#x00000289 HDT Group Srl 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff9bddff241cf1ffbbf3ffffff76bbff501ced9bddff241cf1241ced241cedffbbf3ffffff76bbff501cedffddf7ffffff9bddff241cf1ffbbf3ffffff76bbff501ced9bddff241cf1ffbbf376bbff501cedffddf776bbff501cedffddf7ffffff9bddff241cf1ffbbf3ffffff76bbff501ced9bddff241cf1ffbbf3bdffff241cf3de98f176bbff501cedffddf7ffffff9bddff241cf1ffbbf3ffffff76bbff501ced9bddff241cf1ffbbf3deffff244af7bd72ed76bbff501cedffddf7ffffff9bddff241cf1241ced241ced241ced501ced9bddff241cf1ffbbf3deffff244af7bd72ed76bbff501cedffddf7ffffff9bddff241cf1ffbbf3ffffff76bbff501ced9bddff241cf1ffbbf3bdffff241cf3de98f176bbff501cedffddf7ffffff9bddff241cf1ffbbf3ffffff76bbff501ced9bddff241cf1ffbbf35098fc501cedffddf776bbff501cedffddf7ffffff9bddff241cf1ffbbf3ffffff76bbff501ced9bddff241cf1241ced241cedffbbf3241ced241ced241ced241cedde98f1ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff ServoDrive Servo Drives DRIVE DGFOX EVO 1000 1000 1000 100 1000 1000 ServoDrive 402 BIT4 4 BOOL 1 BYTE 8 UINT24 24 DINT 32 UDINT 32 UINT 16 INT 16 USINT 8 SINT 8 STRING(0) 0 STRING(2) 16 STRING(6) 48 DT1003ARR UDINT 256 1 8 DT1003 272 0 Number of Entries USINT 8 0 rw m Elements DT1003ARR 256 16 ro m DT1010ARR UDINT 32 1 1 DT1010 48 0 Number of Entries USINT 8 0 ro m Elements DT1010ARR 32 16 rw m DT1018 144 0 Number of Entries USINT 8 0 ro m 1 Vendor-ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT1200 80 0 Number of Entries USINT 8 0 ro m 1 COB-ID Client->Server (rx) UDINT 32 16 ro m 2 COB-ID Server -> Client (tx) UDINT 32 48 ro m DT1400 56 0 largest sub-index supported USINT 8 0 ro m 1 COB-ID used by PDO1 RX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m DT1401 56 0 largest sub-index supported USINT 8 0 ro m 1 COB-ID used by PDO2 RX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m DT1402 56 0 largest sub-index supported USINT 8 0 ro m 1 COB-ID used by PDO3 RX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m DT1403 56 0 largest sub-index supported USINT 8 0 ro m 1 COB-ID used by PDO4 RX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m DT160XARR UDINT 256 1 8 DT160X 272 0 Number of mapped PDO USINT 8 0 rw m Elements DT160XARR 256 16 rw m DT1800 96 0 largest sub-index supported USINT 8 0 ro m 1 COB-ID for PDO1 TX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m 3 Inhibit Time UINT 16 56 rw o 4 reserved USINT 8 72 ro o 5 Event Time UINT 16 80 rw o DT1801 96 0 largest sub-index supported USINT 8 0 ro m 1 COB-ID for PDO2 TX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m 3 Inhibit Time UINT 16 56 rw o 4 reserved USINT 8 72 ro o 5 Event Time UINT 16 80 rw o DT1802 96 0 largest sub-index supported USINT 8 0 ro m 1 COB-ID for PDO3 TX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m 3 Inhibit Time UINT 16 56 rw o 4 reserved USINT 8 72 ro o 5 Event Time UINT 16 80 rw o DT1803 96 0 largest sub-index supported USINT 8 0 ro m 1 COB-ID for PDO4 TX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m 3 Inhibit Time UINT 16 56 rw o 4 reserved USINT 8 72 ro o 5 Event Time UINT 16 80 rw o DT1A0XARR UDINT 256 1 8 DT1A0X 272 0 Number of mapped PDO USINT 8 0 rw m Elements DT1A0XARR 256 16 rw m DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of SyncManager channels USINT 8 0 ro Communication type SyncManager DT1C00ARR 32 16 ro DT1C12ARR UINT 64 1 4 DT1C12 80 0 Sync Manager 2, Number of mapped PDOs USINT 8 0 rw Elements DT1C12ARR 64 16 rw DT1C13ARR UINT 64 1 4 DT1C13 80 0 Sync Manager 3, Number of mapped PDOs USINT 8 0 rw Elements DT1C13ARR 64 16 rw DT1C32 256 0 Number of Entries USINT 8 0 ro 1 Sync Manager 2, Synchronization type UINT 16 16 rw 2 Sync Manager 2, cycle time UDINT 32 32 rw 3 reserved1 UDINT 32 64 ro 4 Sync Manager 2, sync types supported UINT 16 96 ro 5 Sync Manager 2, minimum cycle time UDINT 32 112 ro 6 Sync Manager 2, calc and copy time UDINT 32 144 ro 7 reserved2 UDINT 32 176 ro 8 reserved3 UINT 16 208 ro 9 Sync Manager 2, hardware delay time UDINT 32 224 ro DT1C33 256 0 Number of Entries USINT 8 0 ro 1 Sync Manager 3, Synchronization type UINT 16 16 ro 2 Sync Manager 3, cycle time UDINT 32 32 ro 3 reserved1 UDINT 32 64 ro 4 Sync Manager 3, sync types supported UINT 16 96 ro 5 Sync Manager 3, minimum cycle time UDINT 32 112 ro 6 Sync Manager 3, calc and copy time UDINT 32 144 ro 7 reserved2 UDINT 32 176 ro 8 reserved3 UINT 16 208 ro 9 Sync Manager 3, hardware delay time UDINT 32 224 ro DT2055ARR UINT 128 1 8 DT2055 144 0 Number of time filter input USINT 8 0 ro time filter input DT2055ARR 128 16 rw DT2059ARR USINT 96 1 12 DT2059 112 0 Number of Drive name USINT 8 0 ro Drive name DT2059ARR 96 16 rw DT2072ARR UINT 256 1 16 DT2072 272 0 Number of Generic data USINT 8 0 ro Generic data DT2072ARR 256 16 rw DT6046 80 0 Number of entries USINT 8 0 ro m 1 Vl velocity min amount UDINT 32 16 rw m R 2 Vl velocity max amount UDINT 32 48 rw m R DT6048 64 0 Number of entries USINT 8 0 ro m 1 Delta speed UDINT 32 16 rw m R 2 Delta time UINT 16 48 rw m R DT604C 80 0 Number of entries USINT 8 0 ro o 1 Vl dimension factor numerator DINT 32 16 rw o R 2 Vl dimension factor denumerator DINT 32 48 rw o R DT607D 80 0 Number of Entries USINT 8 0 ro o 1 Negative software limit position DINT 32 16 rw o R 2 Positive software limit position DINT 32 48 rw o R DT6093 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw R 2 Feed constant UDINT 32 48 rw R DT6094 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw R 2 Divisor UDINT 32 48 rw R DT6097 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw R 2 Divisor UDINT 32 48 rw R DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw R 2 Speed during search for zero UDINT 32 48 rw R DT60C1 48 0 Number of Entries USINT 8 0 ro 1 Interpolated position value DINT 32 16 rw R DT60C2 32 0 Number of Entries USINT 8 0 ro 1 Interpolation time units USINT 8 16 rw R 2 Interpolation time index SINT 8 24 rw R #x1000 Device type UDINT 32 ro m #x1001 Error register USINT 8 ro o T #x1003 Pre-defined error field DT1003 272 Number of Entries 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1005 COB-ID SYNC message UDINT 32 ro m #x1008 Manufacturer device name STRING(0) 0 ro o #x100A Manufacturer software version STRING(0) 0 ro o #x100C Guard time UINT 16 rw c #x100D Life time factor USINT 8 rw c #x1010 Store parameters DT1010 48 Number of Entries 01 01 SubIndex 001 00000000 FFFFFFFF rw o #x1018 Identity object DT1018 144 Number of Entries 04 04 Vendor-ID 00000000 FFFFFFFF Product code 00000000 FFFFFFFF Revision number 00000000 FFFFFFFF Serial number 00000000 FFFFFFFF ro m #x1200 Server SDO parameter DT1200 80 Number of Entries 02 02 COB-ID Client->Server (rx) 00000000 FFFFFFFF COB-ID Server -> Client (tx) 00000000 FFFFFFFF ro m #x1400 1st receive PDO-Parameter DT1400 56 largest sub-index supported 00 02 COB-ID used by PDO1 RX 00000000 FFFFFFFF Transmission Type 00 FF rw o #x1401 2nd receive PDO-Parameter DT1401 56 largest sub-index supported 00 02 COB-ID used by PDO2 RX 00000000 FFFFFFFF Transmission Type 00 FF rw o #x1402 3rd receive PDO-Parameter DT1402 56 largest sub-index supported 00 02 COB-ID used by PDO3 RX 00000000 FFFFFFFF Transmission Type 00 FF rw o #x1403 4rd receive PDO-Parameter DT1403 56 largest sub-index supported 00 02 COB-ID used by PDO4 RX 00000000 FFFFFFFF Transmission Type 00 FF rw o #x1600 1st receive PDO-Mapping DT160X 272 Number of mapped PDO 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1601 2nd receive PDO-Mapping DT160X 272 Number of mapped PDO 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1602 3rd receive PDO-Mapping DT160X 272 Number of mapped PDO 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1603 4rd receive PDO-Mapping DT160X 272 Number of mapped PDO 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1800 1st transmit PDO-Parameter DT1800 96 largest sub-index supported 00 05 COB-ID for PDO1 TX 00000000 FFFFFFFF Transmission Type 00 FF Inhibit Time 0000 FFFF reserved 00 FF Event Time 0000 FFFF rw o #x1801 2nd transmit PDO-Parameter DT1801 96 largest sub-index supported 00 05 COB-ID for PDO2 TX 00000000 FFFFFFFF Transmission Type 00 FF Inhibit Time 0000 FFFF reserved 00 FF Event Time 0000 FFFF rw o #x1802 3rd transmit PDO-Parameter DT1802 96 largest sub-index supported 00 05 COB-ID for PDO3 TX 00000000 FFFFFFFF Transmission Type 00 FF Inhibit Time 0000 FFFF reserved 00 FF Event Time 0000 FFFF rw o #x1803 4rd transmit PDO-Parameter DT1803 96 largest sub-index supported 00 05 COB-ID for PDO4 TX 00000000 FFFFFFFF Transmission Type 00 FF Inhibit Time 0000 FFFF reserved 00 FF Event Time 0000 FFFF rw o #x1A00 1st transmit PDO-Mapping DT1A0X 272 Number of mapped PDO 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1A01 2nd transmit PDO-Mapping DT1A0X 272 Number of mapped PDO 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1A02 3rd transmit PDO-Mapping DT1A0X 272 Number of mapped PDO 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1A03 4rd transmit PDO-Mapping DT1A0X 272 Number of mapped PDO 00 08 SubIndex 001 00000000 FFFFFFFF SubIndex 002 00000000 FFFFFFFF SubIndex 003 00000000 FFFFFFFF SubIndex 004 00000000 FFFFFFFF SubIndex 005 00000000 FFFFFFFF SubIndex 006 00000000 FFFFFFFF SubIndex 007 00000000 FFFFFFFF SubIndex 008 00000000 FFFFFFFF rw m #x1C00 Sync Manager Communication Type DT1C00 48 Number of SyncManager channels 00 04 SubIndex 001 01 04 SubIndex 002 01 04 SubIndex 003 01 04 SubIndex 004 01 04 ro #x1C12 Sync Manager 2 PDO Assignment DT1C12 80 Sync Manager 2, Number of mapped PDOs 00 04 SubIndex 001 0016 0316 SubIndex 002 0016 0316 SubIndex 003 0016 0316 SubIndex 004 0016 0316 rw m #x1C13 Sync Manager 3 PDO Assignment DT1C13 80 Sync Manager 3, Number of mapped PDOs 00 04 SubIndex 001 001A 031A SubIndex 002 001A 031A SubIndex 003 001A 031A SubIndex 004 001A 031A rw m #x1C32 Sync Manager 2 Synchronization DT1C32 256 Number of Entries 09 09 Sync Manager 2, Synchronization type 0000 0200 Sync Manager 2, cycle time 20A10700 00C2EB0B reserved1 00000000 00000000 Sync Manager 2, sync types supported 0000 FFFF Sync Manager 2, minimum cycle time 00000000 FFFFFFFF Sync Manager 2, calc and copy time 00000000 FFFFFFFF reserved2 00000000 00000000 reserved3 0000 0000 Sync Manager 2, hardware delay time 00000000 FFFFFFFF ro o #x1C33 Sync Manager 3 Synchronization DT1C33 256 Number of Entries 09 09 Sync Manager 3, Synchronization type 0000 0200 Sync Manager 3, cycle time 20A10700 00C2EB0B reserved1 00000000 00000000 Sync Manager 3, sync types supported 0000 FFFF Sync Manager 3, minimum cycle time 00000000 FFFFFFFF Sync Manager 3, calc and copy time 00000000 FFFFFFFF reserved2 00000000 00000000 reserved3 0000 0000 Sync Manager 3, hardware delay time 00000000 FFFFFFFF ro o #x2000 Motor Nominal Velocity UINT 16 rw o #x2001 Motor Nominal Current UINT 16 rw o #x2002 Motor Peak Current UINT 16 rw o #x2003 Motor Polar Couples UINT 16 rw o #x2004 Feedback Sensor offset UINT 16 rw o #x2005 Velocity Limit UINT 16 rw o #x2006 Current Limit UINT 16 rw o #x2007 Position Kp Regulator UINT 16 rw o #x2008 Velocity Kp Regulator UINT 16 rw o #x2009 Velocity Ki Regulator UINT 16 rw o #x200A Current Kp Regulator UINT 16 rw o #x200B Current Ki Regulator UINT 16 rw o #x200C Drive setting flag1 UINT 16 rw o #x200D Notch Frequency UINT 16 rw o #x200E Notch Band UINT 16 rw o #x200F Drive allarms mode UINT 16 rw o #x2011 Position Jerck UDINT 32 rw o #x2012 Current Measured INT 16 ro m T #x2013 Time Brake On UINT 16 rw o #x2014 Time Brake Off UINT 16 rw o #x2015 Motor Brake Decel UINT 16 rw o #x2016 Velocity Brake On UINT 16 rw o #x2017 Speed threshold UINT 16 rw o #x2018 Speed threshold time UINT 16 rw o #x2019 Relative Position input DINT 32 rw o #x201A Position Flag USINT 8 rw o #x201B Input Setting USINT 8 rw o #x201D Fault Torque limit UINT 16 rw o #x2020 Extern ADC1 [12bit] INT 16 ro o T #x2021 Position smooth time UINT 16 rw o #x2030 Type Motor UINT 16 rw o #x2031 Motor Flag UINT 16 rw o #x2032 Motor Encoder Impulses UDINT 32 rw o #x2033 Motor Stall Current UINT 16 rw o #x2034 Motor Nominal Voltage UINT 16 rw o #x2035 Motor phase resistor UINT 16 rw o #x2036 Motor synchrony inductance UINT 16 rw o #x2037 Motor I2t Time UINT 16 rw o #x2038 Speed Kd UINT 16 rw o #x2039 Current Kd UINT 16 rw o #x203A Time Filter Iq UINT 16 rw o #x203B Function Set out 1 UINT 16 rw o #x203C Function Set out 2 UINT 16 rw o #x203D Function Set out 3 UINT 16 rw o #x203E Output Speed at 1KHz UINT 16 rw o #x203F Motor Encoder autophasing UINT 16 rw o #x2040 Motor Feedback type UINT 16 rw o #x2041 Motor Bit encoder SSI single-turn UINT 16 rw o #x2042 Motor Bit encoder SSI multi-turn UINT 16 rw o #x2043 Motor linear pole pitch UDINT 32 rw o #x2044 Motor Encoder SSI applic. offset DINT 32 rw o #x2045 Motor Encoder SSI pos. measured DINT 32 ro o #x2046 Braking Resistor UINT 16 rw o #x2047 Braking Resistor nominal power UINT 16 rw o #x2048 Braking Resistor overload time UINT 16 rw o #x2049 Braking Resistor max voltage UINT 16 rw o #x204A Braking Resistor voltage hyster. UINT 16 rw o #x204B Motor Electric Phase UINT 16 ro o #x204D Magnet Flow UINT 16 rw o #x2052 Initial Position measured DINT 32 ro o T #x2053 Final Position measured DINT 32 ro o T #x2054 Delta Position measured DINT 32 ro o T #x2055 Filter time input DT2055 144 Number of time filter input 08 08 SubIndex 001 0000 60EA SubIndex 002 0000 60EA SubIndex 003 0000 60EA SubIndex 004 0000 60EA SubIndex 005 0000 60EA SubIndex 006 0000 60EA SubIndex 007 0000 60EA SubIndex 008 0000 60EA rw o #x2057 Sync type display USINT 8 ro o #x2058 Watchdog process data ms UINT 16 ro o #x2059 Drive name DT2059 112 Number of Drive name 0C 0C SubIndex 001 00 FF SubIndex 002 00 FF SubIndex 003 00 FF SubIndex 004 00 FF SubIndex 005 00 FF SubIndex 006 00 FF SubIndex 007 00 FF SubIndex 008 00 FF SubIndex 009 00 FF SubIndex 010 00 FF SubIndex 011 00 FF SubIndex 012 00 FF rw o #x2060 Covariance Current UINT 16 rw o #x2061 Covariance Speed UINT 16 rw o #x2062 Covariance Phase UINT 16 rw o #x2063 Current Noise UINT 16 rw o #x2064 Flag Sensorless UINT 16 rw o #x2065 Starting Current UINT 16 rw o #x2066 Current Ramp UINT 16 rw o #x2067 Stationing current UINT 16 rw o #x2068 Initial Speed Max UINT 16 rw o #x2069 Speed Hysteresis UINT 16 rw o #x206A Speed Ramp UINT 16 rw o #x206B Fault Measured Speed UINT 16 rw o #x206C Initial Delay UINT 16 rw o #x2070 Function Set out 0 UINT 16 rw o #x2071 Divisor count encoder UINT 16 rw o #x2072 Generic data DT2072 272 Number of Generic data 10 10 SubIndex 001 0000 FFFF SubIndex 002 0000 FFFF SubIndex 003 0000 FFFF SubIndex 004 0000 FFFF SubIndex 005 0000 FFFF SubIndex 006 0000 FFFF SubIndex 007 0000 FFFF SubIndex 008 0000 FFFF SubIndex 009 0000 FFFF SubIndex 010 0000 FFFF SubIndex 011 0000 FFFF SubIndex 012 0000 FFFF SubIndex 013 0000 FFFF SubIndex 014 0000 FFFF SubIndex 015 0000 FFFF SubIndex 016 0000 FFFF rw o #x2073 Outputs set UINT 16 rw o R #x2074 Current max (home pos - mechanic stop) UINT 16 rw o #x2075 Time (home pos - mechanic stop) UINT 16 rw o #x2076 Setting flag 2 UINT 16 rw o #x2077 Setting I.0 USINT 8 rw o #x2078 Setting I.1 USINT 8 rw o #x2079 Setting I.5 USINT 8 rw o #x2200 Numerator Ratio INT 16 rw o R #x2201 Denominator Ratio UINT 16 rw o R #x2202 Engage mode UINT 16 rw o #x2203 Disengage mode UINT 16 rw o #x2204 Encoder mode UINT 16 rw o #x2205 Pos. Disengage Mode abs/rel UINT 16 rw o #x2206 Engage speed-accelaration UDINT 32 rw o #x2207 Engage speed-jerk UDINT 32 rw o #x2208 Engage Position-Quota UDINT 32 rw o #x2209 Disengage speed-accelaration UDINT 32 rw o #x220A Disengage speed-jerk UDINT 32 rw o #x220B Disengage position-speed UINT 16 rw o #x220C Disengage position-accelaration UINT 16 rw o #x220D Disengage position-target DINT 32 rw o #x220E Encoder pulses measured DINT 32 ro o T #x220F Encoder pulses revolution UDINT 32 rw o #x2210 Phase Shift DINT 32 rw o #x2211 Velocity(Phase Shift) UINT 16 rw o #x2212 Ramp(Phase Shift) UINT 16 rw o #x2400 Pressure flag UINT 16 rw o #x2401 Pres. Reference INT 16 rw o R #x2402 Pres. measure INT 16 ro o T #x2403 Max press measure UINT 16 rw o #x2404 Pres offset meas INT 16 rw o #x2405 Pres. Ref accel UINT 16 rw o R #x2406 Pres. Ref decel UINT 16 rw o R #x2407 Pres. Ref round UINT 16 rw o R #x2408 Pres. Ref speed INT 16 rw o R #x2409 Pres. negat speed INT 16 rw o R #x240A Pres. speed accel UINT 16 rw o R #x240B Pres. speed decel UINT 16 rw o R #x240C Pres. error set UINT 16 rw o R #x240D Pres. error time UINT 16 rw o R #x240E Pres. alarm high UINT 16 rw o R #x240F Pr. al high time UINT 16 rw o R #x2410 Pres. alarm low UINT 16 rw o R #x2411 Pr. al low time UINT 16 rw o R #x2412 Pres. pid kp UINT 16 rw o #x2413 Pres. pid ki UINT 16 rw o #x2414 Pres. pid kd UINT 16 rw o #x2415 Pres. pid exp-kp INT 16 rw o #x2416 Pres. pid exp-ki INT 16 rw o #x2417 Pres. pid exp-kd INT 16 rw o #x2418 Power limit ref UINT 16 rw o #x2419 Power limit hyst UINT 16 rw o #x241A Power limit speed UINT 16 rw o #x241B Pwr limit acc-dec UINT 16 rw o #x241E Pres. Refer-Input INT 16 ro o T #x241F Pres. Refer-Set INT 16 ro o T #x6007 Abort Connection Option Code UINT 16 rw o #x603F Error Code UINT 16 ro o T #x6040 Control Word UINT 16 rw m R #x6041 Status Word UINT 16 ro m T #x6042 Vl Target Velocity INT 16 rw m R #x6043 Vl Velocity Demand INT 16 ro m T #x6044 Vl Control Effort INT 16 ro m T #x6046 Vl Velocity Min Max Amount DT6046 80 Number of entries 02 02 Vl velocity min amount 00000000 FFFFFF7F Vl velocity max amount 00000000 FFFFFF7F rw m #x6048 Vl Velocity Acceleration DT6048 64 Number of entries 02 02 Delta speed 01000000 FFFFFFFF Delta time 0000 FFFF rw m #x6049 Vl Velocity Deceleration DT6048 64 Number of entries 02 02 Delta speed 01000000 FFFFFFFF Delta time 0000 FFFF rw m #x604C Vl Dimension Factor DT604C 80 Number of entries 02 02 Vl dimension factor numerator 01000080 FFFFFF7F Vl dimension factor denumerator 01000080 FFFFFF7F rw o #x604E Vl Velocity Reference UDINT 32 rw o #x6050 Velocity Slow Down Time UDINT 32 rw o R #x6051 Velocity Quick Stop Time UDINT 32 rw o R #x605A Quick stop option code INT 16 rw m #x605D Halt option code INT 16 rw o #x605E Fault Reaction Option Code INT 16 rw o #x6060 Modes of Operation SINT 8 rw m R #x6061 Modes of Operation Display SINT 8 ro m T #x6062 Position Demand Value User Units DINT 32 ro o T #x6063 Position actual value* DINT 32 ro o T #x6064 Position actual value DINT 32 ro m T #x6065 Following Error Window UDINT 32 rw o #x6066 Following Error Time Out UINT 16 rw o R #x6069 Velocity Sensor Actual Value DINT 32 ro m T #x606B Velocity Demand Value DINT 32 ro m T #x606C Velocity Actual Value DINT 32 ro m T #x606D Velocity Window UINT 16 rw o #x606E Velocity Window Time UINT 16 rw o #x606F Velocity Threshold UINT 16 rw o #x6070 Velocity Threshold Time UINT 16 rw o #x6071 Torque Command INT 16 rw m R #x6077 Torque Actual Value INT 16 ro o T #x607A Target Position DINT 32 rw m R #x607C Home Offset DINT 32 rw o R #x607D Software position limits DT607D 80 Number of Entries 02 02 Negative software limit position 00000080 FFFFFF7F Positive software limit position 00000080 FFFFFF7F rw o #x607E Polarity USINT 8 rw o #x6081 Profile Velocity pp-mode UDINT 32 rw m R #x6083 Profile Acceleration UDINT 32 rw m R #x6084 Profile Deceleration UDINT 32 rw o R #x6086 Motion Profile Type INT 16 rw m #x6087 Torque slope UDINT 32 rw m R #x6088 Torque profile type INT 16 rw m #x6089 Position Notation Index SINT 8 rw o #x608A Position Dimension Index SINT 8 rw o #x608B Velocity Notation Index SINT 8 rw o #x608C Velocity Dimension Index SINT 8 rw o #x608D Acceleration Notation Index SINT 8 rw o #x608E Acceleration Dimension Index SINT 8 rw o #x6093 Position Factor DT6093 80 Number of Entries 02 02 Numerator 00000000 FFFFFFFF Feed constant 01000000 FFFFFFFF rw o #x6094 Velocity Encoder Factor DT6094 80 Number of Entries 02 02 Numerator 00000000 FFFFFFFF Divisor 01000000 FFFFFFFF rw o #x6097 Acceleration Factor DT6097 80 Number of Entries 02 02 Numerator 00000000 FFFFFFFF Divisor 01000000 FFFFFFFF rw o #x6098 Homing Method SINT 8 rw m #x6099 Homing speeds DT6099 80 Number of Entries 02 02 Speed during search for switch 01000000 FFFFFFFF Speed during search for zero 01000000 FFFFFFFF rw m #x609A Homing acceleration UDINT 32 rw o #x60B1 Velocity offset DINT 32 rw o R #x60B8 Touch probe function UINT 16 rw o R #x60B9 Touch probe status UINT 16 ro o T #x60BA Touch probe pos1 pos value DINT 32 ro o T #x60BB Touch probe pos1 neg value DINT 32 ro o T #x60BC Touch probe pos2 pos value DINT 32 ro o T #x60BD Touch probe pos2 neg value DINT 32 ro o T #x60C0 IPM Interp. Submode Select INT 16 rw o #x60C1 IPM Interpolation Data Record DT60C1 48 Number of Entries 01 01 Interpolated position value 01000080 FFFFFF7F rw o #x60C2 IPM Interpolation Time Period DT60C2 32 Number of Entries 02 02 Interpolation time units 01 FF Interpolation time index FC FD rw o #x60F4 Following error actual value DINT 32 ro o T #x60FC Position Demand Value DINT 32 ro o T #x60FD Digital inputs UDINT 32 ro o T #x60FF Target Velocity DINT 32 rw o R #x6502 Supported drive modes UDINT 32 ro o T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Receive PDO 1 #x6040 0 16 Control word UINT #x60C1 1 32 Interpolated position value DINT #x607A 0 32 Target Position DINT #x6081 0 32 Profile Velocity pp-mode UDINT #x60FF 0 32 Target Velocity DINT #x1601 Receive PDO 2 #x1602 Receive PDO 3 #x1603 Receive PDO 4 #x1A00 Transmit PDO 1 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity Actual Value DINT #x1A01 Transmit PDO 2 #x1A02 Transmit PDO 3 #x1A03 Transmit PDO 4 PS #x60C2 2 FD Interpolation time index PS #x60C2 1 02 Interpolation time period PS #x6060 0 07 Modes of Operation (Interpolation) PS #x1C32 1 01 Sync Manager 2, Synchronization type (SM-Synchron) Synchron FreeRun/SM-Synchron #x0 DC Sync0 DC for synchronization #x0300 0 0 25000 100 2048 0504030c64000000000000000000 30 100001020304000f0000000000020000000011000000000000000000000000000000 41 100000104000360001014010400032000102801012003400090300120a0030000904 40 020001020300 10 1d00040a536572766f44726976650a4844542d447269766573094447464f582045564f184574686572434154204844542044726976652028436f4529 424dd6020000000000003600000028000000100000000e0000000100180000000000a002000000000000000000000000000000000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff535250020000020000020000020000070401020000000000020000262221393330231f1cffffffffffffffffffffffff1a191300f2ff1de6b51de6b51de6b54d4a471de6b51de6b55a58561de6b51de6b5393330ffffffffffffffffffc7c3c43f3e3a00f2ff8b8b8b110e0a111010aca9a89ba2a5626463727879838484535252393330ffffffffffffffffff577ab955575500f2ff241ced241ced241ced241ced241ced241ced241ced241ced241ced393330ffffffffffffeeeeed6e656455575500f2ff00f2ff00f2ff00f2ff00f2ff00f2ff00f2ff00f2ff00f2ff393330e8e7e7ffffffffffffc0bebc433b3a292320231f1d251f1c27211f2923212923202a2421292320292321292320130c09ffffffffffffffffff918a892c2725373330393330577ab9393331577ab93b3533577ab93b3533577ab92d2724888584ffffffffffffffffff7e7775231f1c3a3633577ab9393532577ab93c3533577ab93c3733577ab93e3835191310ffffffffffffffffffffffff7774721715122b28252a27242c29262b26242c27252c27252c2725302a27231e1c656361ffffffffffffffffffffffffb9b6b40a0603000000020000010000020000030000030100020000050200000000ebebeafffffffffffffffffffffffff2f2f1dddcdbe6e6e5e9e9e9efefeef4f3f3f9f7f7fefcfcffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff