#x00000768 EURA Drives Electric Co., Ltd 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Servo Drives Servo Drives 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SD20-E-N-Ecat SD20-E-N-Ecat 2000 9000 5000 200 100 2000 Servo Drives 402 STRING(4) 32 STRING(5) 40 STRING(13) 104 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 DINT 32 INT 16 SINT 8 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 DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1701 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro DT1702 272 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro DT1703 272 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro DT1704 336 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro 9 SubIndex 009 UDINT 32 272 ro 10 SubIndex 010 UDINT 32 304 ro DT1705 304 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro 9 SubIndex 009 UDINT 32 272 ro DT1A00 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1B01 272 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro DT1B02 336 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro 9 SubIndex 009 UDINT 32 272 ro 10 SubIndex 010 UDINT 32 304 ro DT1B03 368 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro 9 SubIndex 009 UDINT 32 272 ro 10 SubIndex 010 UDINT 32 304 ro 11 SubIndex 011 UDINT 32 336 ro DT1B04 368 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro 9 SubIndex 009 UDINT 32 272 ro 10 SubIndex 010 UDINT 32 304 ro 11 SubIndex 011 UDINT 32 336 ro DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 16 16 rw DT1C13ARR UINT 16 1 1 DT1C13 32 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 16 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT2000 384 0 SubIndex 000 USINT 8 0 ro 1 Po000 Motor code UINT 16 16 ro t 2 Po001 Setting of Control mode and rotary direction UINT 16 32 rw 4 Po003 Numerator of FreDiv number of Encoder pulse UINT 16 48 rw 6 Po005 Denominator of FreDiv number of Encoder pulse UDINT 32 64 rw 8 Po007 Change rate of load inertia UINT 16 96 rw 9 Po008 Rotary inertia mode UINT 16 112 rw 10 Po009 Interval time of offline rotary inertia indentification UINT 16 128 rw 11 Po010 Rigidity selection UINT 16 144 rw 14 Po013 1st Rotary inertia ratio UINT 16 160 rw 15 Po014 Motion trail AcceDece time UINT 16 176 rw 16 Po015 Motion range of offline rotary inertia indentification UDINT 32 192 rw 18 Po017 Z pulse FreDiv output width UINT 16 224 rw 19 Po018 Pluse output setting UINT 16 240 rw 20 Po019 Virtual Z output period UDINT 32 256 rw 22 Po021 FreDiv output upper limit UINT 16 288 rw 23 Po022 Friction coefficient UINT 16 304 rw 24 Po023 Velocity display filter frequency UINT 16 320 rw 25 Po024 Inertia identification acceleration threshold UINT 16 336 ro 32 Po031 2nd Rotation inertia ratio UINT 16 352 rw 33 Po032 Rotation inertia Select UINT 16 368 rw DT2001 624 0 SubIndex 000 USINT 8 0 ro 2 Po101 1st speed loop proportional gain UINT 16 16 rw 3 Po102 1st speed loop integral gain UINT 16 32 rw 4 Po103 2nd speed loop proportional gain UINT 16 48 rw 5 Po104 2nd speed loop integral gain UINT 16 64 rw 6 Po105 1st speed loop filter time constant UINT 16 80 rw 7 Po106 2nd speed loop filter time constant UINT 16 96 rw 8 Po107 Torque feedforward gain UINT 16 112 rw 9 Po108 Torque feedforward gain filter UINT 16 128 rw 10 Po109 Acce time in speed mode UINT 16 144 rw 11 Po110 Dece time in speed mode UINT 16 160 rw 12 Po111 S curve AcceDece time UINT 16 176 rw 13 Po112 S curve start UINT 16 192 rw 19 Po118 Rotation detection value UINT 16 208 rw 27 Po126 Speed value in the zero clamp UINT 16 224 rw 28 Po127 Zero clamp enabled UINT 16 240 rw 29 Po128 Home searching signal duration time UINT 16 256 rw 30 Po129 Home searching timeout UINT 16 272 rw 31 Po130 Gain switching setting UINT 16 288 rw 32 Po131 Gain switching speed UINT 16 304 rw 33 Po132 Gain switching pulse UINT 16 320 rw 34 Po133 Positon loop gain switching time UINT 16 336 rw 35 Po134 Speed loop gain switching time UINT 16 352 rw 36 Po135 Gain 2 switch to gain 1 delay time UINT 16 368 rw 37 Po136 Mechanical origin singleturn value UDINT 32 384 rw 39 Po138 Mechanical origin multiturn value UDINT 32 416 rw 41 Po140 Forward running range pulse when overtravel protection UDINT 32 448 rw 43 Po142 Forward running range multiturn numbers UINT 16 480 rw 44 Po143 Reverse running range pulse when overtravel protection UDINT 32 496 rw 46 Po145 Reverse running range multiturn numbers UINT 16 528 rw 48 Po147 Home searching torque UINT 16 544 rw 49 Po148 Home position Or Mechanical origin offset DINT 32 560 rw 54 Po153 Speed order filter time constant UINT 16 592 rw 56 Po155 Speed loop filter selection UINT 16 608 rw DT2002 736 0 SubIndex 000 USINT 8 0 ro 1 Po200 1st Current loop bandwidth UINT 16 16 rw 2 Po201 2nd Current loop bandwidth UINT 16 32 rw 8 Po207 FwdRev run prohibited and emergency stop torque UINT 16 48 rw 15 Po214 1st Torque filter time constant UINT 16 64 rw 16 Po215 2nd Torque filter time constant UINT 16 80 rw 17 Po216 FwdRev run prohibited torque setting UINT 16 96 rw 18 Po217 1st Notch filter center frequency UINT 16 112 rw 19 Po218 1st Notch filter width UINT 16 128 rw 20 Po219 1st Notch filter depth UINT 16 144 rw 21 Po220 2nd Notch filter center frequency UINT 16 160 rw 22 Po221 2nd Notch filter width UINT 16 176 rw 23 Po222 2nd Notch filter depth UINT 16 192 rw 24 Po223 3rd Notch filter center frequency UINT 16 208 rw 25 Po224 3rd Notch filter width UINT 16 224 rw 26 Po225 3rd Notch filter depth UINT 16 240 rw 27 Po226 4th Notch filter center frequency UINT 16 256 rw 28 Po227 4th Notch filter width UINT 16 272 rw 29 Po228 4th Notch filter depth UINT 16 288 rw 30 Po229 Notch filter start UINT 16 304 rw 31 Po230 Notch filter number UINT 16 320 rw 35 Po234 Gain of load observer UINT 16 336 rw 36 Po235 Filter time of load observer UINT 16 352 rw 37 Po236 Back EMF compensation coefficient UINT 16 368 rw 38 Po237 Target torque range UINT 16 384 rw 39 Po238 Torque filter frequency UINT 16 400 rw 40 Po239 Gravity compensation UINT 16 416 rw 41 Po240 1st Vibration suppression central frequency UINT 16 432 rw 42 Po241 1st Vibration suppression width UINT 16 448 rw 43 Po242 1st Vibration suppression intensity UINT 16 464 rw 45 Po244 2nd Vibration suppression central frequency UINT 16 480 rw 46 Po245 2nd Vibration suppression width UINT 16 496 rw 47 Po246 2nd Vibration suppression intensity UINT 16 512 rw 48 Po247 5th Notch filter center frequency UINT 16 528 rw 49 Po248 5th Notch filter width UINT 16 544 rw 50 Po249 5th Notch filter depth UINT 16 560 rw 51 Po250 6th Notch filter center frequency UINT 16 576 rw 52 Po251 6th Notch filter width UINT 16 592 rw 53 Po252 6th Notch filter depth UINT 16 608 rw 54 Po253 7th Notch filter center frequency UINT 16 624 rw 55 Po254 7th Notch filter width UINT 16 640 rw 56 Po255 7th Notch filter depth UINT 16 656 rw 57 Po256 8th Notch filter center frequency UINT 16 672 rw 58 Po257 8th Notch filter width UINT 16 688 rw 59 Po258 8th Notch filter depth UINT 16 704 rw 90 Po289 Cogging torque compensation switch UINT 16 720 rw DT2003 320 0 SubIndex 000 USINT 8 0 ro 1 Po300 Command pulse form UINT 16 16 rw 2 Po301 1st Position loop gain UINT 16 32 rw 3 Po302 2nd Position loop gain UINT 16 48 rw 4 Po303 Position loop feedforward gain UINT 16 64 rw 5 Po304 1st Electronic gear numerator UINT 16 80 rw 6 Po305 1st Electronic gear denominator UINT 16 96 rw 7 Po306 Position loop filter time constant UINT 16 112 rw 9 Po308 Position pulse clear UINT 16 128 rw 27 Po326 Filter time constant of position feedforward UINT 16 144 rw 28 Po327 Position deviation alarm pulse UINT 16 160 rw 39 Po338 Unit of position given speed UINT 16 176 rw 40 Po339 Electronic gear ratio selection UINT 16 192 rw 41 Po340 Position FIR filter UINT 16 208 rw 77 Po376 Position feedback source UINT 16 224 rw 78 Po377 Position feedback pulse proportion numerator UINT 16 240 rw 79 Po378 Position feedback pulse proportion denominator UINT 16 256 rw 80 Po379 Mixed error remove turns INT 16 272 rw 81 Po380 Mixed error alarm pulses UINT 16 288 rw 94 Po393 OP abnorml protection time UINT 16 304 rw DT2004 352 0 SubIndex 000 USINT 8 0 ro 8 Po407 DI1 terminal function UINT 16 16 rw 9 Po408 DI2 terminal function UINT 16 32 rw 10 Po409 DI3 terminal function UINT 16 48 rw 11 Po410 DI4 terminal function UINT 16 64 rw 12 Po411 DI5 terminal function UINT 16 80 rw 13 Po412 DI6 terminal function UINT 16 96 rw 14 Po413 DI7 terminal function UINT 16 112 rw 15 Po414 DI8 terminal function UINT 16 128 rw 22 Po421 DO1 terminal function UINT 16 144 rw 23 Po422 DO2 terminal function UINT 16 160 rw 24 Po423 DO3 terminal function UINT 16 176 rw 25 Po424 DO4 terminal function UINT 16 192 rw 26 Po425 ALM terminal function UINT 16 208 rw 39 Po438 DI1 filter time UINT 16 224 rw 40 Po439 DI2 filter time UINT 16 240 rw 41 Po440 DI3 filter time UINT 16 256 rw 42 Po441 DI4 filter time UINT 16 272 rw 43 Po442 DI5 filter time UINT 16 288 rw 44 Po443 DI6 filter time UINT 16 304 rw 45 Po444 DI7 filter time UINT 16 320 rw 46 Po445 DI8 filter time UINT 16 336 rw DT2005 112 0 SubIndex 000 USINT 8 0 ro 1 Po500 Communication address UINT 16 16 rw 2 Po501 Communication mode UINT 16 32 rw 3 Po502 Stop bit UINT 16 48 rw 4 Po503 Parity check selection UINT 16 64 rw 5 Po504 Baud rate UINT 16 80 rw 6 Po505 Permission of ReadWrite UINT 16 96 rw DT2006 288 0 SubIndex 000 USINT 8 0 ro 1 Ho000 PM Rated voltage UINT 16 16 ro t 2 Ho001 PM Rated current UINT 16 32 rw 3 Ho002 PM Max speed UINT 16 48 rw 4 Ho003 PM Rated speed UINT 16 64 rw 5 Ho004 PM PolePairs UINT 16 80 rw 6 Ho005 PM Phase resistance UINT 16 96 rw 7 Ho006 PM Daxis inductance UINT 16 112 rw 8 Ho007 PM Qaxis inductance UINT 16 128 rw 9 Ho008 PM Back EMF line voltage effective value UINT 16 144 rw 12 Ho011 PM Rated power UINT 16 160 rw 13 Ho012 PM Rotary inertia UDINT 32 176 rw 17 Ho016 PM Encoder resolution UDINT 32 208 rw 19 Ho018 PM Encoder installation angle DINT 32 240 rw 72 Ho121 Overload sensitivity setting UINT 16 272 rw DT2008 928 0 SubIndex 000 USINT 8 0 ro 1 So00 Software version UINT 16 16 ro t 2 So01 Users password UINT 16 32 rw 3 So02 Delay time for servo OFF UINT 16 48 rw 4 So03 Delay time for electromagnetic braking OFF UINT 16 64 rw 5 So04 Braking resistor value UINT 16 80 rw 6 So05 Discharge duty ratio UINT 16 96 rw 7 So06 Input power phaseloss protection UINT 16 112 rw 8 So07 Servo OFF stop mode UINT 16 128 rw 9 So08 Delay time of dynamic braking UINT 16 144 rw 10 So09 Servo drive display items UINT 16 160 rw 11 So10 Record of malfunction type for latest 1st UINT 16 176 ro t 12 So11 Record of malfunction type for latest 2nd UINT 16 192 ro t 13 So12 Record of malfunction type for latest 3rd UINT 16 208 ro t 14 So13 Jog speed UINT 16 224 rw 16 So15 Encoder disconnection protection UINT 16 240 rw 17 So16 Speed threshold of electromagnetic brake UINT 16 256 rw 18 So17 Forward run prohibited UINT 16 272 rw 19 So18 Reverse run prohibited UINT 16 288 rw 20 So19 Analog monitor channel 1 UINT 16 304 rw 21 So20 Servodrive output current corresponding to 10V UINT 16 320 rw 22 So21 Servodrive max bus line voltage corresponding to 10V UINT 16 336 rw 23 So22 Max rotation speed corresponding to 10V UINT 16 352 rw 24 So23 Motor Parameter storing location UINT 16 368 rw 25 So24 Analog monitor voltage compensation 1 INT 16 384 rw 26 So25 Electric angle identification UINT 16 400 rw 27 So26 Control mode of fan UINT 16 416 rw 28 So27 Fan temperature setting UINT 16 432 rw 29 So28 Poweroff brake UINT 16 448 rw 30 So29 Poweroff brake time UINT 16 464 rw 31 So30 Setting of absolute position and relative position UINT 16 480 rw 32 So31 Communication ralated error UINT 16 496 rw 35 So34 Motor lock rotor protection UINT 16 512 rw 36 So35 Overload PreAlarm current UINT 16 528 rw 37 So36 Overload PreAlarm filter time UINT 16 544 rw 38 So37 Motor overload coefficient setting UINT 16 560 rw 39 So38 Under voltage protection of LI battery UINT 16 576 rw 40 So39 Over travel limit function UINT 16 592 rw 41 So40 Delay time of lock rotor protection UINT 16 608 rw 43 So42 Alarm output duty ratio UINT 16 624 rw 44 So43 Encoder reset UINT 16 640 rw 45 So44 Paramter copy UINT 16 656 rw 47 So46 FPGA software version UINT 16 672 ro t 49 So48 Password for motor parameter UINT 16 688 rw 50 So49 Revert to Mfrs value UINT 16 704 rw 51 So50 Motor overheat protection UINT 16 720 rw 52 So51 Motor disconnected protection of temperature detection UINT 16 736 rw 55 So54 Torque unreached protection setting UINT 16 752 rw 56 So55 Torque unreached time UINT 16 768 rw 57 So56 Air-cooled motor mode UINT 16 784 rw 58 So57 Forced input setting of DI UINT 16 800 rw 59 So58 Forced input and output mode of DIDO UINT 16 816 rw 60 So59 Stationalias UINT 16 832 rw 62 So61 Analog monitor channel 2 UINT 16 848 rw 63 So62 Voltage compensation for Analog monitor channel 2 INT 16 864 rw 65 So64 Alarm stop mode UINT 16 880 rw 66 So65 Alarm deceleration stop time UINT 16 896 rw 67 So66 Speed torque display unit UINT 16 912 rw DT2009 1232 0 SubIndex 000 USINT 8 0 ro 1 Lo00 Servodrive output current DINT 32 16 ro t 2 Lo01 Servodrive bus voltage DINT 32 48 ro t 3 Lo02 Servo motor rotation speed DINT 32 80 ro t 4 Lo03 Servo motor feedback pulse displays high 5 digits DINT 32 112 ro t 5 Lo04 Servo motor feedback pulse displays low 5 digits DINT 32 144 ro t 6 Lo05 Servo motor feedback rotation displays high 5 digits DINT 32 176 ro t 7 Lo06 Servo motor feedback rotation displays low 5 digits DINT 32 208 ro t 8 Lo07 Given command pulse numbers display high 5 digits DINT 32 240 ro t 9 Lo08 Given command pulse numbers display low 5 digits DINT 32 272 ro t 10 Lo09 Command pulse error numbers DINT 32 304 ro t 11 Lo10 Given speed DINT 32 336 ro t 12 Lo11 Given torque DINT 32 368 ro t 13 Lo12 Analog speed command display DINT 32 400 ro t 14 Lo13 Analog torque command display DINT 32 432 ro t 15 Lo14 DI8 to DI5 status display DINT 32 464 ro t 16 Lo15 DI4 to DI1 status display DINT 32 496 ro t 17 Lo16 The other output interface status display DINT 32 528 ro t 18 Lo17 DO4 to DO1 status display DINT 32 560 ro t 19 Lo18 Current temperature display of servo drive DINT 32 592 ro t 20 Lo19 Rotation inertia display DINT 32 624 ro t 21 Lo20 Current output torque display DINT 32 656 ro t 22 Lo21 Current gain group display DINT 32 688 ro t 23 Lo22 Braking power display DINT 32 720 ro t 24 Lo23 Singleturn pulse high 5 digits of motor absolute position DINT 32 752 ro t 25 Lo24 Singleturn pulse low 5 digits of motor absolute position DINT 32 784 ro t 26 Lo25 Multiturn pulse high 5 digits of motor absolute position DINT 32 816 ro t 27 Lo26 Multiturn pulse low 5 digits of motor absolute position DINT 32 848 ro t 28 Lo27 AI1 voltage DINT 32 880 ro t 29 Lo28 AI2 voltage DINT 32 912 ro t 30 Lo29 Mix error DINT 32 944 ro t 31 Lo30 Full closed loop feedback pulse numbers DINT 32 976 ro t 32 Lo31 Gantry sync error pulse nmbers DINT 32 1008 ro t 33 Lo32 Reserved DINT 32 1040 ro 34 Lo33 Pulse numbers of high speed counter 1 DINT 32 1072 ro t 35 Lo34 Pulse numbers of high speed counter 2 DINT 32 1104 ro t 36 Lo35 Reserved DINT 32 1136 ro 37 Lo36 Temperature of motor DINT 32 1168 ro t 38 Lo37 Motor shaft position DINT 32 1200 ro t 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 SubIndex 000 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 DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation Time Unit USINT 8 16 rw r 2 Interpolation Time USINT 8 24 rw r DTF000 48 0 SubIndex 000 USINT 8 0 ro 1 Index distance UINT 16 16 ro 2 Maximum number of modules UINT 16 32 ro #x1000 Device type UDINT 32 92010000 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(13) 104 534432302D452D4E2D45636174 ro #x1009 Hardware version STRING(5) 40 362E302E30 ro #x100A Software version STRING(4) 32 362E3030 ro #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 68070000 Product code 30000000 Revision C8000000 Serial number 10000000 ro #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 ro #x10F8 Timestamp Object ULINT 64 rw t #x1600 FlexRxPDOx1600 DT1600 400 SubIndex 000 0C SubIndex 001 10004060 SubIndex 002 08006060 SubIndex 003 08000060 SubIndex 004 20007A60 SubIndex 005 1000B860 SubIndex 006 2000FF60 SubIndex 007 00000000 SubIndex 008 00000000 SubIndex 009 00000000 SubIndex 010 00000000 SubIndex 011 00000000 SubIndex 012 00000000 rw o #x1701 FixedRxPDOx1701 DT1701 144 SubIndex 000 04 SubIndex 001 10004060 SubIndex 002 20007A60 SubIndex 003 1000B860 SubIndex 004 2000FE60 ro o #x1702 FixedRxPDOx1702 DT1702 272 SubIndex 000 08 SubIndex 001 10004060 SubIndex 002 20007A60 SubIndex 003 2000FF60 SubIndex 004 10007160 SubIndex 005 08006060 SubIndex 006 08007E60 SubIndex 007 1000B860 SubIndex 008 20007F60 ro o #x1703 FixedRxPDOx1703 DT1703 272 SubIndex 000 08 SubIndex 001 10004060 SubIndex 002 20007A60 SubIndex 003 2000FF60 SubIndex 004 08006060 SubIndex 005 08009860 SubIndex 006 1000B860 SubIndex 007 1000E060 SubIndex 008 1000E160 ro o #x1704 FixedRxPDOx1704 DT1704 336 SubIndex 000 0A SubIndex 001 10004060 SubIndex 002 20007A60 SubIndex 003 2000FF60 SubIndex 004 10007160 SubIndex 005 08006060 SubIndex 006 08007E60 SubIndex 007 1000B860 SubIndex 008 20007F60 SubIndex 009 1000E060 SubIndex 010 1000E160 ro o #x1705 FixedRxPDOx1705 DT1705 304 SubIndex 000 09 SubIndex 001 10004060 SubIndex 002 20007A60 SubIndex 003 2000FF60 SubIndex 004 08006060 SubIndex 005 08009860 SubIndex 006 1000B860 SubIndex 007 1000E060 SubIndex 008 1000E160 SubIndex 009 1000B260 ro o #x1A00 FlexTxPDOx1A00 DT1A00 400 SubIndex 000 0C SubIndex 001 10003F60 SubIndex 002 10004160 SubIndex 003 08006160 SubIndex 004 08000160 SubIndex 005 20006460 SubIndex 006 20006C60 SubIndex 007 1000B960 SubIndex 008 2000BA60 SubIndex 009 2000BC60 SubIndex 010 2000F460 SubIndex 011 2000FD60 SubIndex 012 00000000 rw o #x1B01 FixedTxPDOx1B01 DT1B01 272 SubIndex 000 08 SubIndex 001 10003F60 SubIndex 002 10004160 SubIndex 003 20006460 SubIndex 004 10007760 SubIndex 005 2000F460 SubIndex 006 1000B960 SubIndex 007 2000BA60 SubIndex 008 2000FD60 ro o #x1B02 FixedTxPDOx1B02 DT1B02 336 SubIndex 000 0A SubIndex 001 10003F60 SubIndex 002 10004160 SubIndex 003 20006460 SubIndex 004 10007760 SubIndex 005 08006160 SubIndex 006 08000160 SubIndex 007 1000B960 SubIndex 008 2000BA60 SubIndex 009 2000BC60 SubIndex 010 2000FD60 ro o #x1B03 FixedTxPDOx1B03 DT1B03 368 SubIndex 000 0B SubIndex 001 10003F60 SubIndex 002 10004160 SubIndex 003 20006460 SubIndex 004 10007760 SubIndex 005 2000F460 SubIndex 006 08006160 SubIndex 007 08000160 SubIndex 008 1000B960 SubIndex 009 2000BA60 SubIndex 010 2000BC60 SubIndex 011 2000FD60 ro o #x1B04 FixedTxPDOx1B04 DT1B04 368 SubIndex 000 0B SubIndex 001 10003F60 SubIndex 002 10004160 SubIndex 003 20006460 SubIndex 004 10007760 SubIndex 005 08006160 SubIndex 006 08000160 SubIndex 007 2000F460 SubIndex 008 1000B960 SubIndex 009 2000BA60 SubIndex 010 2000BC60 SubIndex 011 20006C60 ro o #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro #x1C12 RxPDO Assign DT1C12 32 SubIndex 000 01 rSM00 0016 rw #x1C13 TxPDO Assign DT1C13 32 SubIndex 000 01 tSM00 001A rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 90D00300 ro #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 90D00300 ro #x2000 Group Po0xx DT2000 384 SubIndex 000 21 Po001 Setting of Control mode and rotary direction 1501 Po003 Numerator of FreDiv number of Encoder pulse 0100 FFFF 0040 Po005 Denominator of FreDiv number of Encoder pulse 01000000 FFFFFF7F 00800000 Po007 Change rate of load inertia 0100 6400 1400 Po008 Rotary inertia mode 0000 0300 0000 Po009 Interval time of offline rotary inertia indentification 0A00 D007 6400 Po010 Rigidity selection 0100 2800 0600 Po013 1st Rotary inertia ratio 0100 3075 C800 Po014 Motion trail AcceDece time C800 8813 E803 Po015 Motion range of offline rotary inertia indentification C8000000 FFFFFF7F C8000000 Po017 Z pulse FreDiv output width 3200 8813 F401 Po018 Pluse output setting 0000 0100 0100 Po019 Virtual Z output period 01000000 FFFFFF7F 10270000 Po021 FreDiv output upper limit 0100 1027 1000 Po022 Friction coefficient 0100 3075 6400 Po023 Velocity display filter frequency 0A00 1027 3200 Po024 Inertia identification acceleration threshold 6400 3075 1027 Po031 2nd Rotation inertia ratio 0100 3075 6400 Po032 Rotation inertia Select 0000 0200 0000 ro o #x2001 Group Po1xx DT2001 624 SubIndex 000 38 Po101 1st speed loop proportional gain 0000 3075 7602 Po102 1st speed loop integral gain 0000 1027 0704 Po103 2nd speed loop proportional gain 0000 3075 EE02 Po104 2nd speed loop integral gain 0000 1027 6203 Po105 1st speed loop filter time constant 0100 204E 0600 Po106 2nd speed loop filter time constant 0100 204E 0600 Po107 Torque feedforward gain 0000 E803 F401 Po108 Torque feedforward gain filter 0000 3075 6400 Po109 Acce time in speed mode 0100 FFFF C800 Po110 Dece time in speed mode 0100 FFFF C800 Po111 S curve AcceDece time 0100 983A 6400 Po112 S curve start 0000 0100 0000 Po118 Rotation detection value 0000 3075 2C01 Po126 Speed value in the zero clamp 0000 3075 3200 Po127 Zero clamp enabled 0000 0100 0000 Po128 Home searching signal duration time 0100 3075 6400 Po129 Home searching timeout 6400 FFFF 1027 Po130 Gain switching setting 0000 0800 0000 Po131 Gain switching speed 0100 007D 6400 Po132 Gain switching pulse 0100 007D 6400 Po133 Positon loop gain switching time 0100 007D 1400 Po134 Speed loop gain switching time 0000 204E 6400 Po135 Gain 2 switch to gain 1 delay time 0000 007D E803 Po136 Mechanical origin singleturn value 00000000 FFFFFF7F 00000000 Po138 Mechanical origin multiturn value 00000000 FFFFFF7F 00000000 Po140 Forward running range pulse when overtravel protection 00000000 FFFFFF7F 00000000 Po142 Forward running range multiturn numbers 0000 007D E803 Po143 Reverse running range pulse when overtravel protection 00000000 FFFFFF7F 00000000 Po145 Reverse running range multiturn numbers 0000 007D E803 Po147 Home searching torque 0000 2C01 0000 Po148 Home position Or Mechanical origin offset 01000080 FFFFFF7F 00000000 Po153 Speed order filter time constant 0100 3075 0100 Po155 Speed loop filter selection 0000 0100 0000 ro o #x2002 Group Po2xx DT2002 736 SubIndex 000 5A Po200 1st Current loop bandwidth 0A00 401F E803 Po201 2nd Current loop bandwidth 0A00 401F E803 Po207 FwdRev run prohibited and emergency stop torque 0100 2C01 6400 Po214 1st Torque filter time constant 0000 3075 6400 Po215 2nd Torque filter time constant 0000 3075 6400 Po216 FwdRev run prohibited torque setting 0000 0100 0100 Po217 1st Notch filter center frequency 3200 3075 D007 Po218 1st Notch filter width 0000 3075 0500 Po219 1st Notch filter depth 0000 6400 0000 Po220 2nd Notch filter center frequency 3200 3075 D007 Po221 2nd Notch filter width 0000 3075 0500 Po222 2nd Notch filter depth 0000 6400 0000 Po223 3rd Notch filter center frequency 3200 3075 D007 Po224 3rd Notch filter width 0000 3075 0500 Po225 3rd Notch filter depth 0000 6400 0000 Po226 4th Notch filter center frequency 3200 3075 D007 Po227 4th Notch filter width 0000 3075 0500 Po228 4th Notch filter depth 0000 6400 0000 Po229 Notch filter start 0000 0300 0000 Po230 Notch filter number 0100 0800 0400 Po234 Gain of load observer 0000 E803 0000 Po235 Filter time of load observer 0000 3075 E803 Po236 Back EMF compensation coefficient 0000 E803 F401 Po237 Target torque range 0100 3200 0200 Po238 Torque filter frequency 0100 E803 0A00 Po239 Gravity compensation 0000 E803 0000 Po240 1st Vibration suppression central frequency 3200 D007 D007 Po241 1st Vibration suppression width 0100 3200 1E00 Po242 1st Vibration suppression intensity 0000 6400 0000 Po244 2nd Vibration suppression central frequency 3200 D007 D007 Po245 2nd Vibration suppression width 0100 3200 1E00 Po246 2nd Vibration suppression intensity 0000 6400 0000 Po247 5th Notch filter center frequency 3200 3075 D007 Po248 5th Notch filter width 0000 3075 0500 Po249 5th Notch filter depth 0000 6400 0000 Po250 6th Notch filter center frequency 3200 3075 D007 Po251 6th Notch filter width 0000 3075 0500 Po252 6th Notch filter depth 0000 6400 0000 Po253 7th Notch filter center frequency 3200 3075 D007 Po254 7th Notch filter width 0000 3075 0500 Po255 7th Notch filter depth 0000 6400 0000 Po256 8th Notch filter center frequency 3200 3075 D007 Po257 8th Notch filter width 0000 3075 0500 Po258 8th Notch filter depth 0000 6400 0000 Po289 Cogging torque compensation switch 0000 0100 0000 ro o #x2003 Group Po3xx DT2003 320 SubIndex 000 5E Po300 Command pulse form 0000 6214 0010 Po301 1st Position loop gain 0100 FFFF A00F Po302 2nd Position loop gain 0100 FFFF D007 Po303 Position loop feedforward gain 0000 E803 0000 Po304 1st Electronic gear numerator 0000 FFFF 0000 Po305 1st Electronic gear denominator 0100 FFFF 1027 Po306 Position loop filter time constant 0100 1027 6400 Po308 Position pulse clear 0000 1111 1111 Po326 Filter time constant of position feedforward 0100 007D 9001 Po327 Position deviation alarm pulse 0100 FFFF E803 Po338 Unit of position given speed 0000 0100 0000 Po339 Electronic gear ratio selection 0000 0200 0100 Po340 Position FIR filter 0000 3075 0000 Po376 Position feedback source 0000 0200 0000 Po377 Position feedback pulse proportion numerator 0100 FFFF 0100 Po378 Position feedback pulse proportion denominator 0100 FFFF 0100 Po379 Mixed error remove turns FFFF 007D 0000 Po380 Mixed error alarm pulses 0100 FFFF E803 Po393 OP abnorml protection time 0000 FA00 0100 ro o #x2004 Group Po4xx DT2004 352 SubIndex 000 2E Po407 DI1 terminal function 0000 2A01 0001 Po408 DI2 terminal function 0000 2A01 0C01 Po409 DI3 terminal function 0000 2A01 0E00 Po410 DI4 terminal function 0000 2A01 0D00 Po411 DI5 terminal function 0000 2A01 0101 Po412 DI6 terminal function 0000 2A01 0601 Po413 DI7 terminal function 0000 2A01 0401 Po414 DI8 terminal function 0000 2A01 0501 Po421 DO1 terminal function 0000 1101 0001 Po422 DO2 terminal function 0000 1101 0201 Po423 DO3 terminal function 0000 1101 0301 Po424 DO4 terminal function 0000 1101 0501 Po425 ALM terminal function 0000 1101 0600 Po438 DI1 filter time 0000 3075 0200 Po439 DI2 filter time 0000 3075 0200 Po440 DI3 filter time 0000 3075 0200 Po441 DI4 filter time 0000 3075 0200 Po442 DI5 filter time 0000 3075 0200 Po443 DI6 filter time 0000 3075 0200 Po444 DI7 filter time 0000 3075 0200 Po445 DI8 filter time 0000 3075 0200 ro o #x2005 Group Po5xx DT2005 112 SubIndex 000 06 Po500 Communication address 0100 FE00 0100 Po501 Communication mode 0000 0100 0000 Po502 Stop bit 0000 0100 0000 Po503 Parity check selection 0000 0200 0000 Po504 Baud rate 0000 0500 0200 Po505 Permission of ReadWrite 0000 0100 0100 ro o #x2006 Group Hoxxx DT2006 288 SubIndex 000 48 Ho000 PM Rated voltage 0100 E001 DC00 Ho001 PM Rated current 0100 3075 4600 Ho002 PM Max speed 0100 007D 9411 Ho003 PM Rated speed 0100 007D B80B Ho004 PM PolePairs 0100 1E00 0400 Ho005 PM Phase resistance 0100 FFFF 8B05 Ho006 PM Daxis inductance 0100 FFFF 6306 Ho007 PM Qaxis inductance 0100 FFFF F106 Ho008 PM Back EMF line voltage effective value 0100 3075 E001 Ho011 PM Rated power 0100 3075 4B00 Ho012 PM Rotary inertia 01000000 FFFFFF7F B6000000 Ho016 PM Encoder resolution 01000000 FFFFFF7F 10270000 Ho018 PM Encoder installation angle 01000080 FFFFFF7F FB050000 Ho121 Overload sensitivity setting 0100 3075 F401 ro o #x2008 Group Soxx DT2008 928 SubIndex 000 43 So00 Software version 6400 So01 Users password 0000 0F27 0000 So02 Delay time for servo OFF 0000 F401 0500 So03 Delay time for electromagnetic braking OFF 0A00 6400 3200 So04 Braking resistor value 0800 E803 3200 So05 Discharge duty ratio 0000 6400 3200 So06 Input power phaseloss protection 0000 0100 0000 So07 Servo OFF stop mode 0000 0500 0000 So08 Delay time of dynamic braking 6400 3075 8813 So09 Servo drive display items 0000 2600 0200 So10 Record of malfunction type for latest 1st 0000 So11 Record of malfunction type for latest 2nd 0000 So12 Record of malfunction type for latest 3rd 0000 So13 Jog speed 0000 3075 E803 So15 Encoder disconnection protection 0000 0100 0100 So16 Speed threshold of electromagnetic brake 0000 3075 E803 So17 Forward run prohibited 0000 0100 0100 So18 Reverse run prohibited 0000 0100 0100 So19 Analog monitor channel 1 0000 0300 0000 So20 Servodrive output current corresponding to 10V 0000 E803 C800 So21 Servodrive max bus line voltage corresponding to 10V 0100 F401 F401 So22 Max rotation speed corresponding to 10V 0000 007D 3075 So23 Motor Parameter storing location 0000 0100 0100 So24 Analog monitor voltage compensation 1 F0D8 1027 0000 So25 Electric angle identification 0000 0400 0000 So26 Control mode of fan 0000 0200 0200 So27 Fan temperature setting 0A00 6400 2D00 So28 Poweroff brake 0000 0100 0100 So29 Poweroff brake time F401 3075 E803 So30 Setting of absolute position and relative position 0000 0100 0100 So31 Communication ralated error 0000 1111 0100 So34 Motor lock rotor protection 0000 0100 0100 So35 Overload PreAlarm current 0000 2003 7800 So36 Overload PreAlarm filter time 0000 E803 0A00 So37 Motor overload coefficient setting 0100 F401 6400 So38 Under voltage protection of LI battery 0000 0100 0100 So39 Over travel limit function 0000 0200 0000 So40 Delay time of lock rotor protection 0A00 E803 6400 So42 Alarm output duty ratio 0100 6400 6400 So43 Encoder reset 0000 0100 0000 So44 Paramter copy 0000 1111 0000 So46 FPGA software version 9001 So48 Password for motor parameter 0000 0F27 0000 So49 Revert to Mfrs value 0000 0100 0000 So50 Motor overheat protection 0000 0100 0000 So51 Motor disconnected protection of temperature detection 0000 0100 0100 So54 Torque unreached protection setting 0000 0100 0100 So55 Torque unreached time 0100 6400 0A00 So56 Air-cooled motor mode 0000 0100 0000 So57 Forced input setting of DI 0000 FFFF 0000 So58 Forced input and output mode of DIDO 0000 0101 0000 So59 Stationalias 0000 FFFF 0000 So61 Analog monitor channel 2 0000 0300 0000 So62 Voltage compensation for Analog monitor channel 2 F0D8 1027 0000 So64 Alarm stop mode 0000 0100 0000 So65 Alarm deceleration stop time 0000 FFFF 0000 So66 Speed torque display unit 0000 1100 0000 ro o #x2009 Group Loxx DT2009 1232 SubIndex 000 26 Lo00 Servodrive output current 00000000 Lo01 Servodrive bus voltage 00000000 Lo02 Servo motor rotation speed 00000000 Lo03 Servo motor feedback pulse displays high 5 digits 00000000 Lo04 Servo motor feedback pulse displays low 5 digits 00000000 Lo05 Servo motor feedback rotation displays high 5 digits 00000000 Lo06 Servo motor feedback rotation displays low 5 digits 00000000 Lo07 Given command pulse numbers display high 5 digits 00000000 Lo08 Given command pulse numbers display low 5 digits 00000000 Lo09 Command pulse error numbers 00000000 Lo10 Given speed 00000000 Lo11 Given torque 00000000 Lo12 Analog speed command display 00000000 Lo13 Analog torque command display 00000000 Lo14 DI8 to DI5 status display 00000000 Lo15 DI4 to DI1 status display 00000000 Lo16 The other output interface status display 00000000 Lo17 DO4 to DO1 status display 00000000 Lo18 Current temperature display of servo drive 00000000 Lo19 Rotation inertia display 00000000 Lo20 Current output torque display 00000000 Lo21 Current gain group display 00000000 Lo22 Braking power display 00000000 Lo23 Singleturn pulse high 5 digits of motor absolute position 00000000 Lo24 Singleturn pulse low 5 digits of motor absolute position 00000000 Lo25 Multiturn pulse high 5 digits of motor absolute position 00000000 Lo26 Multiturn pulse low 5 digits of motor absolute position 00000000 Lo27 AI1 voltage 00000000 Lo28 AI2 voltage 00000000 Lo29 Mix error 00000000 Lo30 Full closed loop feedback pulse numbers 00000000 Lo31 Gantry sync error pulse nmbers 00000000 Lo32 Reserved 00000000 Lo33 Pulse numbers of high speed counter 1 00000000 Lo34 Pulse numbers of high speed counter 2 00000000 Lo35 Reserved 00000000 Lo36 Temperature of motor 00000000 Lo37 Motor shaft position 00000000 ro o #x6000 RxPDO Dummy USINT 8 00 rw r #x6001 TxPDO Dummy USINT 8 00 ro t #x603F Error Code UINT 16 0000 ro t #x6040 Controlword UINT 16 0000 rw r #x6041 Statusword UINT 16 0000 ro t #x605A Quick Stop Option Code INT 16 0200 rw r #x605D Halt Option Code INT 16 0100 rw r #x6060 Mode of Operation SINT 8 00 rw r #x6061 Mode of Operation Display SINT 8 00 ro t #x6062 Position Demand Value DINT 32 00000000 ro t #x6063 Potition Actual Internal Value DINT 32 00000000 ro t #x6064 Position Actual Value DINT 32 00000000 ro t #x6065 Following Error Window UDINT 32 96190000 rw r #x6067 Position Window UDINT 32 E1050000 rw r #x6068 Position Window Time UINT 16 0000 rw r #x606C Velocity Actual Value DINT 32 00000000 ro t #x606D Velocity Window UINT 16 2C01 rw r #x606E Velocity Window Time UINT 16 0000 rw r #x6071 Target Torque INT 16 0000 rw r #x6072 Max Torque UINT 16 C800 rw r #x6074 Torque Demand Value INT 16 0000 ro t #x6077 Torque Actual Value INT 16 0000 ro t #x607A Target Position DINT 32 00000000 rw r #x607C Home Offset DINT 32 00000000 rw r #x607E Polarity USINT 8 00 rw r #x607F Max Profile Velocity UDINT 32 B80B0000 rw r #x6081 Profile Velocity UDINT 32 00000000 rw r #x6083 Profile Acceleration UDINT 32 64000000 rw r #x6084 Profile Deceleration UDINT 32 64000000 rw r #x6085 Quick Stop Deceleration UDINT 32 64000000 rw r #x6087 Torque Slope UDINT 32 00000000 rw r #x6091 Gear Ratio DT6091 80 SubIndex 000 02 Motor Revolutions 00000000 Shaft revolutions 10270000 #x6098 Homing Method SINT 8 01 rw r #x6099 Homing Speed DT6099 80 SubIndex 000 02 Speed During Search for Switch F4010000 Speed During Search for Zero C8000000 #x609A Homng Acceleration UDINT 32 00000000 rw r #x60B0 Position Offset DINT 32 00000000 rw r #x60B1 Velocity Offset DINT 32 00000000 rw r #x60B2 Torque Offset INT 16 0000 rw r #x60B8 Touch Probe Function UINT 16 0000 rw r #x60B9 Touch Probe Status UINT 16 0000 ro t #x60BA Touch Probe Pos1 Position Value DINT 32 00000000 ro t #x60BB Touch Probe Neg1 Position Value DINT 32 00000000 ro t #x60BC Touch Probe Pos2 Position Value DINT 32 00000000 ro t #x60BD Touch Probe Neg2 Position Value DINT 32 00000000 ro t #x60C2 Interpolation Time Period DT60C2 32 SubIndex 000 02 Interpolation Time Unit 01 Interpolation Time 00 #x60E0 Positive Torque Limit Value UINT 16 C800 rw r #x60E1 Negative Torque Limit Value UINT 16 C800 rw r #x60F4 Following Error Actual Value DINT 32 00000000 ro t #x60FD Digital Inputs UDINT 32 00000000 ro t #x60FE Digital Outputs UDINT 32 00000000 rw r #x60FF Target Velocity DINT 32 00000000 rw r #x6502 Support Drive Modes UDINT 32 ro t #xF000 Modular Device Profile DTF000 48 SubIndex 000 02 Index distance 1000 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 FlexRxPDOx1600 #x1701 #x1702 #x1703 #x1704 #x1705 #x6040 0 16 Controlword UINT #x6060 0 8 Mode of Operation SINT #x6000 0 8 RxPDO Dummy USINT #x607A 0 32 Target Position DINT #x60B8 0 16 Touch Probe Function UINT #x60FF 0 32 Target Velocity DINT #x0 0 0 #x0 0 0 #x0 0 0 #x0 0 0 #x0 0 0 #x0 0 0 #x1701 FixedRxPDOx1701 #x1600 #x1702 #x1703 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Target Position DINT #x60B8 0 16 Touch Probe Function UINT #x60FE 0 32 Digital Outputs UDINT #x1702 FixedRxPDOx1702 #x1701 #x1600 #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 Mode of Operation SINT #x607E 0 8 Polarity USINT #x60B8 0 16 Touch Probe Function UINT #x607F 0 32 Max Profile Velocity UDINT #x1703 FixedRxPDOx1703 #x1701 #x1702 #x1600 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x6060 0 8 Mode of Operation SINT #x6098 0 8 Homing Method 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 FixedRxPDOx1704 #x1701 #x1702 #x1703 #x1600 #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 Mode of Operation SINT #x607E 0 8 Polarity USINT #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 FixedRxPDOx1705 #x1701 #x1702 #x1703 #x1704 #x1600 #x6040 0 16 Controlword UINT #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x6060 0 8 Mode of Operation SINT #x6098 0 8 Homing Method 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 FlexTxPDOx1A00 #x1B01 #x1B02 #x1B03 #x1B04 #x603F 0 16 Error Code UINT #x6041 0 16 Statusword UINT #x6061 0 8 Mode of Operation Display SINT #x6001 0 8 TxPDO Dummy USINT #x6064 0 32 Position Actual Value DINT #x606C 0 32 Velocity Actual Value DINT #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe Pos1 Position Value DINT #x60BC 0 32 Touch Probe Pos2 Position Value DINT #x60F4 0 32 Following Error Actual Value DINT #x60FD 0 32 Digital Inputs UDINT #x0 0 0 #x1B01 FixedTxPDOx1B01 #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 Position Value DINT #x60FD 0 32 Digital Inputs UDINT #x1B02 FixedTxPDOx1B02 #x1B01 #x1A00 #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 Mode of Operation Display SINT #x6001 0 8 TxPDO Dummy USINT #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe Pos1 Position Value DINT #x60BC 0 32 Touch Probe Pos2 Position Value DINT #x60FD 0 32 Digital Inputs UDINT #x1B03 FixedTxPDOx1B03 #x1B01 #x1B02 #x1A00 #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 Mode of Operation Display SINT #x6001 0 8 TxPDO Dummy USINT #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe Pos1 Position Value DINT #x60BC 0 32 Touch Probe Pos2 Position Value DINT #x60FD 0 32 Digital Inputs UDINT #x1B04 FixedTxPDOx1B04 #x1B01 #x1B02 #x1B03 #x1A00 #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 Mode of Operation Display SINT #x6001 0 8 TxPDO Dummy USINT #x60F4 0 32 Following Error Actual Value DINT #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe Pos1 Position Value DINT #x60BC 0 32 Touch Probe Pos2 Position Value DINT #x606C 0 32 Velocity Actual Value DINT Synchron SM-Synchron #x0 DC DC-Synchron #x300 0 0 2048 08040066D007