#x2E1 Servotronix 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EtherCAT_Drive EtherCAT_Drive 424D16050000000000003604000028000000100000000E0000000100080000000000E00000000000000000000000000000000000000000000000000080000080000000808000800000008000800080800000C0C0C000C0DCC000F0CAA6000020400000206000002080000020A0000020C0000020E00000400000004020000040400000406000004080000040A0000040C0000040E00000600000006020000060400000606000006080000060A0000060C0000060E00000800000008020000080400000806000008080000080A0000080C0000080E00000A0000000A0200000A0400000A0600000A0800000A0A00000A0C00000A0E00000C0000000C0200000C0400000C0600000C0800000C0A00000C0C00000C0E00000E0000000E0200000E0400000E0600000E0800000E0A00000E0C00000E0E00040000000400020004000400040006000400080004000A0004000C0004000E00040200000402020004020400040206000402080004020A0004020C0004020E00040400000404020004040400040406000404080004040A0004040C0004040E00040600000406020004060400040606000406080004060A0004060C0004060E00040800000408020004080400040806000408080004080A0004080C0004080E00040A0000040A0200040A0400040A0600040A0800040A0A00040A0C00040A0E00040C0000040C0200040C0400040C0600040C0800040C0A00040C0C00040C0E00040E0000040E0200040E0400040E0600040E0800040E0A00040E0C00040E0E00080000000800020008000400080006000800080008000A0008000C0008000E00080200000802020008020400080206000802080008020A0008020C0008020E00080400000804020008040400080406000804080008040A0008040C0008040E00080600000806020008060400080606000806080008060A0008060C0008060E00080800000808020008080400080806000808080008080A0008080C0008080E00080A0000080A0200080A0400080A0600080A0800080A0A00080A0C00080A0E00080C0000080C0200080C0400080C0600080C0800080C0A00080C0C00080C0E00080E0000080E0200080E0400080E0600080E0800080E0A00080E0C00080E0E000C0000000C0002000C0004000C0006000C0008000C000A000C000C000C000E000C0200000C0202000C0204000C0206000C0208000C020A000C020C000C020E000C0400000C0402000C0404000C0406000C0408000C040A000C040C000C040E000C0600000C0602000C0604000C0606000C0608000C060A000C060C000C060E000C0800000C0802000C0804000C0806000C0808000C080A000C080C000C080E000C0A00000C0A02000C0A04000C0A06000C0A08000C0A0A000C0A0C000C0A0E000C0C00000C0C02000C0C04000C0C06000C0C08000C0C0A000F0FBFF00A4A0A000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFF9F9F9FFFFFFFFFFFFFFFFFFFFFFFFF9F9F9F9FFFFFFFFFFFFFFFFFFFFFFFFF9F9F9F9F9FFFFFFFFFFFFFFFFFFFFF9F9F9F9F9F9FFFFFFFFFFFFFFFFFFFFF9F9F9F9F9F9F9FFFFFFA7A7A7A7A7F9F9F9F9A7A7A7A7F9FFFFFFA7A7A7F9F9F9F9A7A7A7A7A7F9FFFFFFFFA7F9F9F9F9A7A7A7A7A7F9F9F9FFFFFFA7F9F9F9F9A7A7A7A7F9F9F9F9F9FFFFFFA7A7A7A7A7A7A7FFFFFFFFFFFFFFFFFFFFA7A7A7A7A7A7FFFFFFFFFFFFFFFFFFFFA7A7A7A7A7FFFFFFFFFFFFFFFFFFFFFFFFA7A7A7A7FFFFFFFFFFFFFFFFFFFFFFFFA7A7A7FFFFFFFFFFFFFFFF BD3E BD3E 10000 10000 5000 200 100 2000 EtherCAT_Drive 402 STRING(4) 32 STRING(3) 24 STRING(5) 40 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 DINT 32 INT 16 LINT 64 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 208 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 DT1601 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw DT1602 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw DT1603 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw DT1A00 304 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 7 SubIndex 007 UDINT 32 176 rw 8 SubIndex 008 UDINT 32 208 rw 9 SubIndex 009 UDINT 32 240 rw 10 SubIndex 010 UDINT 32 272 rw DT1A01 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw DT1A02 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw DT1A03 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 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 DT2011 112 0 SubIndex 000 USINT 8 0 ro 1 LowBits UDINT 32 16 ro 2 MiddleBits UDINT 32 48 ro 3 HighBits UDINT 32 80 ro DT2070 48 0 SubIndex 000 USINT 8 0 ro 1 ININV_index UINT 16 16 rw 2 ININV_value UINT 16 32 rw DT209B 48 0 SubIndex 000 USINT 8 0 ro 1 OUTINV_index UINT 16 16 rw 2 OUTINV_value UINT 16 32 rw DT209C 48 0 SubIndex 000 USINT 8 0 ro 1 OUTMODE_index UINT 16 16 rw 2 OUTMODE_value UINT 16 32 rw DT20E0 48 0 SubIndex 000 USINT 8 0 ro 1 INMODE_index UINT 16 16 rw 2 INMODE_value UINT 16 32 rw DT2306 48 0 SubIndex 000 USINT 8 0 rw 1 INFLTTIME_index UINT 16 16 rw 2 INFLTTIME_value UINT 16 32 rw DT2358 48 0 SubIndex 000 USINT 8 0 ro 1 STO Mode UINT 16 16 rw 2 STO Recover Mode UINT 16 32 rw DT236C 96 0 SubIndex 000 USINT 8 0 ro 1 MULTICOLDETCUR1 INT 16 16 rw 2 MULTICOLDETCUR2 INT 16 32 rw 3 MULTICOLDETCUR3 INT 16 48 rw 4 MULTICOLDETCUR4 INT 16 64 rw 5 MULTICOLDETCUR5 INT 16 80 rw DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min software position limit DINT 32 16 rw 2 Max software position limit DINT 32 48 rw DT608F 80 0 SubIndex 000 USINT 8 0 ro 1 Position Encoder Resolution Encoder Increments UDINT 32 16 ro 2 Position Encoder Resolution Motor Revolutions UDINT 32 48 ro DT6091 80 0 SubIndex 000 USINT 8 0 ro 1 Gear Ratio Motor Revolutions UDINT 32 16 rw 2 Gear Ratio Shaft Revolutions UDINT 32 48 rw DT6092 80 0 SubIndex 000 USINT 8 0 ro 1 Feed UDINT 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6099 80 0 SubIndex 000 USINT 8 0 ro 1 Homing speeds Speed for switch search UDINT 32 16 rw 2 Homing speeds Speed for zero search UDINT 32 48 rw DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation time period value USINT 8 16 rw 2 Interpolation time index SINT 8 24 rw DT60FE 80 0 SubIndex 000 USINT 8 0 ro 1 Digital Outputs Physical Outputs UDINT 32 16 rw r 2 Digital Outputs Output Mask UDINT 32 48 rw #x1000 Device type UDINT 32 92010000 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(5) 40 4244484443 ro #x1009 Hardware version STRING(3) 24 312E30 ro #x100A Software version STRING(4) 32 352E3132 ro #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID E1020000 Product code EDE20B00 Revision 00000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1600 RxPDO1 DT1600 208 SubIndex 000 06 SubIndex 001 20007A60 SubIndex 002 2000FF60 SubIndex 003 08006060 SubIndex 004 10004060 SubIndex 005 10007160 SubIndex 006 1000B860 #x1601 RxPDO2 DT1601 80 SubIndex 000 02 SubIndex 001 10004060 SubIndex 002 20007A60 #x1602 RxPDO3 DT1602 80 SubIndex 000 02 SubIndex 001 10004060 SubIndex 002 2000FF60 #x1603 RxPDO4 DT1603 80 SubIndex 000 02 SubIndex 001 10004060 SubIndex 002 10007160 #x1A00 TxPDO1 DT1A00 304 SubIndex 000 10 SubIndex 001 10004160 SubIndex 002 20006460 SubIndex 003 20006C60 SubIndex 004 10007760 SubIndex 005 08006160 SubIndex 007 1000B960 SubIndex 008 2000BA60 SubIndex 009 10003F60 SubIndex 010 2000FD60 #x1A01 TxPDO2 DT1A01 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 20006460 #x1A02 TxPDO3 DT1A02 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 20006C60 #x1A03 TxPDO4 DT1A03 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 10007760 #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SM2 assignment DT1C12 32 SubIndex 000 01 SubIndex 001 0016 #x1C13 SM3 assignment DT1C13 32 SubIndex 000 01 SubIndex 001 001A #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 #x2000 ANFEN USINT 8 01 rw #x2002 CONFIG UINT 16 0000 rw #x2004 FW Version UDINT 32 00000000 ro #x2005 FW Date UDINT 32 00000000 ro #x2006 KCI UDINT 32 00000000 rw #x2007 KCP UDINT 32 10270000 rw #x2010 KVBW UDINT 32 10000000 rw #x2011 WarningBits DT2011 112 SubIndex 000 03 LowBits 00000000 MiddleBits 00000000 HighBits 00000000 #x2013 CLVD DINT 32 00000000 ro #x2014 CLVQ DINT 32 00000000 ro #x2016 ELECTANGLE UINT 16 0000 ro #x201C KPAFRC UDINT 32 00000000 rw #x201D KPAFRV UDINT 32 00000000 rw #x201E KPD UDINT 32 00000000 rw #x201F KPE UDINT 32 00000000 rw #x2020 KPI UDINT 32 00000000 rw #x2022 KPP UDINT 32 10270000 rw #x2023 KPVFR UDINT 32 00010000 rw #x2025 KVFR UDINT 32 00000000 rw #x2026 KVI UDINT 32 05000000 rw #x2027 KVP UDINT 32 88130000 rw #x2028 MECHANGLE UINT 16 0000 ro #x202E MFOLD UINT 16 0000 ro #x202F MFOLDD UDINT 32 00000000 rw #x2030 MFOLDDIS UINT 16 0000 rw #x2031 MFOLDR UDINT 32 44000000 ro #x2032 MFOLDT UDINT 32 05000000 rw #x2033 MIFOLD UDINT 32 00000000 ro #x2034 MIFOLDFTHRESH UDINT 32 00000000 rw #x2036 MIPEAK UDINT 32 70170000 ro #x2037 MJ UDINT 32 70170000 ro #x2038 MKE UDINT 32 70170000 ro #x2039 MKT UDINT 32 70170000 ro #x203A ML UDINT 32 00000000 ro #x203C MFOLDF DINT 32 00000000 rw o #x2043 MPHASE UINT 16 0000 rw #x2044 DRIVETEMP INT 16 0000 ro #x2046 DISMODE UINT 16 0000 rw #x2049 DECSTOPTIME UINT 16 C800 rw #x204A DISSPEED UDINT 32 00000000 rw #x204B DISTIME UDINT 32 00000000 rw #x204C FACTORYRESTORE UINT 16 0000 rw #x204D FEEDBACKTYPE UINT 16 0200 rw #x204E FILTHZ1 UINT 16 C800 rw #x204F FILTHZ2 UINT 16 C800 rw #x2050 FILTMODE UINT 16 0000 rw #x2051 FOLD UINT 16 0000 ro #x2066 ID DINT 32 00000000 ro #x2067 IQ DINT 32 00000000 ro #x2068 IFFLPFHZ UINT 16 1600 rw #x2069 IFOLD DINT 32 00000000 ro #x206A IFOLDFTHRESH UDINT 32 00000000 rw #x2070 ININV DT2070 48 SubIndex 000 02 ININV_index 0000 ININV_value 0000 #x2071 ISTOP UDINT 32 00000000 rw #x2072 IU DINT 32 00000000 ro #x2073 IUOFFSET DINT 32 00000000 ro #x2074 IV DINT 32 00000000 ro #x2075 IVOFFSET DINT 32 00000000 ro #x2076 IZERO DINT 32 64000000 rw #x2078 LIMSWITCHNEG UINT 16 0000 ro #x2079 LIMSWITCHPOS UINT 16 0000 ro #x207A LMJR UDINT 32 00000000 rw #x207B DIPEAK UDINT 32 00000000 ro #x207C DICONT UDINT 32 25210000 ro #x207E MPOLES INT 16 0500 rw #x207F MR UDINT 32 00000000 rw #x2082 KCFF UDINT 32 00000000 rw #x2090 HOMESTATE UINT 16 0000 ro #x2095 PFBOFFSET DINT 32 00000000 rw #x209B OUTINV DT209B 48 SubIndex 000 02 OUTINV_index 0000 OUTINV_value 0000 #x209C OUTMODE DT209C 48 SubIndex 000 02 OUTMODE_index 0000 OUTMODE_value 0000 #x20A1 OVTHRESH UDINT 32 00000000 ro #x20A2 SWEN UINT 16 0000 ro #x20AC POSLIMMODE UINT 16 0000 rw #x20B5 INPOS UINT 16 0000 ro #x20BA REMOTE UINT 16 0000 ro #x20CB TMTURNRESET UINT 16 0000 rw #x20CD UVMODE UINT 16 0000 rw #x20CE UVRECOVER UINT 16 0000 rw #x20CF UVTHRESH UINT 16 3831 rw #x20D0 UVTIME UINT 16 3831 rw #x20D1 VBUS UDINT 32 40010000 rw #x20D6 VELFILTMODE UINT 16 0100 rw #x20DF ZERO UINT 16 0000 rw #x20E0 INMODE DT20E0 48 SubIndex 000 02 INMODE_index 0000 INMODE_value 0000 #x20E1 ADDR UINT 16 0000 rw #x20EE VMAX DINT 32 40420F00 ro #x20F0 IMAX DINT 32 00000000 ro #x2103 HOMECMD UINT 16 0000 rw #x2108 MOVESMOOTHAVG UINT 16 0000 rw #x2113 READY UINT 16 0000 ro #x211D VELFILTFRQ UINT 16 0000 rw #x217B ZEROST UINT 16 0000 ro #x2186 MTRESET UINT 16 0000 rw #x220C COMMERRMODE UINT 16 0000 rw #x220D COMMERRTTHRESH UINT 16 0000 rw #x220E COMMERRVTHRESH UINT 16 0000 rw #x220F COMMERRITHRESH DINT 32 00000000 rw #x2230 MENCTYPEUSER UINT 16 0000 rw #x2231 MENCRES DINT 32 00000000 rw #x2232 PM1ENC UDINT 32 00000000 rw #x2235 COMMERRPTHRESH DINT 32 00000000 rw #x2236 MOTORPHASESCAN UINT 16 0000 rw #x2237 MOTORPHASESCANMODE UINT 16 0000 rw #x2238 MOTORPHASESCANCUR UDINT 32 00000000 rw #x2240 IADCHYST UDINT 32 00000000 rw #x2241 IADCSWITCH UINT 16 0000 rw #x2242 IADCTHRESH UDINT 32 00000000 rw #x2300 DOB2FREQ UINT 16 0100 rw #x2301 DOB2GAIN UINT 16 0100 rw #x2302 DOB2LMJR UINT 16 0100 rw #x2303 GEARTOTALMAX UDINT 32 E8030000 ro #x2304 GEARTOTALMIN UDINT 32 01000000 ro #x2305 ICMDLPF UINT 16 0100 rw #x2306 INFLTTIME DT2306 48 SubIndex 000 02 INFLTTIME_index 0000 INFLTTIME_value 0000 #x2307 INFLTTIME2 UINT 16 5000 rw #x2308 FEEDFORWARDTYPE USINT 8 01 rw #x2310 KCA UDINT 32 05000000 rw #x2311 KCBEMF UDINT 32 05000000 rw #x2312 KCBW UDINT 32 05000000 rw #x2313 KCGLOBALGAIN UDINT 32 05000000 rw #x2314 KPBW UDINT 32 05000000 rw #x2315 KPVFRLPF UDINT 32 05000000 rw #x2316 KPVFRR UDINT 32 05000000 rw #x2317 KVTI UDINT 32 05000000 rw #x231A LOADTYPE USINT 8 00 rw #x2320 LOADESTDIST UINT 16 0100 rw #x2321 LOADESTMAXVEL UDINT 32 2C010000 rw #x2322 LOADESTSTATUS UINT 16 0000 ro #x2323 LOADESTEN UINT 16 0000 rw #x2324 LOADESTMOTION UINT 16 0000 rw #x2325 LOADESTRATIO UDINT 32 00000000 ro #x2326 LOADESTVAL UDINT 32 00000000 ro #x2327 MPOWER UINT 16 EE02 ro #x2328 MRATEDSPEED UINT 16 B80B ro #x2329 OUTBRAKEENGAGETIME UINT 16 2000 rw #x232A OUTBRAKERELEASETIME UINT 16 2000 rw #x232B OUTBRAKESAFESPD UDINT 32 20000000 rw #x232C OVELTHRESH UINT 16 0000 rw #x232D PAF DINT 32 B80B0000 rw #x232E PAL DINT 32 46000000 rw #x232F PASV DINT 32 00000000 rw #x2331 POSLIMNEG UDINT 32 00000000 rw #x2332 POSLIMNEG2 UDINT 32 00000000 rw #x2333 POSLIMPOS UDINT 32 EE020000 rw #x2334 POSLIMPOS2 UDINT 32 B80B0000 rw #x2335 REGENCHECKENABLE UINT 16 0100 rw #x2336 REGENMAXONTIME UINT 16 1000 rw #x2337 REGENMAXPOW UINT 16 0000 rw #x2338 REGENPOW UINT 16 0000 rw #x2339 REGENRES UINT 16 2800 rw #x233A RIGID UINT 16 B80B rw #x2340 SAVE UINT 16 0000 rw #x2341 SOBBW UDINT 32 00000000 rw #x2342 SOBJCOMPCOEF UDINT 32 00000000 rw #x2343 SOBTINTC UDINT 32 EE020000 rw #x2344 SOBTOUTTC UDINT 32 B80B0000 rw #x2345 SOBVFBK2 UDINT 32 01000000 ro #x2346 SOBVFBKTYPE UINT 16 1000 rw #x2347 STALLTIME UINT 16 0000 rw #x2348 STALLVEL UINT 16 0000 rw #x2349 SWENMODE UINT 16 0000 rw #x234A STALLI DINT 32 00000000 rw #x2350 TUNINGAUTOEN UINT 16 0000 rw #x2351 TUNINGLEVEL UINT 16 1000 rw #x2352 TUNINGLOAD UINT 16 0000 rw #x2353 VEMAX UINT 16 1000 rw #x2354 VETIME UINT 16 0A00 rw #x2355 ZCLAMPVEL UINT 16 0A00 rw #x2358 STO Function DT2358 48 SubIndex 000 02 STO Mode 0100 STO Recover Mode 0000 #x2360 COLDETNEGCUR UDINT 32 00000000 rw #x2361 COLDETPOSCUR UDINT 32 00000000 rw #x2362 COLDETTYPE USINT 8 00 rw #x2363 COLDETVEL UDINT 32 00000000 rw #x236A INSHAPEREN USINT 8 00 rw #x236B COLDETHOME USINT 8 00 rw #x236C MULTICOLDETCUR DT236C 96 SubIndex 000 05 MULTICOLDETCUR1 0000 MULTICOLDETCUR2 0000 MULTICOLDETCUR3 0000 MULTICOLDETCUR4 0000 MULTICOLDETCUR5 0000 #x236D COLDETCOEF DINT 32 00000000 rw #x236E COLDETCURTYPE UINT 16 0000 rw #x236F COLDETJCOEF DINT 32 00000000 rw #x2370 COLDETJLPF UDINT 32 00000000 rw #x2371 COLDETKCOEF DINT 32 00000000 rw #x2372 COLDETKOFFSET DINT 32 00000000 rw #x2380 ECCOMPMODE USINT 8 00 rw #x2381 FBINTTYPEDELAY INT 16 0000 rw #x3001 Vlimt UDINT 32 58020000 rw r #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 FFFF rw #x605B Shutdown Option Code INT 16 FFFF rw #x605C Disable Operation Option Code INT 16 FFFF rw #x605D Haltp Option Code INT 16 0100 rw #x605E Fault Response Options INT 16 FFFF rw #x6060 Modes of operation SINT 8 00 rw r #x6061 Modes of operation display SINT 8 08 ro t #x6062 Position demand value DINT 32 00000000 ro #x6063 Position Actual Internal Value DINT 32 00000000 ro t #x6064 Position actual value DINT 32 00000000 ro t #x6065 Following error window UDINT 32 01000000 rw r #x6066 Following error time out UINT 16 0000 rw #x6067 Position window UDINT 32 00000000 rw r #x6068 Position window time UINT 16 0A00 rw #x606B Velocity demand value DINT 32 00000000 ro #x606C Velocity Actual Value DINT 32 00000000 ro t #x606D Velocity Window UINT 16 0000 rw #x606E Velocity Window Time UINT 16 0000 rw #x606F Velocity Threshold UINT 16 0000 rw #x6070 Velocity Threshold Time UINT 16 0000 rw #x6071 Target Torque INT 16 0000 rw r #x6072 maxt Torque UINT 16 8813 rw r #x6073 Maximum Current UINT 16 0000 rw r #x6074 Torque Demand Value INT 16 0000 ro t #x6075 Motor rated current UDINT 32 00000000 ro #x6076 Motor rated torque UDINT 32 00000000 ro #x6077 Torque actual value INT 16 0000 ro t #x6078 Current actual value INT 16 0000 ro t #x6079 DC link circuit voltage UDINT 32 00000000 ro t #x607A Target position DINT 32 00000000 rw r #x607C Home offset DINT 32 00000000 rw #x607D Software position limit DT607D 80 SubIndex 000 02 Min software position limit 00000000 Max software position limit 00000000 #x607E Polarity USINT 8 00 rw #x607F Maximum Profile Velocity UDINT 32 01000000 rw r #x6080 Motor Maximum Speed UDINT 32 00000000 rw #x6081 Profile velocity UDINT 32 00000000 rw r #x6083 Profile acceleration UDINT 32 E8030000 rw r #x6084 Profile deceleration UDINT 32 E8030000 rw r #x6085 Quick stop deceleration UDINT 32 01000000 rw #x6087 Torque Slope UDINT 32 00000000 rw r #x608F Position Encoder Resolution DT608F 80 SubIndex 000 02 Position Encoder Resolution Encoder Increments 00080000 Position Encoder Resolution Motor Revolutions 01000000 #x6091 Obj0x6091 DT6091 80 SubIndex 000 02 Gear Ratio Motor Revolutions 01000000 Gear Ratio Shaft Revolutions 01000000 #x6092 Feed constant DT6092 80 SubIndex 000 02 Feed 01000000 Shaft revolutions 01000000 #x6098 Homing method SINT 8 01 rw #x6099 Homing speeds DT6099 80 SubIndex 000 02 Homing speeds Speed for switch search 01000000 Homing speeds Speed for zero search 01000000 #x609A Homing acceleration UDINT 32 01000000 rw #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 1 Position Positive Value DINT 32 00000000 ro t #x60BB Touch Probe 1 Position Negative Value DINT 32 00000000 ro t #x60BC Touch Probe 2 Position Positive Value DINT 32 00000000 ro t #x60BD Touch Probe 2 Position Negative Value DINT 32 00000000 ro t #x60C0 Interpolation Type INT 16 0000 rw o #x60C2 Interpolation Time Period DT60C2 32 SubIndex 000 02 Interpolation time period value 01 Interpolation time index FD #x60C5 Max acceleration UDINT 32 FFFFFFFF rw #x60C6 Max deceleration UDINT 32 FFFFFFFF rw #x60D5 Touch probe 1 positive edge counter UINT 16 0000 ro t #x60D6 Touch probe 1 Negative edge counter UINT 16 0000 ro t #x60D7 Touch probe 2 positive edge counter UINT 16 0000 ro t #x60D8 Touch probe 2 Negative edge counter UINT 16 0000 ro t #x60E0 Positive torque limit value UINT 16 1388 rw r #x60E1 Negative torque limit value UINT 16 1388 rw r #x60F4 Following error actual value DINT 32 00000000 ro t #x60FC Position demand internal value DINT 32 00000000 ro #x60FD Digital Inputs UDINT 32 00000000 ro t #x60FE Digital Outputs DT60FE 80 SubIndex 000 02 Digital Outputs Physical Outputs 00000000 Digital Outputs Output Mask 00000000 #x60FF Target velocity DINT 32 00000000 rw r #x6502 Supported drive modes UDINT 32 AD030000 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO1 #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x6040 0 16 Controlword UINT #x6071 0 16 Target Torque INT #x60B8 0 16 Touch Probe Function UINT #x1601 RxPDO2 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x1602 RxPDO3 #x6040 0 16 Controlword UINT #x60FF 0 32 Target velocity DINT #x1603 RxPDO4 #x6040 0 16 Controlword UINT #x6071 0 16 Target Torque INT #x1A00 TxPDO1 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity Actual Value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe 1 Position Positive Value DINT #x603F 0 16 Error Code UINT #x60FD 0 32 Digital Inputs UDINT #x1A01 TxPDO2 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x1A02 TxPDO3 #x6041 0 16 Statusword UINT #x606C 0 32 Velocity Actual Value DINT #x1A03 TxPDO4 #x6041 0 16 Statusword UINT #x6077 0 16 Torque actual value INT DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 2048 080E02EE409C0000000000000000