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Elements DT2056ARR 24 16 DT2057ARR USINT 24 1 3 DT2057 40 0 Number of Entries USINT 8 0 ro Elements DT2057ARR 24 16 rw DT205AARR UDINT 128 1 4 DT205A 144 0 Number of Entries USINT 8 0 ro Elements DT205AARR 128 16 DT205BARR UDINT 128 1 4 DT205B 144 0 Number of Entries USINT 8 0 ro Elements DT205BARR 128 16 DT205D 88 0 Number of Entries 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 Number of Entries 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 DT2070 48 0 Number of Entries USINT 8 0 ro 1 Index UINT 16 16 rw 2 Value UINT 16 32 rw DT209BARR UINT 32 1 2 DT209B 48 0 Number of Entries USINT 8 0 ro Elements DT209BARR 32 16 rw DT209C 48 0 Number of Entries USINT 8 0 ro 1 Output Index UINT 16 16 rw 2 Function Code UINT 16 32 rw DT20AF 128 0 Number of Entries USINT 8 0 ro 1 Signal Type UINT 16 16 rw 2 Current Amplitude DINT 32 32 rw 3 Velocity 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manu_spec_Vh_Polynom_Term_7 DINT 32 208 rw 8 manu_spec_Vh_Polynom_Term_8 DINT 32 240 rw 9 manu_spec_Vh_Polynom_Term_9 DINT 32 272 rw 10 manu_spec_Vh_Polynom_Term_10 DINT 32 304 rw 11 manu_spec_Vh_Polynom_Term_11 DINT 32 336 rw 12 manu_spec_Vh_Polynom_Term_12 DINT 32 368 rw 13 manu_spec_Vh_Polynom_Term_Execute USINT 8 400 rw DT20DB 344 0 Number of Entries USINT 8 0 ro 1 Polynom_Term_1 DINT 32 16 rw 2 Polynom_Term_2 DINT 32 48 rw 3 Polynom_Term_3 DINT 32 80 rw 4 Polynom_Term_4 DINT 32 112 rw 5 Polynom_Term_5 DINT 32 144 rw 6 Polynom_Term_6 DINT 32 176 rw 7 Polynom_Term_7 DINT 32 208 rw 8 Polynom_Term_8 DINT 32 240 rw 9 Polynom_Term_9 DINT 32 272 rw 10 Polynom_Term_10 DINT 32 304 rw 11 Term_Execute USINT 8 336 rw DT20E0 48 0 Number of Entries USINT 8 0 ro 1 Input Index UINT 16 16 rw 2 Function Code UINT 16 32 rw DT2115 128 0 Number of Entries USINT 8 0 ro 1 Duration1 UINT 16 16 rw 2 Velocity1 DINT 32 32 ro 3 Duration2 INT 16 64 ro 4 Velocity2 DINT 32 80 ro 5 Activate USINT 8 112 rw 6 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Voltage_Correct_Array_2_C DINT 32 80 ro 4 Voltage_Correct_Array_2_D DINT 32 112 ro 5 Voltage_Correct_Array_2_E DINT 32 144 ro 6 Voltage_Correct_Array_2_F DINT 32 176 ro 7 Voltage_Correct_Array_2_G DINT 32 208 ro 8 Voltage_Correct_Array_2_H DINT 32 240 ro 9 Voltage_Correct_Array_2_I DINT 32 272 ro 10 Voltage_Correct_Array_2_J DINT 32 304 ro 11 Voltage_Correct_Array_2_K DINT 32 336 ro DT216D 80 0 Number of Entries USINT 8 0 ro 1 Analog Input 2 User Command - high bits UDINT 32 16 ro 2 Analog Input 2 User Command - low bits UDINT 32 48 ro DT2171 144 0 Number of Entries USINT 8 0 ro 1 Sanity Check DINT 32 16 ro 2 Feature DINT 32 48 ro 3 PFB Negative DINT 32 80 ro 4 PFB Positive DINT 32 112 ro DT2172 112 0 Number of Entries USINT 8 0 ro 1 Sanity Check DINT 32 16 ro 2 Feature DINT 32 48 ro 3 NV Save DINT 32 80 ro DT2174ARR UDINT 64 1 2 DT2174 80 0 Number of Entries USINT 8 0 ro Elements DT2174ARR 64 16 rw DT2175ARR UDINT 64 1 2 DT2175 80 0 Number of Entries USINT 8 0 ro Elements DT2175ARR 64 16 rw DT2176 80 0 Number of Entries USINT 8 0 ro 1 Field1 UINT 16 16 rw 2 Field2 UINT 16 32 rw 3 Field3 UINT 16 48 rw 4 Field4 UINT 16 64 rw DT2177 48 0 Number of Entries USINT 8 0 ro 1 Address UINT 16 16 rw 2 Value UINT 16 32 ro DT2178 48 0 Number of Entries USINT 8 0 ro 1 Address UINT 16 16 rw 2 value UINT 16 32 rw DT217DARR UINT 32 1 2 DT217D 48 0 Number of Entries USINT 8 0 ro Elements DT217DARR 32 16 DT217FARR DINT 64 1 2 DT217F 80 0 Number of Entries USINT 8 0 ro Elements DT217FARR 64 16 rw 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 DT2188 280 0 Number of Entries USINT 8 0 ro 1 Polynom_Term_1 DINT 32 16 rw 2 Polynom_Term_2 DINT 32 48 rw 3 Polynom_Term_3 DINT 32 80 rw 4 Polynom_Term_4 DINT 32 112 rw 5 Polynom_Term_5 DINT 32 144 rw 6 Polynom_Term_6 DINT 32 176 rw 7 Polynom_Term_7 DINT 32 208 rw 8 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Elements DT2208ARR 32 16 DT2214 248 0 NumOfEntries USINT 8 0 ro 1 Polynom_Term_1 DINT 32 16 rw 2 Polynom_Term_2 DINT 32 48 rw 3 Polynom_Term_3 DINT 32 80 rw 4 Polynom_Term_4 DINT 32 112 rw 5 Polynom_Term_5 DINT 32 144 rw 6 Polynom_Term_6 DINT 32 176 rw 7 Polynom_Term_7 DINT 32 208 rw 8 Term_Execute USINT 8 240 rw DT221A 80 0 numOfElements USINT 8 0 rw 1 Low UDINT 32 16 rw 2 High DINT 32 48 rw DT221D 64 0 NumOfEntries USINT 8 0 ro 1 Index UINT 16 16 rw 2 Value REAL 32 32 rw DT2224 80 0 NumOfEntries USINT 8 0 ro 1 Vlim_T UDINT 32 16 rw 2 DiPeak_T UDINT 32 48 rw DT607DARR DINT 64 1 2 DT607D 80 0 Number of Entries USINT 8 0 ro Elements DT607DARR 64 16 rw DT608F 80 0 Highest sub-index supported USINT 8 0 ro 1 Encoder Increments UDINT 32 16 rw 2 Motor Revolutions UDINT 32 48 ro DT6091ARR UDINT 64 1 2 DT6091 80 0 Number of Entries USINT 8 0 ro Elements DT6091ARR 64 16 rw DT6092ARR UDINT 64 1 2 DT6092 80 0 Number of Entries USINT 8 0 ro Elements DT6092ARR 64 16 rw DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of Entries USINT 8 0 ro Elements DT6099ARR 64 16 rw DT60C1 144 0 Number of Entries USINT 8 0 ro 1 Data Record 1 DINT 32 16 rw r 2 Data Record 2 DINT 32 48 rw r 3 Data Record 3 DINT 32 80 rw r 4 Data Record 4 DINT 32 112 rw r DT60C2 32 0 Number of Entries USINT 8 0 ro 1 Interpolation Time USINT 8 16 rw 2 Interpolation Time Index SINT 8 24 rw DT60C4 120 0 Number of Entries 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 wo 6 Buffer clear USINT 8 112 wo DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Digital Outputs UDINT 32 16 rw r 2 Digital Outputs Mask UDINT 32 48 rw DT1C32 328 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization Type UINT 16 16 ro 2 Cycle Time UDINT 32 32 ro 3 Shift Time UDINT 32 64 ro 4 Synchronization Type Supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 7 Minimum Delay Time UDINT 32 176 ro 8 Get Cycle Time UINT 16 208 ro 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 ro 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time To Small UINT 16 304 ro DT1C33 328 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization Type UINT 16 16 ro 2 Cycle Time UDINT 32 32 ro 3 Shift Time UDINT 32 64 ro 4 Synchronization Type Supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 7 Minimum Delay Time UDINT 32 176 ro 8 Get Cycle Time UINT 16 208 ro 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 ro 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time To Small UINT 16 304 ro #x1000 Device Type UDINT 32 #x420192 ro #x1001 Error Register USINT 8 #x0 ro #x1010 Store Parameter Field DT1010 48 Number of Entries #x1 Save all Parameters #x0 #x1018 Identity Object DT1018 144 Number of Entries #x4 Vendor ID #x2e1 Product Code #x12EC Revision Number #x0 Serial Number #x0 #x1600 Receive PDO Mapping Parameter 1 DT1600 208 Number of Entries #x1 Mapping Entry 1 #x607a0020 Mapping Entry 2 #x0 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 #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 #x1602 Receive PDO Mapping Parameter 3 DT1602 208 Number of Entries #x3 Mapping Entry 1 #x60fe0120 Mapping Entry 2 #x60710010 Mapping Entry 3 #x60810020 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 #x60400010 Mapping Entry 2 #x60b20010 Mapping Entry 3 #x60600008 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 #x60fd0020 Mapping Entry 2 #x20b60020 Mapping Entry 3 #x60f40020 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 #x3 Mapping Entry 1 #x60740010 Mapping Entry 2 #x20f20010 Mapping Entry 3 #x60610008 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1a03 Transmit PDO Mapping Parameter 4 DT1A03 208 Number of Entries #x2 Mapping Entry 1 #x60410010 Mapping Entry 2 #x60770010 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 #x1c00 Sync Manager Communication Type DT1C00 48 Number of Entries #x4 Sub-Index 1 #x1 Sub-Index 2 #x2 Sub-Index 3 #x3 Sub-Index 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 Sub-Index 1 #x1600 Sub-Index 2 #x1601 Sub-Index 3 #x1602 Sub-Index 4 #x1603 #x1c13 Sync Manager 3 PDO Assignment DT1C13 80 Number of Assigned TxPDOs #x4 Sub-Index 1 #x1a00 Sub-Index 2 #x1a01 Sub-Index 3 #x1a02 Sub-Index 4 #x1a03 #x1c32 Sync Manager 2 Synchronization DT1C32 328 Number of Synchronization Parameters #xC Synchronization Type #x2 Cycle Time #x0 Shift Time #x0 Synchronization Type Supported #x5 Minimum Cycle Time #x3D090 Calc and Copy Time #x9c40 Minimum Delay Time #x0 Get Cycle Time #x0 Delay Time #x13880 Sync0 Cycle Time #x0 SM-Event Missed #x0 Cycle Time To Small #x0 #x1c33 Sync Manager 3 Synchronization DT1C33 328 Number of Synchronization Parameters #xC Synchronization Type #x2 Cycle Time #x0 Shift Time #x0 Synchronization Type Supported #x5 Minimum Cycle Time #x3D090 Calc and Copy Time #x09c40 Minimum Delay Time #x0 Get Cycle Time #x0 Delay Time #x013880 Sync0 Cycle Time #x0 SM-Event Missed #x0 Cycle Time To Small #x0 #x2001 Go to Resident UINT 16 #x0 rw #x2002 Configuration Command USINT 8 #x0 rw #x2003 Current BEMF Compensation Gain REAL 32 0000803f ro #x2004 Current DQ Axis Compensation REAL 32 0000803f rw #x2006 Current KI Gain REAL 32 0000803f ro #x2007 Current KP Gain REAL 32 0000803f rw #x200a HD Anti-Vibration 2 Filter - Gain REAL 32 00000000 rw #x200b HD Anti-Vibration 1 Filter - Sharpness REAL 32 0000803f rw #x200c HD Anti-Vibration 1 Filter - Gain REAL 32 00000000 rw #x200d Absolute Feedback Offset DINT 32 #x0 rw #x200e Automatic Homing Mode INT 16 #x0 rw #x200f Fieldbus Unit Scaling UINT 16 #xc rw #x2010 Velocity Loop Bandwidth for Pole Placement UINT 16 #x1e rw #x2011 Warning Bits DT2011 144 Number of Entries #x4 Low Bits #x0 High Bits #x0 Low Bits 2 #x0 High Bits 2 #x0 #x2013 Voltage Command D Component INT 16 #x0 ro #x2014 Voltage Command Q Component INT 16 #x0 ro #x2016 Electrical Position UINT 16 #x0 ro #x2017 HD Derivative Gain REAL 32 00000000 rw #x2018 HD Integral Gain REAL 32 00000000 rw #x2019 HD Derivative-Integral Gain REAL 32 00000000 rw #x201a HD Proportional Gain REAL 32 00000000 rw #x201b HD Global Gain UDINT 32 #x1f4 rw r #x201c Position Acceleration Feedforward to Current REAL 32 00000000 rw #x201d Position Acceleration Feedforward REAL 32 00000000 rw #x201e Position Derivative Gain REAL 32 00000000 rw #x201f Position Proportional Adaptive Gain REAL 32 00000000 rw #x2020 Position Integral Gain REAL 32 00000000 rw #x2021 Position Integral Saturation Output UDINT 32 #x0 rw #x2022 Position Proportional Gain REAL 32 0000803f rw #x2023 Position Velocity Feedforward REAL 32 00000000 rw #x2024 Motor Type USINT 8 #x0 rw #x2025 Velocity Feedforward Ratio REAL 32 00000000 rw #x2026 Velocity Integral Gain REAL 32 00000000 rw #x2027 Velocity Proportional Gain REAL 32 0ad7233c rw #x2028 Mechanical Angle UINT 16 #x0 ro #x2029 Motor Encoder Type UINT 16 #xb rw #x202b Motor and Feedback Direction UINT 16 #x0 rw #x202c Position Command Move Low Pass Filter 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 00008040 rw #x2030 Motor Foldback Disable UINT 16 #x0 rw #x2031 Motor Foldback Recovery Time REAL 32 00008c42 ro #x2032 Motor Foldback Time Constant REAL 32 0000a040 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 0ad7a33c rw #x2038 Force Constant for Linear Motor REAL 32 6f12833a rw #x2039 Torque Constant REAL 32 6f12833a rw #x203a Motor Inductance REAL 32 6f12833a rw #x203b Adaptive Gain at Continuous Motor Current REAL 32 0000803f rw #x203c Adaptive Gain at Peak Motor Current REAL 32 0000803f rw #x203d Mass of Linear Motor Without Load REAL 32 00000000 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 Mode 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 Number of Entries #x3 Hall U #x0 Hall V #x0 Hall W #x0 #x2057 Invert Hall Signals DT2057 40 Number of Entries #x3 Hall U #x0 Hall V #x0 Hall W #x0 #x2058 Hall Signals Type UINT 16 #x0 rw #x205a Harmonic Correction Feedback Parameter 1 DT205A 144 Number of Entries #x4 Config #x0 Argument_1 #x0 Argument_2 #x0 Argument_3 #x0 #x205b Harmonic Correction Feedback Parameter 2 DT205B 144 Number of Entries #x4 Config #x0 Argument_1 #x0 Argument_2 #x0 Argument_3 #x0 #x205d Harmonic Current ICMD Parameter 1 DT205D 88 Number of Entries #x4 Config #x0 Argument_1 #x0 Argument_2 #x0 Argument_3 #x0 #x205e Harmonic Current ICMD Parameter 2 DT205E 88 Number of Entries #x4 Config #x0 Argument_1 #x0 Argument_2 #x0 Argument_3 #x0 #x2060 HD Current Filter - Damping INT 16 #x0 rw #x2061 HD Current Filter - Notch Filter Center INT 16 #x64 rw #x2062 HD Current Filter - Notch Filter Bandwidth INT 16 #x0 rw #x2063 Hold Position Command UINT 16 #x0 rw #x2064 Hardware Position External UINT 16 #x0 ro #x2066 Current D Axis DINT 32 #x0 ro t #x2067 Current Q Axis DINT 32 #x0 ro #x2068 Current Feedforward Low Pass Filter 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 Number of Entries #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 64000000 rw #x2077 Position Integral Saturation Input REAL 32 00000000 rw #x2078 Limit Switch Negative Status UINT 16 #x0 ro #x2079 Limit Switch Positive Status UINT 16 #x0 ro #x207a Load to Motor Inertia Ratio REAL 32 00000000 rw #x207b Drive Peak Current REAL 32 6f630000 ro #x207c Drive Continuous Current UDINT 32 #x2125 ro #x207d Motor Pitch UDINT 32 #x20 rw #x207e Motor Poles INT 16 #x2 rw #x207f Motor Resistance REAL 32 00000000 rw #x2080 Motor Resolver Poles INT 16 #x2 rw #x2082 Current KFF Gain REAL 32 0000803f 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 Position Backup DINT 32 #x0 ro #x2089 Position Backup Mode UINT 16 #x0 rw #x208a HD Maximum Adaptive Gain REAL 32 cdcccc3f rw #x208b HD Current Filter - Second Notch Filter Bandwidth UINT 16 #x0 rw #x208c HD Current Filter - Second Notch Filter Center UINT 16 #x64 rw #x208d Emergency or Controlled Stop Current Limit REAL 32 0000803f rw #x208e Position Command DINT 32 #x0 ro #x208f HD Flexibility Compensation REAL 32 00000000 rw #x2090 Homing Status USINT 8 #x0 ro #x2091 HD Acceleration/Deceleration Spring Filter Gain REAL 32 0000803f rw #x2093 HD Autotune Command UINT 16 #x0 rw #x2094 HD Autotune Procedure Parameter DINT 32 #x0 ro #x2095 Position Offset DINT 32 #x0 rw #x2096 HD Anti-Vibration 1 Filter - Center Frequency REAL 32 0100c843 rw #x2097 HD Anti-Vibration 2 Filter - Center Frequency REAL 32 0100c843 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 ro #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 0000803f rw #x20a7 Phase Find Current REAL 32 00000000 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 0000c842 rw #x20ae PRB Generator Mode UINT 16 #x0 rw #x20af PRB Generator Configuration DT20AF 128 Number of Entries #x5 Signal Type #x0 Current Amplitude #x0 Velocity Amplitude #x0 Counter Period #x0 Config #x0 #x20b0 Position Command Generator Target Error DINT 32 #x0 ro #x20b1 Position Command Generator Velocity DINT 32 #x0 ro #x20b2 PWM Frequency REAL 32 00008041 rw #x20b3 Gearing Mode USINT 8 #x0 rw #x20b5 In Position Indication UINT 16 #x0 ro #x20b6 Hardware Position External (DSP) 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/Load Status 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 #x64 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 248 Number of Entries #x8 Polynom_Term_1 #x0 Polynom_Term_2 #x0 Polynom_Term_3 #x0 Polynom_Term_4 #x0 Polynom_Term_5 #x0 Polynom_Term_6 #x0 Polynom_Term_7 #x0 Term_Execute #x0 #x20d9 Velocity Loop Input Filter DT20D9 248 Number of Entries #x8 Polynom_Term_1 #x0 Polynom_Term_2 #x0 Polynom_Term_3 #x0 Polynom_Term_4 #x0 Polynom_Term_5 #x0 Polynom_Term_6 #x0 Polynom_Term_7 #x0 Term_Execute #x0 #x20da Advanced Pole Placement H Polynomial DT20DA 408 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 344 Number of Entries #xb Polynom_Term_1 #x0 Polynom_Term_2 #x0 Polynom_Term_3 #x0 Polynom_Term_4 #x0 Polynom_Term_5 #x0 Polynom_Term_6 #x0 Polynom_Term_7 #x0 Polynom_Term_8 #x0 Polynom_Term_9 #x0 Polynom_Term_10 #x0 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 Line Resolution DINT 32 #x800 rw #x20e5 Encoder Simulation Index Position UDINT 32 #x0 rw #x20e6 Recording Done USINT 8 #x0 ro #x20e9 Stop Recording USINT 8 #x0 rw #x20eb Recording Status USINT 8 #x0 ro #x20ec Ready to Record INT 16 #x0 ro #x20ee Maximum Velocity for Drive and Motor DINT 32 #x0 ro #x20ef Dead Time Compensation Minimal Level REAL 32 0000803f rw #x20f0 Maximum Current for Drive and Motor 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 Scaling DINT 32 #x0 rw #x20f5 Analog Input 1 Low Pass Filter INT 16 #x3e8 rw #x20f6 Analog Input 1 Offset INT 16 #x0 rw #x20f7 Analog Input 1 Velocity Scaling DINT 32 #x0 rw #x20f8 Analog Input 1 Zeroing UINT 16 #x0 rw #x20f9 Analog Input 2 INT 16 #x0 ro t #x20fa Analog Input 2 Deadband UINT 16 #x0 rw #x20fb Analog Input 2 Current Scaling DINT 32 #x0 rw #x20fc Analog Input 2 Low Pass Filter INT 16 #x3e8 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 Hard Stop DINT 32 #x0 rw #x2106 Current Loop Compatibility Mode INT 16 #x0 rw #x2108 Position Command Moving Average Filter REAL 32 0000803e rw #x2109 Position Command Smoothing Mode UINT 16 #x0 rw #x210b HD Anti-Vibration - Load to Motor Inertia Ratio REAL 32 00000000 rw #x210c HD Anti-Vibration Filter - Divider REAL 32 0ad7233c rw #x210d HD Current Filter Low Pass Filter Rise Time REAL 32 00000000 rw #x2113 Drive Ready USINT 8 #x0 rw #x2115 Step Command DT2115 128 Number of Entries #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 #x1 rw #x211a Units Rotary Acc/Dec UINT 16 #x0 rw #x211b Units Rotary Position UINT 16 #x0 rw #x211c Units Rotary Velocity UINT 16 #x0 rw #x211d Velocity Filter Pole Frequency UINT 16 #x14 rw #x211e Gearing USINT 8 #x1 rw #x2120 Gearing Acceleration Threshold UDINT 32 #x1770 rw #x2121 Gearing Filter Acceleration Feedforward REAL 32 00000000 rw #x2122 Gearing Filter Mode USINT 8 #x0 rw #x2123 Gearing Filter Depth REAL 32 00000040 rw #x2124 Gearing Filter Velocity and Acceleration Depth REAL 32 00008040 rw #x2125 Gearing Filter Velocity Feedforward REAL 32 00000000 rw #x2126 Gearing Ratio Numerator DINT 32 #x1 rw #x2127 Gearing Input Interpolation Mode USINT 8 #x1 rw #x2128 Gearing Following Limits Mode USINT 8 #x0 rw #x2129 Gearing Ratio Denominator INT 16 #x1 rw #x212b Torque Window UDINT 32 #xfe rw #x212c Block Controlword UINT 16 #x0 rw #x212d HD Anti-Vibration 2 Filter - Sharpness REAL 32 0000003f rw #x2131 Touch Probe Event Counter UINT 16 #x0 ro #x2133 Analog Output Value REAL 32 00000000 ro #x2134 Analog Output Command DINT 32 #x0 rw r #x2135 Analog Output Current Scaling REAL 32 6f12833a rw #x2136 Analog Output Voltage Limit REAL 32 00002041 rw #x2137 Analog Output Mode USINT 8 #x0 rw #x2138 Analog Output Velocity Scaling REAL 32 00000000 rw #x2139 Secondary Feedback Mode UINT 16 #x0 rw #x213a Secondary Feedback Type UINT 16 #x0 rw #x213d Motor to Load Scaling Numerator DINT 32 #x1 rw #x213e Motor to Load Scaling 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 Motor Velocity DINT 32 #x0 ro t #x2144 Secondary Feedback Position Error Max DINT 32 #x0 rw #x2145 Secondary Feedback Position Error Threshold DINT 32 #x0 rw #x2147 Touch Probe Sampled Data Rising DT2147 96 Number of Entries #x3 PE_INTRP #x0 V_INTRP #x0 I_INTRP #x0 #x2148 Touch Probe Sampled Data Falling DT2148 96 Number of Entries #x3 PE_INTRP #x0 V_INTRP #x0 I_INTRP #x0 #x2149 Touch Probe Variables INT 16 #x0 rw #x214a Software Position Limit Hysteresis Value UDINT 32 #x0 rw #x214b Touch Probe 1 Stable Input Level Duration UINT 16 #x5 rw #x214e Position Modulo Mode UINT 16 #x0 rw #x214f Position Modulo Range DT214F 80 Number of Entries #x2 Lower Limit #x0 Upper Limit #x0 #x2150 Counts Per Revolution UDINT 32 #x800 ro #x2151 Start Calibration of SFB Voltage Correction UINT 16 #x0 rw #x2152 Sectors for Calibration of SFB Voltage Correction UINT 16 #x0 rw #x2153 Lower Voltage for Speed During Calibration of SFB Voltage Correction INT 16 #x0 rw #x2154 Upper Voltage for Speed During Calibration of SFB Voltage Correction INT 16 #x0 rw #x2155 Sectors for Calibration of Manual SFB Voltage Correction UINT 16 #x0 rw #x2156 Voltage Correction Result for Analog Input 2 INT 16 #x0 ro #x2157 Manual Calibration of SFB Voltage Correction UINT 16 #x0 rw #x2158 Force Digital Output State on 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 Non-Volatile State UINT 16 #x0 ro #x215d Backlash Distance During Calibration of SFB Voltage Correction DINT 32 #x0 rw #x215e Current Limit During Calibration of SFB Voltage Correction DINT 32 #x0 rw #x215f Fast Speed During Calibration of SFB Voltage Correction DINT 32 #x0 rw #x2160 Slow Speed During Calibration of SFB Voltage Correction DINT 32 #x0 rw #x2161 Secondary Feedback Position DINT 32 #x3f800000 ro t #x2162 Secondary Feedback Offset - User Units REAL 32 01000000 rw #x2166 Secondary Feedback Position Error - User Units REAL 32 00000000 ro #x2167 Secondary Feedback Voltage Dwell Time INT 16 #x64 rw #x2168 Secondary Feedback Position Error DINT 32 #x0 ro t #x2169 Voltage Correction Array DT2169 368 Number of Entries #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 Correction Array 2 DT216A 368 Number of Entries #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 Touch Probe 2 Stable Input Level Duration UINT 16 #x5 rw #x216d Analog Input 2 Voltage in User Units DT216D 80 Number of Entries #x2 Analog Input 2 User Command - high bits #x0 Analog Input 2 User Command - low bits #x0 #x216e Analog Input 2 Value Conversion - Denominator UDINT 32 #x1 rw #x216f Analog Input 2 Value Conversion - Numerator DINT 32 #x64 rw #x2170 Analog Input 2 Value Conversion - Offset DINT 32 #x0 rw #x2171 Secondary Feedback Voltage Correction - 1 DT2171 144 Number of Entries #x4 Sanity Check #x0 Feature #x0 PFB Negative #x0 PFB Positive #x0 #x2172 Secondary Feedback Voltage Correction - 2 DT2172 112 Number of Entries #x3 Sanity Check #x0 Feature #x0 NV Save #x0 #x2173 Motor Pitch High Resolution UDINT 32 #x2710 rw #x2174 Hardware Features of Control Board DT2174 80 Number of Entries #x2 Address #x56 Value #x0 #x2175 Hardware Features of Power Board DT2175 80 Number of Entries #x2 Address #x56 Value #x0 #x2176 BiSS-C Protocol Properties DT2176 80 Number of Entries #x4 Field1 #x0 Field2 #x0 Field3 #x0 Field4 #x0 #x2177 BiSS-C Read Address DT2177 48 Number of Entries #x2 Address #x0 Value #x0 #x2178 BiSS-C Write Address DT2178 48 Number of Entries #x2 Address #x0 value #x0 #x2179 Halls-Only Commutation Mode UINT 16 #x0 rw #x217a Debug Position Command DINT 32 #x0 ro t #x217b Zeroing MPHASE Value INT 16 #x0 ro #x217c Reference Offset Value DINT 32 #x0 rw #x217d Hardware Version DT217D 48 Number of Entries #x2 Control board version #x0 Power board version #x0 #x217e sensAR Read Address DINT 32 #x0 rw #x217f sensAR Write Address DT217F 80 Number of Entries #x2 sensAR Write Address #x0 sensAR Write Value #x0 #x2180 sensAR Send Command UINT 16 #x0 rw #x2181 sensAR Read Submode Data UDINT 32 #x0 ro #x2182 Hardware Position External (FPGA) DINT 32 #x0 ro #x2183 Touch Probe 2 Event Counter UINT 16 #x0 ro t #x2184 Touch Probe 2 Sampled Data Rising DT2184 96 numOfEntries #x3 PE_INTRP #x0 V_INTRP #x0 I_INTRP #x0 #x2185 Touch Probe 2 Sampled Data Falling DT2185 96 numOfEntries #x3 PE_INTRP #x0 V_INTRP #x0 I_INTRP #x0 #x2186 Multi-turn Encoder Reset UINT 16 #x1 rw #x2187 Ignore Absolute Encoder Battery Fault UINT 16 #x0 rw #x2188 Advanced Pole Placement D Polynomial DT2188 280 Number of Entries #x9 Polynom_Term_1 #x0 Polynom_Term_2 #x0 Polynom_Term_3 #x0 Polynom_Term_4 #x0 Polynom_Term_5 #x0 Polynom_Term_6 #x0 Polynom_Term_7 #x0 Polynom_Term_8 #x0 Term_Execute #x0 #x2189 Advanced Pole Placement Global Gain REAL 32 0000803f rw #x218a PRB Current Command INT 16 #x0 ro #x218b PRB Hold Mode UINT 16 #x0 rw #x218c KPP Mode INT 16 #x0 rw #x218d Delayed Position Error DINT 32 #x0 ro #x218e Delay for Delayed Position Error INT 16 #x0 rw #x218f KPP Change Mode UINT 16 #x0 rw #x2191 PCOM 1 Controlword UINT 16 #x0 rw r #x2192 PCOM 2 Controlword UINT 16 #x0 rw r #x2193 PCOM 1 Statusword UINT 16 #x0 ro t #x2194 PCOM 2 Statusword UINT 16 #x0 ro t #x2195 PCOM 1 Direction UINT 16 #x0 rw #x2196 PCOM 2 Direction UINT 16 #x0 rw #x2197 PCOM 1 Table Length UINT 16 #x1 rw #x2198 PCOM 2 Table Length UINT 16 #x1 rw #x2199 PCOM 1 Output Pulse Width UDINT 32 #x0 rw #x219a PCOM 2 Output Pulse Width UDINT 32 #x0 rw #x219b PCOM 1 Periodic Start DINT 32 #x0 rw #x219c PCOM 2 Periodic Start DINT 32 #x0 rw #x219d PCOM 1 Periodic End DINT 32 #x0 rw #x219e PCOM 2 Periodic End DINT 32 #x0 rw #x219f PCOM 1 Periodic Interval DINT 32 #x0 rw #x21a0 PCOM 2 Periodic Interval DINT 32 #x0 rw #x21a1 PCOM 1 Table Entry DT21A1 144 Number of Entries #x4 Address #x0 Value #x0 Execute #x0 READ #x0 #x21a2 PCOM 2 Table Entry DT21A2 144 Number of Entries #x4 Address #x0 Value #x0 Execute #x0 READ #x0 #x21a3 Differential Port Mode DT21A3 48 Number of Entries #x2 Address #x0 Value #x0 #x21a4 Seconday Feedback Direction INT 16 #x0 rw #x21a5 Secondary Feedback Type AqB Encoder UINT 16 #x1 rw #x21a6 Secondary Feedback Resolution UDINT 32 #x800 rw #x21a7 Motor Feedback Position DINT 32 #x800 ro t #x21a8 Motor Acceleration UDINT 32 #x564 rw #x21a9 Secondary Feedback Acceleration UDINT 32 #x564 rw #x21aa Motor Deceleration UDINT 32 #x564 rw #x21ab Seconday Feedback Deceleration UDINT 32 #x564 rw #x21ac User Parameter UDINT 32 #x1 rw #x21ad Parameters over FOE Results DT21AD 80 Number of Entries #x4 First Parsing Error #x0 Index of First Command that Failed #x0 Number of Parsing Errors #x0 Number of Parsed Commands #x0 #x2200 Gantry Settings DT2200 160 Number of Entries #x8 GantryMode #x0 GantryCommandType #x1 GantryAlignmentCommand #x1 GantryAlignMode #xffff GantryType #x0 GantryInterface #x0 GantryOffsetSt #x0 GantryOffset #x0 #x2201 Gantry Position Feedback DT2201 80 NumberofEntries #x2 Gantry Master Position #x0 Gantry Difference Position #x0 #x2202 Gantry Velocity Feedback DT2202 80 Number of Entries #x2 Gantry Master Velocity #x0 Gantry Difference Velocity #x0 #x2203 Gantry Position Controllers Current Commands DT2203 48 Number of Entries #x2 Current Command from Gantry Master Controller #x0 Current Command from Gantry Difference Controller #x0 #x2204 Gantry Indicators DT2204 48 Number of Entries #x2 Gantry Alignment Status #x0 Gantry Communication State #x0 #x2205 PCOM 1 TM DT2205 144 Number of Entries #x4 PCOM1_TM1 #x0 PCOM1_TM2 #x0 PCOM1_TM3 #x0 PCOM1_TM4 #x0 #x2206 PCOM 2 TM DT2206 144 Number of Entries #x4 PCOM2_TM1 #x0 PCOM2_TM2 #x0 PCOM2_TM3 #x0 PCOM2_TM4 #x0 #x2207 HMI Display DT2207 96 Number of Entries #x5 HMI_Display_Segment_1 #x0 HMI_Display_Segment_2 #x0 HMI_Display_Segment_3 #x0 HMI_Display_Segment_4 #x0 HMI_Display_Segment_5 #x0 #x2208 HMI Mnemonic ASCII DT2208 48 Number of Entries #x2 Address #x0 Value #x0 #x2209 HMI Blink Segment UINT 16 #x0 ro #x220a Gearing Filter Depth REAL 32 00000040 rw #x220b Velocity Limit Torque Mode DINT 32 #x0 rw #x220c Commutation Error Counter UINT 16 #x0 ro #x220d Commutation Error Threshold UINT 16 #x0 rw #x220e Commutation Velocity Deviation UDINT 32 #x2 rw #x220f Commutation Index Deviation UINT 16 #x2 rw #x2210 Active Axis UINT 16 #x1 ro #x2211 Velocity Loop Second Filter Mode USINT 8 #x0 rw #x2212 Velocity Loop Second Filter Parameter 1 UINT 16 #x3e8 rw #x2213 Velocity Loop Second Filter User-Defined UINT 16 #x7d0 rw #x2214 Velocity Loop Second Filter User-Defined DT2214 248 NumOfEntries #x8 Polynom_Term_1 #x0 Polynom_Term_2 #x0 Polynom_Term_3 #x0 Polynom_Term_4 #x0 Polynom_Term_5 #x0 Polynom_Term_6 #x0 Polynom_Term_7 #x0 Term_Execute #x0 #x2216 HD Current Filter - First Notch Filter Mode UINT 16 #x0 rw #x2217 HD Current Filter - Second Notch Filter Mode UINT 16 #x0 rw #x2218 Error Correction Start Offset UINT 16 #x0 rw #x2219 Error Correction Active Entries UINT 16 #x0 rw #x221a Error Correction Start Position DT221A 80 numOfElements #x2 Low #x0 High #x0 #x221b Error Correction Interval REAL 32 00000000 rw #x221c Error Correction Active Index UDINT 32 #x0 ro #x221d Error Correction Index DT221D 64 NumOfEntries #x2 Index #x1 Value #x0 #x221e Error Correction Reset Parameters UINT 16 #x1 rw #x221f Error Correction Enable UINT 16 #x0 rw #x2220 Error Correction State INT 16 #x0 ro #x2221 Error Correction PFB Raw DINT 32 #x0 ro t #x2222 Error Correction Failed index INT 16 #x0 ro #x2223 Error Correction Units UINT 16 #x0 rw #x2224 Velocity RDH Controller Scale DT2224 80 NumOfEntries #x2 Vlim_T #x0 DiPeak_T #x0 #x2225 Extended Current Unit Conversion UINT 16 #x0 rw #x2226 Fieldbus Offset Delay UINT 16 #x0 rw #x2227 EtherCAT Command Delay UDINT 32 #x0 ro #x2228 HDTUNE UINT 16 #x0 rw #x2229 Gantry Comminucation Type UINT 16 #x0 rw #x222a PLL State UINT 16 #x0 ro #x222b Velocity Limit 2 DINT 32 #x0 rw r #x222c Hardware Position External 2 DINT 32 #x0 rw t #x222d KVITERM INT 16 #x0 rw #x222e SFB Position Error DINT 32 #x0 ro #x222f SFB Position Error Max UDINT 32 #x0 rw #x2230 Error Correction Modulu Mode INT 16 #x0 rw #x2231 EtherCAT Parameters download via FoE mode UINT 16 #x1 rw #x2232 HomecmdstFb INT 16 #xffff rw #x2233 PCOM 1 Source UINT 16 #x0 rw #x2234 Fault Clear Mode UINT 16 #x0 rw #x2235 RunAway Position Threshold UDINT 32 #x0 rw #x2236 FCMODE INT 16 #x1 rw #x2237 FCLPF UINT 16 #x1 rw #x2238 FCSLOPE UDINT 32 #x0 rw #x2239 FCKP REAL 32 0000803f rw #x223a FCEINSETTIME UINT 16 #x1 rw #x223b FCE INT 16 #x0 ro t #x223c FCEINSET INT 16 #x0 rw #x223d FCCMD INT 16 #x0 ro t #x223e FCSETPOINT INT 16 #x0 rw r #x223f Auto Tune Status DINT 32 #x0 ro t #x2240 Analog input 1 invert polarity INT 16 #x0 rw #x2243 CSP Limits Mode UINT 16 #x0 rw #x2244 Motor Feedback Raw DINT 32 #x0 ro #x2245 Pcom Homde Mode UINT 16 #x0 rw #x2246 Tamagawa SFB Multi-Turn Reset USINT 8 #x0 rw #x2247 Velocity Loop 3rd Output Filter Mode USINT 8 #x0 rw #x2248 Velocity Loop 3rd Output Filter Parameter 1 UINT 16 #x7d0 rw #x2249 Velocity Loop 3rd Output Filter Parameter 2 UINT 16 #x7d0 rw #x224a Velocity Loop 4th Output Filter Mode USINT 8 #x0 rw #x224b Velocity Loop 4th Output Filter Parameter 1 UINT 16 #x7d0 rw #x224c Velocity Loop 4th Output Filter Parameter 2 UINT 16 #x7d0 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 #xffff rw #x605c Disable Operation Option Code INT 16 #xffff rw #x605d Halt Option Code INT 16 #x1 rw #x605e Fault Reaction Option Code INT 16 #xffff 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 t #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 t #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 Maximum 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 Sub-Index 1 #x0 Sub-Index 2 #x0 #x607e Polarity USINT 8 #x0 rw #x607f Maximum Profile Velocity UDINT 32 #xea61 rw #x6080 Motor Maximum Speed UDINT 32 #x0 rw #x6081 Profile Velocity in Profile Position Mode UDINT 32 #x0 rw r #x6083 Profile Acceleration UDINT 32 #x564 rw r #x6084 Profile Deceleration UDINT 32 #x564 rw r #x6085 Quick Stop Deceleration UDINT 32 #x564 rw #x6087 Torque Slope UDINT 32 #x186a0 rw r #x608f Position Encoder Resolution DT608F 80 Highest sub-index supported #x2 Encoder Increments #x100000 Motor Revolutions #x1 #x6091 Fieldbus Gear Ratio DT6091 80 Number of Entries #x2 Sub-Index 1 #x1 Sub-Index 2 #x1 #x6092 Feed Constant DT6092 80 Number of Entries #x2 Sub-Index 1 #x57e40 Sub-Index 2 #x1 #x6098 Homing Method SINT 8 #x1 rw #x6099 Homing Speeds DT6099 80 Number of Entries #x2 Sub-Index 1 #x1 Sub-Index 2 #x0 #x609a Homing Acceleration UDINT 32 #x3e80000 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 Submode INT 16 #x0 rw #x60c1 Interpolation Data Record DT60C1 144 Number of Entries #x4 Data Record 1 #x0 Data Record 2 #x0 Data Record 3 #x0 Data Record 4 #x0 #x60c2 Fieldbus Interpolation Time DT60C2 32 Number of Entries #x2 Interpolation Time #x2 Interpolation Time Index #xfd #x60c4 Interpolation Data Configuration DT60C4 120 Number of Entries #x6 Maximum buffer size #x1 Actual buffer size #x0 Buffer organization #x0 Buffer position #x0 Size of data record #x4 Buffer clear #x0 #x60c5 Maximum Acceleration UDINT 32 #x7d0 rw #x60c6 Maximum Deceleration UDINT 32 #x7d0 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 t #x60fd Digital Inputs UDINT 32 #x0 ro t #x60fe Digital Outputs DT60FE 80 Number of Entries #x2 Digital Outputs #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 #x607a #x0 32 Target Position DINT #x60B8 0 16 Touch Probe Function UINT #x1601 RxPDO 2 #x60ff #x0 32 Target Velocity DINT #x6071 #x0 16 Target Torque INT #x1602 RxPDO 3 #x1603 RxPDO 4 #x1A00 TxPDO 1 #x6041 #x0 16 Statusword UINT #x6061 #x0 8 Modes of Operation Display SINT #x6064 #x0 32 Position Actual Value DINT #x60fd #x0 32 Digital Inputs UDINT #x603F 0 16 Error code UINT #x6077 0 16 Torque actual value INT #x1A01 TxPDO 2 #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe 1 Position Positive Value DINT #x606C 0 32 Velocity Actual Value DINT #x1A02 TxPDO 3 #x1A03 TxPDO 4 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