DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of Entries USINT 8 0 ro Elements DT60FEARR 64 16 #x1000 Device Type UDINT 32 #x420192 ro #x1001 Error Register USINT 8 #x0 ro #x1010 Store Parameter Field DT1010 80 Number of Entries #x2 Save all Parameters #x0 SubIndex 2 #x1 #x1018 Identity Object DT1018 144 number of entries #x4 Vendor Id #x2e1 Product Code #x0 Revision number #x0 Serial number #x0 #x1600 Receive PDO Mapping Parameter 1 DT1600 208 Number of Entries #x2 Mapping Entry 1 #x60400010 Mapping Entry 2 #x60600008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1601 Receive PDO Mapping Parameter 2 DT1601 208 Number of Entries #x2 Mapping Entry 1 #x607a0020 Mapping Entry 2 #x60810020 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1602 Receive PDO Mapping Parameter 3 DT1602 208 Number of Entries #x1 Mapping Entry 1 #x60ff0020 Mapping Entry 2 #x0 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1603 Receive PDO Mapping Parameter 4 DT1603 208 Number of Entries #x3 Mapping Entry 1 #x60710010 Mapping Entry 2 #x60fe0120 Mapping Entry 3 #x60b20010 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1a00 Transmit PDO Mapping Parameter 1 DT1A00 208 Number of Entries #x3 Mapping Entry 1 #x60410010 Mapping Entry 2 #x60610008 Mapping Entry 3 #x60770010 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1a01 Transmit PDO Mapping Parameter 2 DT1A01 208 Number of Entries #x1 Mapping Entry 1 #x60640020 Mapping Entry 2 #x0 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1a02 Transmit PDO Mapping Parameter 3 DT1A02 208 Number of Entries #x2 Mapping Entry 1 #x60740010 Mapping Entry 2 #x20f20010 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1a03 Transmit PDO Mapping Parameter 4 DT1A03 208 Number of Entries #x3 Mapping Entry 1 #x60fd0020 Mapping Entry 2 #x20b60020 Mapping Entry 3 #x60f40020 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1c00 Sync Manager Communication Type DT1C00 48 Number of Entries #x4 SubIndex 1 #x1 SubIndex 2 #x2 SubIndex 3 #x3 SubIndex 4 #x4 #x1c10 Sync Manager 0 PDO Assignment DT1C10 8 Number of assigned PDOs #x0 #x1c11 Sync Manager 1 PDO Assignment DT1C11 8 Number of assigned PDOs #x0 #x1c12 Sync Manager 2 PDO Assignment DT1C12 80 Number of assigned RxPDO #x4 SubIndex 1 #x1600 SubIndex 2 #x1601 SubIndex 3 #x1602 SubIndex 4 #x1603 #x1c13 Sync Manager 3 PDO Assignment DT1C13 80 Number of assigned TxPDOs #x4 SubIndex 1 #x1a00 SubIndex 2 #x1a01 SubIndex 3 #x1a02 SubIndex 4 #x1a03 #x2001 Go to Resident UINT 16 #x0 rw #x2002 Config Command USINT 8 #x0 rw #x2003 CL BEMF Gain REAL 32 #x3f800000 rw #x2004 Current D Axis Compensation REAL 32 #x3f800000 rw #x2006 Current Ki Gain REAL 32 #x3f800000 rw #x2007 Current Kp Gain REAL 32 #x3f800000 rw #x200a HD Anti-Vibration Filter REAL 32 #x0 rw #x200b HD Anti-Resonance Sharpness REAL 32 #x3f800000 rw #x200c HD Anti Vibration Gain REAL 32 #x0 rw #x200d Absolute Feedback Offset DINT 32 #x0 rw #x200e Auto Home Mode INT 16 #x0 rw #x200f Field Bus Unit Scaling UINT 16 #xc rw #x2010 Velocity Loop Bandwidth UINT 16 #x1e rw #x2011 Warning Bits DT2011 80 Number of Entries #x2 Low Bits #x0 High Bits #x0 #x2013 Current CL Vd INT 16 #x0 ro #x2014 Current CL Vq INT 16 #x0 ro #x2016 Electrical Position UINT 16 #x0 ro #x2017 NL Derivative Gain REAL 32 #x0 rw #x2018 NL Integral Gain REAL 32 #x0 rw #x2019 NL Derivative-Integral Gain REAL 32 #x0 rw #x201a NL Proportional Gain REAL 32 #x0 rw #x201b NL Adaptive Gain Scale Factor REAL 32 #x3f800000 rw #x201c Position Acceleration FF to Current REAL 32 #x0 rw #x201d Position Acceleration FF REAL 32 #x0 rw #x201e Position Derivative Gain REAL 32 #x0 rw #x201f Position Proportional Adaptive gain REAL 32 #x0 rw #x2020 Position Integral Gain REAL 32 #x0 rw #x2021 Position Integral Saturation Output UDINT 32 #x0 rw #x2022 Position Proportional Gain REAL 32 #x3f800000 rw #x2023 Position Velocity FF REAL 32 #x0 rw #x2024 Motor Type USINT 8 #x0 rw #x2025 Velocity FeedForward Ratio REAL 32 #x0 rw #x2026 Velocity Integrator REAL 32 #x0 rw #x2027 Velocity Gain REAL 32 #x3c23d70a rw #x2028 Mechanical Angle UINT 16 #x0 ro #x2029 Encoder Type UINT 16 #xb rw #x202a Motor Encoder Index Position UINT 16 #x78 rw #x202b Motor and Feedback Direction UINT 16 #x0 rw #x202c Ptp Move Lpf Hz INT 16 #x1388 rw #x202d Motor Feedback Mode UINT 16 #x1 rw #x202e Motor Foldback Status UINT 16 #x0 ro #x202f Motor Foldback Delay Time REAL 32 #x40800000 rw #x2030 Motor Foldback Disable UINT 16 #x0 rw #x2031 Motor Foldback Recovery Time REAL 32 #x428c0000 ro #x2032 Motor Foldback Time Constant REAL 32 #x40a00000 rw #x2033 Motor Foldback Current UDINT 32 #x0 ro #x2034 Motor Foldback Fault Threshold UDINT 32 #x0 rw #x2035 Motor Foldback Warning Threshold UDINT 32 #x0 rw #x2036 Motor Peak Current UDINT 32 #x0 rw #x2037 Rotor Inertia REAL 32 #x3ca3d70a rw #x2038 Torque Constant for linearmotor REAL 32 #x3a83126f rw #x2039 Torque Constant REAL 32 #x3a83126f rw #x203a Motor Inductance REAL 32 #x3a83126f rw #x203b Adaptive Gain Value at Continuous motor Current REAL 32 #x3f800000 rw #x203c Adaptive Gain Value at Peakmotor Current REAL 32 #x3f800000 rw #x203d Rotor coilmass (linearmotor) REAL 32 #x0 rw #x203e Motor Commutation Type UINT 16 #x0 rw #x2040 Phase Disconnect Scan UINT 16 #x0 rw #x2041 Motor Setup SINT 8 #x0 rw #x2042 Motor Setup Status UDINT 32 #x0 ro #x2043 Commutation Offset UINT 16 #x0 rw #x2044 Drive Temperature DT2044 48 Number of Entries #x2 Control Temperature #x0 Power Temperature #x0 #x2045 Feedback Direction UINT 16 #x0 rw #x2046 Disabling Mode UINT 16 #x0 rw #x2047 Deceleration Distance DINT 32 #x0 rw #x2048 Deceleration Distance 2 DINT 32 #x0 rw #x2049 Quick Stop Deceleration Time UINT 16 #x0 rw #x204a Active Disable Speed Threshold UDINT 32 #x0 rw #x204b Active Disable Time UINT 16 #xa rw #x204c Factory Restore USINT 8 #x0 rw #x204d Feedback Type UINT 16 #x2 rw #x204e Velocity Loop Output Filter Parameter 1 UINT 16 #xc8 rw #x204f Velocity Loop Output Filter Parameter 2 UINT 16 #xc8 rw #x2050 Velocity Loop Output Filter USINT 8 #x0 rw #x2051 Foldback Status UINT 16 #x0 ro #x2052 Friction Compensation Negative Current DINT 32 #x0 rw #x2053 Friction Compensation Positive Current DINT 32 #x0 rw #x2054 Friction Compensation Negative Velocity Hysteresis DINT 32 #x0 rw #x2055 Friction Compensation Positive Velocity Hysteresis DINT 32 #x0 rw #x2056 Halls State DT2056 40 Highest sub-index supported #x3 Hall U #x0 Hall V #x0 Hall W #x0 #x2057 Invert Hall Signals DT2057 40 Highest sub-index supported #x3 Hall U #x0 Hall V #x0 Hall W #x0 #x2058 Hall Signals Type UINT 16 #x0 rw #x205a Harmonic Correction Feedback Param 1 DT205A 144 NumOfEntries #x4 Config #x0 Argument_1 #x0 Argument_2 #x0 Argument_3 #x0 #x205b Harmonic Correction Feedback Param 2 DT205B 144 NumOfEntries #x4 Config #x0 Argument_1 #x0 Argument_2 #x0 Argument_3 #x0 #x205d Harmonic current ICMD param 1 DT205D 88 numOfEntries #x4 Config #x0 Argument_1 #x0 Argument_2 #x0 Argument_3 #x0 #x205e Harmonic current ICMD param 2 DT205E 88 numOfEntries #x4 Config #x0 Argument_1 #x0 Argument_2 #x0 Argument_3 #x0 #x205f HD Current LPF Rise Time REAL 32 #x41100000 rw #x2060 HD Current Filter Damping INT 16 #x0 rw #x2061 HD Current Notch Filter Center INT 16 #x64 rw #x2062 HD Current Notch Filter Bandwidth INT 16 #x0 rw #x2063 Hold Position Command UINT 16 #x0 rw #x2064 Hardware Position External UINT 16 #x0 ro t #x2066 Current D Axis DINT 32 #x0 ro t #x2067 Current Q Axis DINT 32 #x0 ro #x2068 Current Feedforward LPF INT 16 #x50 rw #x2069 Drive Foldback Current Limit DINT 32 #x0 ro #x206a Drive Foldback Fault Threshold UDINT 32 #x0 rw #x206b Drive Foldback Warning Threshold UDINT 32 #x0 rw #x206c Gravity Compensation DINT 32 #x0 rw #x206d Encoder Index Initialization INT 16 #x0 ro #x206e Encoder Initialization Status UINT 16 #x0 ro #x206f Encoder Index Position Feedback DINT 32 #x0 ro #x2070 Input Inversion DT2070 48 NumOfEntries #x2 Index #x1 Value #x0 #x2071 Dynanic Brake Current UDINT 32 #x0 rw #x2072 Phase U Actual Current DINT 32 #x0 ro #x2073 Phase U Current Offset DINT 32 #x0 ro #x2074 Phase V Actual Current DINT 32 #x0 ro #x2075 Phase V Current Offset DINT 32 #x0 ro #x2076 Zero Procedure Current REAL 32 #x64 rw #x2077 Position Integral Saturation Input REAL 32 #x0 rw #x2078 CCW Limit Switch Status UINT 16 #x0 ro #x2079 CW Limit Switch Status UINT 16 #x0 ro #x207a Load to Motor Inertia Ratio REAL 32 #x0 rw #x207b Drive Peak Current REAL 32 #x636f rw #x207c Drive Continuous Current UDINT 32 #x2125 rw #x207d Motor Pitch UDINT 32 #x20 rw #x207e Motor Poles INT 16 #x2 rw #x207f Motor Resistance REAL 32 #x0 rw #x2080 Motor Resolver Poles INT 16 #x2 rw #x2081 Motor Rated Torque UDINT 32 #x7d0 rw #x2082 KCFF REAL 32 #x3f800000 rw #x2083 Torque Commutation Angle Advance at Motor Continuous Current UINT 16 #x0 rw #x2084 Torque Commutation Angle Advance at Motor Peak Current UINT 16 #x0 rw #x2085 Velocity Commutation Angle Advance at Motor Maximum Speed UINT 16 #x0 rw #x2086 Velocity Commutation Angle Advance at Motor Maximum Speed/2 UINT 16 #x0 rw #x2087 HD Spring Filter UINT 16 #x1b58 rw #x2088 Pfb backup DINT 32 #x0 ro #x2089 Pfb Backup Mode UINT 16 #x0 rw #x208a HD Maximum Adaptive Gain REAL 32 #x3f800000 rw #x208b HD Current Filter - Second Notch Filter Bandwidth REAL 32 #x0 rw #x208c HD Current Filter - Second Notch Filter Center UINT 16 #x64 rw #x208d ESTOPILIM REAL 32 #x3f800000 rw #x208e Pos_Cmd_User DINT 32 #x0 ro #x208f HD Flexibility Compensation REAL 32 #x0 rw #x2090 Home State USINT 8 #x0 ro #x2091 HD Spring Deceleration Ratio REAL 32 #x3f800000 rw #x2093 HD Autotune Command UINT 16 #x0 rw #x2094 HD Autotune Procedure Parameter DINT 32 #x0 ro #x2095 Pos Fdbk Offset DINT 32 #x0 rw #x2096 NL Anti Vibration Hz REAL 32 #x43c80001 rw #x2097 NL Anti Vibration Hz 2 REAL 32 #x43c80001 rw #x2098 HD Autotune Timeout UDINT 32 #x0 rw #x2099 Current Level 1 for Digital Output Definition DINT 32 #x0 rw #x209a Current Level 2 for Digital Output Definition DINT 32 #x0 rw #x209b Output Inversion DT209B 48 Number of Entries #x2 Index #x1 Value #x0 #x209c Output Mode DT209C 48 Number of Entries #x2 Output Index #x1 Function Code #x0 #x209d Position Level 1 for Digital Output Definition DINT 32 #x0 rw #x209e Position Level 2 for Digital Output Definition DINT 32 #x0 rw #x209f Velocity Level 1 for Digital Output Definition DINT 32 #x0 rw #x20a0 Velocity Level 2 for Digital Output Definition DINT 32 #x0 rw #x20a1 Over-Voltage Threshold UINT 16 #x0 rw #x20a2 Software Enable Status USINT 8 #x0 ro #x20a3 Position Loop Position Error DINT 32 #x0 ro #x20a4 Phase Find Command USINT 8 #x0 rw #x20a5 Forced Electrical Position UINT 16 #x0 rw #x20a6 Phase Find Gain REAL 32 #x3f800000 rw #x20a7 Phase Find Current REAL 32 #x0 rw #x20a8 Phase Find Mode UINT 16 #x2 rw #x20a9 Phase Find Status UINT 16 #x0 ro #x20aa Phase Find Duration UINT 16 #x64 rw #x20ab Position Loop Controller Mode UINT 16 #x0 rw #x20ac Software Position Limit Mode UINT 16 #x0 rw #x20ad PRB Generator Frequency REAL 32 #x42c80000 rw #x20ae PRB Generator Mode UINT 16 #x0 rw #x20af PRB Generator Configuration DT20AF 128 numOfEntries #x5 Signal Type #x0 Current Amplitude #x0 Velocity Amplitude #x0 Counter Period #x0 Config #x0 #x20b0 PTP Generator Target Error DINT 32 #x0 ro #x20b1 PTP Generator Velocity Command DINT 32 #x0 ro #x20b2 PWM Frequency REAL 32 #x41800000 rw #x20b3 Gearmode USINT 8 #x0 rw #x20b4 PWM Saturation Ratio REAL 32 #x3fc00000 rw #x20b5 Position Error In Position Flag UINT 16 #x0 ro #x20b6 manu_spec_Machine_HW_Position_External_command DINT 32 #x0 ro t #x20b8 Fault Relay Status UINT 16 #x0 ro #x20b9 Fault Relay Mode UINT 16 #x0 rw #x20ba Remote Hardware Enable Status UINT 16 #x0 ro #x20bb Resolver Amplitude Range UINT 16 #x23 rw #x20bc Resolver Conversion Bandwidth UINT 16 #x12c rw #x20bd Save Parameters USINT 8 #x0 ro #x20be Sine/Cosine Calibration Command UINT 16 #x0 ro #x20bf Sine/Cosine Calibration Mode UINT 16 #x0 rw #x20c0 Sine/Cosine Calibration Status UINT 16 #x0 ro #x20c2 Synchronization Mode UINT 16 #x0 rw #x20c3 Tracking Factor UINT 16 #x64 rw #x20c4 Motor Over-Temperature UINT 16 #x0 ro #x20c5 Motor Over-Temperature Clear Fault Level UDINT 32 #x64 rw #x20c6 Motor Over-Temperature Mode UINT 16 #x0 rw #x20c7 Motor Temperature DINT 32 #x0 ro #x20c8 Motor Over-Temperature Time UINT 16 #x1e rw #x20c9 Motor Over-Temperature Fault Level UDINT 32 #x96 rw #x20ca Motor Over-Temperature Type UINT 16 #x0 rw #x20cb Tamagawa Multi-Turn Reset USINT 8 #x0 rw #x20cd Under-Voltage Mode UINT 16 #x0 rw #x20ce Under-Voltage Recovery Mode UINT 16 #x0 rw #x20cf Under-Voltage Threshold UINT 16 #x0 rw #x20d0 Under-Voltage Time UINT 16 #x1e rw #x20d1 Bus Voltage (DC) UINT 16 #x140 rw #x20d3 Velocity Error DINT 32 #x0 ro #x20d4 Velocity Loop Controller USINT 8 #x0 rw #x20d6 Velocity Filter Mode UINT 16 #x1 rw #x20d8 Velocity Loop Output Filter DT20D8 144 Number of Entries #x8 manu_spec_Vf_Polynom_Term_1 #x0 manu_spec_Vf_Polynom_Term_2 #x0 manu_spec_Vf_Polynom_Term_3 #x0 manu_spec_Vf_Polynom_Term_4 #x0 manu_spec_Vf_Polynom_Term_5 #x0 manu_spec_Vf_Polynom_Term_6 #x0 manu_spec_Vf_Polynom_Term_7 #x0 manu_spec_Vf_Polynom_Term_Execute #x0 #x20d9 Velocity Loop Input Filter DT20D9 144 Number of Entries #x8 manu_spec_Vfi_Polynom_Term_1 #x0 manu_spec_Vfi_Polynom_Term_2 #x0 manu_spec_Vfi_Polynom_Term_3 #x0 manu_spec_Vfi_Polynom_Term_4 #x0 manu_spec_Vfi_Polynom_Term_5 #x0 manu_spec_Vfi_Polynom_Term_6 #x0 manu_spec_Vfi_Polynom_Term_7 #x0 manu_spec_Vfi_Polynom_Term_Execute #x0 #x20da Advanced Pole Placement H Polynomial DT20DA 224 Number of Entries #xd manu_spec_Vh_Polynom_Term_1 #x0 manu_spec_Vh_Polynom_Term_2 #x0 manu_spec_Vh_Polynom_Term_3 #x0 manu_spec_Vh_Polynom_Term_4 #x0 manu_spec_Vh_Polynom_Term_5 #x0 manu_spec_Vh_Polynom_Term_6 #x0 manu_spec_Vh_Polynom_Term_7 #x0 manu_spec_Vh_Polynom_Term_8 #x0 manu_spec_Vh_Polynom_Term_9 #x0 manu_spec_Vh_Polynom_Term_10 #x0 manu_spec_Vh_Polynom_Term_11 #x0 manu_spec_Vh_Polynom_Term_12 #x0 manu_spec_Vh_Polynom_Term_Execute #x0 #x20db Advanced Pole Placement R Polynomial DT20DB 192 Number of Entries #xb manu_spec_Vr_Polynom_Term_1 #x0 manu_spec_Vr_Polynom_Term_2 #x0 manu_spec_Vr_Polynom_Term_3 #x0 manu_spec_Vr_Polynom_Term_4 #x0 manu_spec_Vr_Polynom_Term_5 #x0 manu_spec_Vr_Polynom_Term_6 #x0 manu_spec_Vr_Polynom_Term_7 #x0 manu_spec_Vr_Polynom_Term_8 #x0 manu_spec_Vr_Polynom_Term_9 #x0 manu_spec_Vr_Polynom_Term_10 #x0 manu_spec_Vr_Polynom_Term_Execute #x0 #x20de External Encoder Resolution DINT 32 #x800 rw #x20df Zeroing Command UINT 16 #x0 rw #x20e0 Input Mode DT20E0 48 Number of Entries #x2 Input Index #x1 Function Code #x1 #x20e1 Rotary Switch UINT 16 #x0 ro #x20e2 Test 7-Segment Display UINT 16 #x0 rw #x20e3 Encoder Simulation Mode UINT 16 #x0 rw #x20e4 Encoder Simulation Resolution DINT 32 #x800 rw #x20e5 Encoder Simulation Index Position UDINT 32 #x0 rw #x20e6 Record Done Indicator USINT 8 #x0 ro #x20e9 Record Off USINT 8 #x0 rw #x20eb Recording Status USINT 8 #x0 ro #x20ec Ready to Record INT 16 #x0 ro #x20ee Max Drive And Motor Velocity DINT 32 #x0 ro #x20ef KCD Gain REAL 32 #x3f800000 rw #x20f0 Drive and Motor Max Current DINT 32 #x0 ro #x20f2 Analog Input 1 INT 16 #x0 ro t #x20f3 Analog Input 1 Deadband UINT 16 #x0 rw #x20f4 Analog Input 1 Current Scale DINT 32 #x0 rw #x20f5 Analog Input 1 Low Pass Filter INT 16 #x0 rw #x20f6 Analog Input 1 Offset INT 16 #x0 rw #x20f7 Analog Input 1 Velocity Scale DINT 32 #x0 rw #x20f8 Analog Input 1 Zeroing UINT 16 #x0 rw #x20f9 Analog Input 2 INT 16 #x0 rw t #x20fa Analog Input 2 Deadband UINT 16 #x0 rw #x20fb Analog Input 2 Current Scale DINT 32 #x0 rw #x20fc Analog Input 2 Low Pass Filter INT 16 #x0 rw #x20fd Analog Input 2 Offset INT 16 #x0 rw #x20ff Analog Input 2 Zeroing UINT 16 #x0 rw #x2100 Analog Input 2 Mode INT 16 #x0 rw #x2103 Homing Command USINT 8 #x0 rw #x2104 Current Level for Homing on HardStop DINT 32 #x0 rw #x2106 Current Loop compatibility mode INT 16 #x0 rw #x2108 MOVESMOOTHAVG REAL 32 #x0 rw #x2109 MOVESMOOTHMODE UINT 16 #x0 rw #x210b NLANTIVIBLMJR REAL 32 #x0 rw #x210c NLANTIVIBN REAL 32 #x0 rw #x210d NLFILTT1 REAL 32 #x0 rw #x2113 Drive Ready USINT 8 #x0 rw #x2115 Step Command DT2115 128 NumOfEntries #x6 Duration1 #x0 Velocity1 #x0 Duration2 #x0 Velocity2 #x0 Activate #x0 Select #x0 #x2116 Position Motion Ended INT 16 #xffff rw #x2117 Units Linear Acc/Dec UINT 16 #x0 rw #x2118 Units Linear Position UINT 16 #x0 rw #x2119 Units Linear Velocity UINT 16 #x0 rw #x211a Units rotaty Acc/Dec UINT 16 #x0 rw #x211b Units Rotary Position UINT 16 #x0 rw #x211c Units Rotary Velocity UINT 16 #x0 rw #x211d VELFILTFRQ UINT 16 #x0 rw #x211e Gear USINT 8 #x0 rw #x2120 Gear Acceleration Threshold DINT 32 #x0 rw #x2121 Gear Filter Acceleration Feedforward REAL 32 #x0 rw #x2122 Gear Filter Mode USINT 8 #x0 rw #x2123 Gear Filter Depth REAL 32 #x0 rw #x2124 Gear Filter Velocity and Acceleration Depth REAL 32 #x0 rw #x2125 Gear Filter Velocity Feedforward REAL 32 #x0 rw #x2126 Gear Ratio Multiplier INT 16 #x1 rw #x2127 Gearing Input Interpolation Mode USINT 8 #x1 rw #x2128 Gear Following Limits Mode USINT 8 #x0 rw #x2129 Gear Ratio Divider INT 16 #x1 rw #x212b Torque Window UDINT 32 #xfe rw #x212c Block Control Word UINT 16 #x0 rw #x212d HD Anti-Resonance Sharpness 2 REAL 32 #x3f000000 rw #x212e NL KIDV Gain REAL 32 #x0 rw #x212f NL KPI Gain REAL 32 #x0 rw #x2130 Torque Slope EN UINT 16 #x0 rw #x2131 Probe Event Counter UINT 16 #x0 ro #x2133 Analog output command REAL 32 #x0 ro #x2134 Analog output value DINT 32 #x0 rw r #x2135 Analog output iscale REAL 32 #x0 rw #x2136 Analog output limit REAL 32 #x41200000 rw #x2137 Analog output mode USINT 8 #x0 rw #x2138 Analog output vscale REAL 32 #x0 rw #x2139 Secondary Feedback Mode UINT 16 #x0 rw #x213a Secondary Feedback Type UINT 16 #x1 rw #x213b Secondary Feedback Scaling Numerator DINT 32 #x1 rw #x213c Secondary Feedback Scaling Denumerator DINT 32 #x1 rw #x213d Secondary Feedback Unit Numerator DINT 32 #x1 rw #x213e Secondary Feedback Unit Denominator DINT 32 #x1 rw #x213f Secondary Feedback Offset DINT 32 #x1 rw #x2140 Secondary Feedback Position Actual Value DINT 32 #x1 ro #x2141 Secondary Feedback Velocity Actual Value DINT 32 #x0 ro #x2142 Primary Position Actual Value DINT 32 #x0 ro t #x2143 Primary Velocity Actual Value DINT 32 #x0 ro t #x2144 Secondary Feedback Position Error Max DINT 32 #x0 rw #x2145 Secondary Feedback Positin Error Threshold DINT 32 #x0 rw #x2146 Secondary Feedback Positin Error Time UINT 16 #x0 rw #x2147 Probed Data Rise DT2147 96 numOfEntries #x3 PE_INTRP #x0 V_INTRP #x0 I_INTRP #x0 #x2148 Probed Data Fall DT2148 96 numOfEntries #x3 PE_INTRP #x0 V_INTRP #x0 I_INTRP #x0 #x2149 Probe Variable Select INT 16 #x0 rw #x214a Software Position Limit Hysteresis Value UDINT 32 #x0 rw #x214b Probe #1 Level Period for stabilization UINT 16 #x5 rw #x214e Modulo Mode UINT 16 #x0 rw #x214f Modulo Limits DT214F 80 numOfEntries #x2 Lower Limit #x0 Higher Limit #x0 #x2150 Counts Per Revulotion UDINT 32 #x800 ro #x2151 Start Calibration proccess UINT 16 #x0 rw #x2152 Voltage correct number of sections UINT 16 #x0 rw #x2153 Sfb Slow Movement Lower Voltage INT 16 #x0 rw #x2154 Sfb Slow Movement Upper Voltage INT 16 #x0 rw #x2155 Sfb Voltage correct number of sections 2 UINT 16 #x0 rw #x2156 Sfb Voltage correct Result 2 INT 16 #x0 ro #x2157 Sfb Manual Calibration Process Activation UINT 16 #x0 rw #x2158 Digital Outputs After Fault UDINT 32 #x0 rw #x2159 Heartbeat Tolerance UINT 16 #x0 rw #x215a Sankyo Multi-Turn Reset UINT 16 #x0 rw #x215b Voltage State UINT 16 #x0 ro #x215c Voltage Nv State UINT 16 #x0 ro #x215d Voltage Backlash Position DINT 32 #x0 rw #x215e Voltage Correction Current limit DINT 32 #x0 rw #x215f Voltage Fast Speed DINT 32 #x0 rw #x2160 Voltage Slow Speed DINT 32 #x0 rw #x2161 Secondary Feedback Position Actual Value in SFB User Unit REAL 32 #x3f800000 ro #x2162 Secondary Feedback Offset in SFB User Unit REAL 32 #x1 rw #x2163 Secondary Feedback Position Error Max in SFB User Unit REAL 32 #x0 rw #x2164 Secondary Feedback Position Error Threshold in SFB User Unit REAL 32 #x0 rw #x2165 Secondary Feedback Positin Command User Units REAL 32 #x0 ro #x2166 Secondary Feedback Position Error User Units REAL 32 #x0 ro #x2167 Secondary Feedback Voltage Dwell Time INT 16 #x64 rw #x2168 Secondary Feedback Position Error DINT 32 #x0 ro t #x2169 Voltage Correct Array DT2169 368 Highest index supported #xb Voltage_Correct_Array_A #x0 Voltage_Correct_Array_B #x0 Voltage_Correct_Array_C #x0 Voltage_Correct_Array_D #x0 Voltage_Correct_Array_E #x0 Voltage_Correct_Array_F #x0 Voltage_Correct_Array_G #x0 Voltage_Correct_Array_H #x0 Voltage_Correct_Array_I #x0 Voltage_Correct_Array_J #x0 Voltage_Correct_Array_K #x0 #x216a Voltage Correct Array 2 DT216A 368 Highest index supported #xb Voltage_Correct_Array_2_A #x0 Voltage_Correct_Array_2_B #x0 Voltage_Correct_Array_2_C #x0 Voltage_Correct_Array_2_D #x0 Voltage_Correct_Array_2_E #x0 Voltage_Correct_Array_2_F #x0 Voltage_Correct_Array_2_G #x0 Voltage_Correct_Array_2_H #x0 Voltage_Correct_Array_2_I #x0 Voltage_Correct_Array_2_J #x0 Voltage_Correct_Array_2_K #x0 #x216b Probe #2 Level Period for stabilization UINT 16 #x5 rw #x216d Analog Input 2 User Command DT216D 80 Highest index supported #x2 Analog Input 2 User Command - high bits #x0 Analog Input 2 User Command - low bits #x0 #x216e Analog Input 2 User Denominator UDINT 32 #x1 rw #x216f Analog Input 2 User Numerator DINT 32 #x64 rw #x2170 Analog Input 2 User Offset DINT 32 #x0 rw #x2171 Secondary Feedback Voltage Correct 1 DT2171 144 Highest index supported #x4 Sanity Check #x0 Feature #x0 PFB Negative #x0 PFB Positive #x0 #x2172 Secondary Feedback Voltage Correct 2 DT2172 112 Highest index supported #x3 Sanity Check #x0 Feature #x0 NV save #x0 #x2173 Motor Pitch High Resolution UDINT 32 #x0 rw #x2174 Hardware Features of Control Board DT2174 80 Number of Entries #x2 Address #x0 Value #x0 #x2175 Hardware Features of Power Board DT2175 80 Number of Entries #x2 Address #x0 Value #x0 #x2176 BISS C Fields DT2176 80 numOfEntries #x4 Field1 #x0 Field2 #x0 Field3 #x0 Field4 #x0 #x2177 BISS C Read DT2177 48 numOfEntries #x2 Address #x0 Value #x0 #x2178 BISS C Write DT2178 48 numOfEntries #x2 Address #x0 Value #x0 #x2179 Halls Only Communication UINT 16 #x0 rw #x217a Debug Position Command DINT 32 #x0 ro t #x217b Zero Mphase Degree INT 16 #x0 ro #x217c Ref Offset Value DINT 32 #x0 rw #x217d Hardware Version DT217D 48 Number of Entries #x2 Control board version #x0 Power board version #x0 #x217e Machine HW Position External (FPGA) DINT 32 #x0 ro t #x2183 Probe Event Counter 2 UINT 16 #x0 ro #x2184 Probed Data 2 Rise DT2184 96 numOfEntries #x3 PE_INTRP #x0 V_INTRP #x0 I_INTRP #x0 #x2185 Probed Data 2 Fall DT2185 96 numOfEntries #x3 PE_INTRP #x0 V_INTRP #x0 I_INTRP #x0 #x2186 Multi Turn Encoder Counter Reset UINT 16 #x0 rw #x2210 Active Axis UINT 16 #x1 ro #x222b Velocity Limit CSP Mode UDINT 32 #x0 rw r #x223a Fault Clear Mode UINT 16 #x0 rw #x223b RunAway Position Threshold UDINT 32 #x0 rw #x2241 ServoSense Encoder Save UINT 16 #x0 rw #x2242 ServoSense MultiTurn Rollover point 1 UINT 16 #x0 rw #x2243 CSP Limits Mode UINT 16 #x0 rw #x2244 ServoSense MultiTurn Rollover point 2 UINT 16 #x0 rw #x603f ErrorCode UINT 16 #x0 ro t #x6040 ControlWord UINT 16 #x0 rw r #x6041 StatusWord UINT 16 #x0 ro t #x605b Shutdown Option Code INT 16 #xffffffff rw #x605c Disable Operation Option Code INT 16 #xffffffff rw #x605d Halt Option Code INT 16 #x1 rw #x605e Fault Reaction Option Code INT 16 #xffffffff rw #x6060 Modes of operation SINT 8 #x8 rw r #x6061 Modes of operation display SINT 8 #x0 ro t #x6062 Position Demand Value DINT 32 #x0 ro #x6063 Position Actual Internal Value DINT 32 #x0 ro t #x6064 Position actual value DINT 32 #x0 ro t #x6065 Following Error Window UDINT 32 #x1 rw r #x6066 Following Error Time Out UINT 16 #x0 rw #x6067 Position Window UDINT 32 #x0 rw r #x6068 Position Window Time UINT 16 #xa rw #x606b Velocity Demand Value DINT 32 #x0 ro #x606c Velocity actual value DINT 32 #x0 ro t #x606d Velocity window UINT 16 #x0 rw #x606e Velocity window time UINT 16 #x0 rw #x606f Velocity threshold UINT 16 #x0 rw #x6070 Velocity threshold time UINT 16 #x0 rw #x6071 Target torque INT 16 #x0 rw r #x6073 Max current UINT 16 #x0 rw r #x6074 Torque Demand Value INT 16 #x0 ro t #x6075 Motor rated current UDINT 32 #x0 rw #x6076 Motor rated torque UDINT 32 #x0 rw #x6077 Torque Actual Value INT 16 #x0 ro t #x6078 Current actual value INT 16 #x0 ro t #x6079 DC link circuit voltage UDINT 32 #x0 ro t #x607a Target position DINT 32 #x0 rw r #x607c Home offset DINT 32 #x0 rw #x607d Software position limit DT607D 80 Number of Entries #x2 SubIndex 1 #x0 SubIndex 2 #x0 #x607e Polarity USINT 8 #x0 rw #x607f Max profile velocity UDINT 32 #x1 rw #x6080 Max motor speed UDINT 32 #x0 rw #x6081 Profile velocity UDINT 32 #x0 rw r #x6083 Profile acceleration UDINT 32 #x1 rw r #x6084 Profile deceleration UDINT 32 #x1 rw r #x6085 Quick stop deceleration UDINT 32 #x1 rw #x6087 Torque Slope UDINT 32 #x0 rw r #x608f Position encoder resolution DT608F 80 Number of Entries #x2 SubIndex 1 #x800 SubIndex 2 #x1 #x6091 Gear ratio DT6091 80 Number of Entries #x2 SubIndex 1 #x1 SubIndex 2 #x1 #x6092 Feed constant DT6092 80 Number of Entries #x2 SubIndex 1 #x57e40 SubIndex 2 #x1 #x6098 Homing method SINT 8 #x1 rw #x6099 Homing speeds DT6099 80 Number of Entries #x2 SubIndex 1 #x1 SubIndex 2 #x0 #x609a Homing acceleration UDINT 32 #x1 rw #x60b0 Position Offset DINT 32 #x0 rw #x60b1 Velocity Offset DINT 32 #x0 rw r #x60b2 Torque Offset INT 16 #x0 rw r #x60b8 Touch Probe Function UINT 16 #x0 rw r #x60b9 Touch Probe Status UINT 16 #x0 ro t #x60ba Touch Probe 1 Position Positive Value DINT 32 #x0 ro t #x60bb Touch Probe 1 Position negative Value DINT 32 #x0 ro t #x60bc Touch Probe 2 Position Positive Value DINT 32 #x0 ro t #x60bd Touch Probe 2 Position Negative Value DINT 32 #x0 ro t #x60c0 Interpolation sub mode select INT 16 #x0 rw #x60c1 Interpolation Data Record DT60C1 144 Highest sub-index supported #x4 Data Record 1 #x0 Data Record 2 #x0 Data Record 3 #x0 Data Record 4 #x0 #x60c2 Interpolation time period DT60C2 32 Highest index supported #x2 Interpolation time units #x2 Interpolation time index #xfd #x60c4 Interpolation Data Configuration DT60C4 120 Highest sub-index supported #x7 Maximum buffer size #x1 Actual buffer size #x0 Buffer organization #x0 Buffer position #x0 Size of data record #x1 Buffer clear #x0 #x60c5 Max Acceleration UDINT 32 #xffffffff rw #x60c6 Max Deceleration UDINT 32 #xffffffff rw #x60d5 Touch probe 1 positive edge counter UINT 16 #x0 ro t #x60d6 Touch probe 1 negative edge counter UINT 16 #x0 ro t #x60d7 Touch probe 2 positive edge counter UINT 16 #x0 ro t #x60d8 Touch probe 2 negative edge counter UINT 16 #x0 ro t #x60f2 Positioning Option Code UINT 16 #x0 rw #x60f4 Following Error Actual Value DINT 32 #x0 ro t #x60fc Position Demand Internal Value DINT 32 #x0 ro #x60fd Digital inputs UDINT 32 #x0 ro t #x60fe Digital outputs DT60FE 80 Number of Entries #x2 Digital Outpus #x0 Digital Outputs Mask #x0 #x60ff Target Velocity DINT 32 #x0 rw r #x6502 Supported Drive Modes UDINT 32 #x1dd ro Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO 1 #x6040 #x0 16 ControlWord UINT #x6060 #x0 8 Modes of operation SINT #x1601 RxPDO 2 #x607a #x0 32 Target position DINT #x6081 #x0 32 Profile velocity UDINT #x1602 RxPDO 3 #x60ff #x0 32 Target Velocity DINT #x1603 RxPDO 4 #x6071 #x0 16 Target torque INT #x60fe #x1 32 Digital Outpus UDINT #x60b2 #x0 16 Torque Offset INT #x1A00 TxPDO 1 #x6041 #x0 16 StatusWord UINT #x6061 #x0 8 Modes of operation display SINT #x6077 #x0 16 Torque Actual Value INT #x1A01 TxPDO 2 #x6064 #x0 32 Position actual value DINT #x1A02 TxPDO 3 #x6074 #x0 16 Torque Demand Value INT #x20f2 #x0 16 Analog Input 1 INT #x1A03 TxPDO 4 #x60fd #x0 32 Digital inputs UDINT #x20b6 #x0 32 manu_spec_Machine_HW_Position_External_command DINT #x60f4 #x0 32 Following Error Actual Value DINT PS #x6060 0 08 Opmode PS #x60c2 1 02 Cycle-time PS #x60c2 2 fd Cycle-exponent DC-Synchronous DC-Synchronous #x300 0 0 0 0 Free Run Free Run #x0 0 0 0 0 2048 003C0000FF0100000000 0010FD011012FD01