[Comments] Lines=0x0 ; [FileInfo] FileName=HDT_DgFox.eds FileVersion=1 FileRevision=0 EDSVersion=4.0 Description=Servo Drive CreationTime=04:30PM CreationDate=04-18-2013 CreatedBy=HDT ModificationTime=04:30PM ModificationDate=12-12-2016 ModifiedBy=HDT [DeviceInfo] VendorName=HDT VendorNumber=0x00000289 ProductName=DgFox ProductNumber=0x000C0458 RevisionNumber=0 OrderCode=0 BaudRate_10=1 BaudRate_20=1 BaudRate_50=1 BaudRate_125=1 BaudRate_250=1 BaudRate_500=1 BaudRate_800=1 BaudRate_1000=1 SimpleBootUpSlave=1 SimpleBootUpMaster=0 Granularity=8 DynamicChannelsSupported=0 GroupMessaging=0 NrOfRXPDO=4 NrOfTXPDO=4 LSS_Supported=0 [DummyUsage] Dummy0001=0 Dummy0002=1 Dummy0003=1 Dummy0004=1 Dummy0005=1 Dummy0006=1 Dummy0007=1 [MandatoryObjects] SupportedObjects=3 1=0x1000 2=0x1001 3=0x1018 [1000] ParameterName=Device Type ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0x00020192 AccessType=ro PDOMapping=0 [1001] ParameterName=Error Register ObjectType=0x7 DataType=0x0005 LowLimit=0x00 HighLimit=0xFF DefaultValue=0x00 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------ [1018] SubNumber=4 ParameterName=Identity Object ObjectType=0x9 [1018sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0x1 HighLimit=0x03 DefaultValue=3 AccessType=ro PDOMapping=0 [1018sub1] ParameterName=Vendor Id ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000289 AccessType=ro PDOMapping=0 ; ------ OPTIONAL ------ [1018sub2] ParameterName=Product Code ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0x000C0458 AccessType=ro PDOMapping=0 ; ------ OPTIONAL ------ [1018sub3] ParameterName=Revision number ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0 AccessType=ro PDOMapping=0 ; ------ OPTIONAL ------ ;[1018sub4] ;ParameterName=Serial number ;ObjectType=0x7 ;DataType=0x0007 ;LowLimit=0x0 ;HighLimit=0xFFFFFFFF ;DefaultValue=0x0 ;AccessType=ro ;PDOMapping=0 ;------------------------------------------------------------------------------ [OptionalObjects] SupportedObjects=95 1=0x1003 2=0x1005 3=0x1008 4=0x100A 5=0x100C 6=0x100D 7=0x1010 8=0x1014 9=0x1200 10=0x1400 11=0x1401 12=0x1402 13=0x1403 14=0x1600 15=0x1601 16=0x1602 17=0x1603 18=0x1800 19=0x1801 20=0x1802 21=0x1803 22=0x1A00 23=0x1A01 24=0x1A02 25=0x1A03 26=0x6007 27=0x603F 28=0x6040 29=0x6041 30=0x6042 31=0x6043 32=0x6044 33=0x6046 34=0x6048 35=0x6049 36=0x604C 37=0x604E 38=0x6050 39=0x6051 40=0x605A 41=0x605D 42=0x605E 43=0x6060 44=0x6061 45=0x6062 46=0x6063 47=0x6064 48=0x6065 49=0x6066 50=0x6069 51=0x606B 52=0x606C 53=0x606D 54=0x606E 55=0x606F 56=0x6070 57=0x6071 58=0x6077 59=0x607A 60=0x607C 61=0x607D 62=0x607E 63=0x6081 64=0x6083 65=0x6084 66=0x6086 67=0x6087 68=0x6088 69=0x6089 70=0x608A 71=0x608B 72=0x608C 73=0x608D 74=0x608E 75=0x6093 76=0x6094 77=0x6097 78=0x6098 79=0x6099 80=0x609A 81=0x60B1 82=0x60B8 83=0x60B9 84=0x60BA 85=0x60BB 86=0x60BC 87=0x60BD 88=0x60C0 89=0x60C1 90=0x60C2 91=0x60F4 92=0x60FC 93=0x60FD 94=0x60FF 95=0x6502 ;-------------------------------------------------------------- [1003] SubNumber=0x09 ParameterName=pre-defined error field ObjectType=0x0008 [1003sub0] ParameterName=Number of Errors ObjectType=0x0007 DataType=0x05 AccessType=ro LowLimit=0x00 HighLimit=0x08 DefaultValue=0x00 PDOMapping=0 [1003sub1] ParameterName=standard error field ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub2] ParameterName=standard error field ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub3] ParameterName=standard error field ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub4] ParameterName=standard error field ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub5] ParameterName=standard error field ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub6] ParameterName=standard error field ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub7] ParameterName=standard error field ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub8] ParameterName=standard error field ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=0x00 PDOMapping=0 ;-------------------------------------------------------------- [1005] ParameterName=COB-ID SYNC ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0x00000080 DefaultValue=0x00000080 AccessType=rw PDOMapping=0 ; ------ OPTIONAL ------ [1008] ParameterName=Manufacturer Device Name ObjectType=0x7 DataType=0x0009 DefaultValue=DgFox CiA 402 servo drive AccessType=const PDOMapping=0 ; ------ OPTIONAL ------ ;[1009] ;ParameterName=Manufacturer Hardware Version ;ObjectType=0x7 ;DataType=0x0009 ;DefaultValue=HW Vers: 1.0 ;AccessType=const ;PDOMapping=0 ; ------ OPTIONAL ------ [100A] ParameterName=Manufacturer Software Version ObjectType=0x7 DataType=0x0009 DefaultValue= AccessType=const PDOMapping=0 ;-------------------------------------------------------------- [100C] ParameterName=Guard Time ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=65535 DefaultValue=0 AccessType=rw PDOMapping=0 [100D] ParameterName=Life Time Factor ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=255 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------------------------------------- [1010] SubNumber=2 ParameterName=Store Parameter Field ObjectType=0x8 [1010sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=1 PDOMapping=0 LowLimit=0x0 HighLimit=0x7F ObjFlags=1 [1010sub1] ParameterName=Save all Parameters ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=1 PDOMapping=0 ObjFlags=1 ;-------------------------------------------------------------- [1014] ParameterName=COB-ID EMCY ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x80 PDOMapping=0 LowLimit=0x00000001 HighLimit=0xFFFFFFFF ;-------------------------------------------------------------- [1200] SubNumber=3 ParameterName=Server SDO parameter ObjectType=0x0009 [1200sub0] ParameterName=Number of Entries ObjectType=0x0007 DataType=0x05 AccessType=ro LowLimit= HighLimit= DefaultValue=0x02 PDOMapping=0 [1200sub1] ParameterName=COB_ID Client->Server (rx) ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=$NODEID+0x600 PDOMapping=0 [1200sub2] ParameterName=COB_ID Server ->Client (tx) ObjectType=0x0007 DataType=0x07 AccessType=ro DefaultValue=$NODEID+0x580 PDOMapping=0 ;------------------------------------------------------------------------------- [1400] SubNumber=3 ParameterName=Receive PDO Communication Parameter ObjectType=0x9 [1400sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit= HighLimit= DefaultValue=0x02 AccessType=ro PDOMapping=0 [1400sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0xFFFFFFFF DefaultValue=$NODEID+0x200 AccessType=rw PDOMapping=0 [1400sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1401] SubNumber=3 ParameterName=Receive PDO Communication Parameter ObjectType=0x9 [1401sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit= HighLimit= DefaultValue=0x02 AccessType=ro PDOMapping=0 [1401sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0xFFFFFFFF DefaultValue=$NODEID+0x300 AccessType=rw PDOMapping=0 [1401sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1402] SubNumber=3 ParameterName=Receive PDO Communication Parameter ObjectType=0x9 [1402sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit= HighLimit= DefaultValue=0x02 AccessType=ro PDOMapping=0 [1402sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0xFFFFFFFF DefaultValue=$NODEID+0x400 AccessType=rw PDOMapping=0 [1402sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1403] SubNumber=3 ParameterName=Receive PDO Communication Parameter ObjectType=0x9 [1403sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit= HighLimit= DefaultValue=0x02 AccessType=ro PDOMapping=0 [1403sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0xFFFFFFFF DefaultValue=$NODEID+0x500 AccessType=rw PDOMapping=0 [1403sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1600] SubNumber=9 ParameterName=Receive PDO Mapping Parameter ObjectType=0x9 ;-------------------------------- ;Number of Entries [1600sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=8 DefaultValue=3 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: Controlword [1600sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0x60400010 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: vl_target_velocity [1600sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60420010 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: home_offset [1600sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x607C0020 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1600sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1600sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1600sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1600sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1600sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1601] SubNumber=9 ParameterName=Receive PDO Mapping Parameter ObjectType=0x9 ;-------------------------------- ;Number of Entries [1601sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=8 DefaultValue=2 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: Target position [1601sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0x607A0020 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: profile_velocity [1601sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60810020 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1601sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1601sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1601sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1601sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1601sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1601sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1602] SubNumber=9 ParameterName=Receive PDO Mapping Parameter ObjectType=0x9 ;-------------------------------- ; Number of Entries [1602sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=8 DefaultValue=2 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: profile_accelaration [1602sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60830020 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: profile_decelaration [1602sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60840020 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1602sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x0 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1602sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1602sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1602sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1602sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1602sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1603] SubNumber=9 ParameterName=Receive PDO Mapping Parameter ObjectType=0x9 ;-------------------------------- ; Number of Entries [1603sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=8 DefaultValue=1 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: --interpolazione,position [1603sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60C10120 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1603sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1603sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1603sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1603sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1603sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1603sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1603sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1800] SubNumber=3 ParameterName=Transmit PDO Communication Parameter ObjectType=0x9 [1800sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=2 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [1800sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0xFFFFFFFF DefaultValue=$NODEID+0x180 AccessType=rw PDOMapping=0 [1800sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 LowLimit=0x00 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ; ------ OPTIONAL ------ ; [1800sub3] ; ParameterName=Inhibit Time ; ObjectType=0x7 ; DataType=0x0006 ; LowLimit=0x0000 ; HighLimit=0xFFFF ; DefaultValue=0x0000 ; AccessType=rw ; PDOMapping=0 ; ------ OPTIONAL ------ ; [1800sub4] ; ParameterName=Compatibility Entry ; ObjectType=0x7 ; DataType=0x0005 ; LowLimit=0x00 ; HighLimit=0xFF ; DefaultValue=0 ; AccessType=rw ; PDOMapping=0 ; ------ OPTIONAL ------ ; [1800sub5] ; ParameterName=Event Timer ; ObjectType=0x7 ; DataType=0x0006 ; LowLimit=0x0 ; HighLimit=0xFFFF ; DefaultValue=0x0 ; AccessType=rw ; PDOMapping=0 ;------------------------------------------------------------------------------- [1801] SubNumber=3 ParameterName=Transmit PDO Communication Parameter ObjectType=0x9 [1801sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=2 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [1801sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0xFFFFFFFF DefaultValue=$NODEID+0x280 AccessType=rw PDOMapping=0 [1801sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 LowLimit=0x00 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ; ------ OPTIONAL ------ ; [1801sub3] ; ParameterName=Inhibit Time ; ObjectType=0x7 ; DataType=0x0006 ; LowLimit=0x0000 ; HighLimit=0xFFFF ; DefaultValue=0x0000 ; AccessType=rw ; PDOMapping=0 ; ------ OPTIONAL ------ ; [1801sub4] ; ParameterName=Compatibility Entry ; ObjectType=0x7 ; DataType=0x0005 ; LowLimit=0x00 ; HighLimit=0xFF ; DefaultValue=0 ; AccessType=rw ; PDOMapping=0 ; ------ OPTIONAL ------ ; [1801sub5] ; ParameterName=Event Timer ; ObjectType=0x7 ; DataType=0x0006 ; LowLimit=0x0000 ; HighLimit=0xFFFF ; DefaultValue=0x0 ; AccessType=rw ; PDOMapping=0 ;------------------------------------------------------------------------------- [1802] SubNumber=3 ParameterName=Transmit PDO Communication Parameter ObjectType=0x9 [1802sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=2 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [1802sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0xFFFFFFFF DefaultValue=$NODEID+0x380 AccessType=rw PDOMapping=0 [1802sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 LowLimit=0x00 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ; ------ OPTIONAL ------ ; [1802sub3] ; ParameterName=Inhibit Time ; ObjectType=0x7 ; DataType=0x0006 ; LowLimit=0x0000 ; HighLimit=0xFFFF ; DefaultValue=0x0000 ; AccessType=rw ; PDOMapping=0 ; ------ OPTIONAL ------ ; [1802sub4] ; ParameterName=Compatibility Entry ; ObjectType=0x7 ; DataType=0x0005 ; LowLimit=0x00 ; HighLimit=0xFF ; DefaultValue=0 ; AccessType=rw ; PDOMapping=0 ; ------ OPTIONAL ------ ; [1802sub5] ; ParameterName=Event Timer ; ObjectType=0x7 ; DataType=0x0006 ; LowLimit=0x0000 ; HighLimit=0xFFFF ; DefaultValue=0x0 ; AccessType=rw ; PDOMapping=0 ;------------------------------------------------------------------------------- [1803] SubNumber=3 ParameterName=Transmit PDO Communication Parameter ObjectType=0x9 [1803sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=2 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [1803sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 LowLimit=0x00000080 HighLimit=0xFFFFFFFF DefaultValue=$NODEID+0x480 AccessType=rw PDOMapping=0 [1803sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 LowLimit=0x00 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ; ------ OPTIONAL ------ ; [1803sub3] ; ParameterName=Inhibit Time ; ObjectType=0x7 ; DataType=0x0006 ; LowLimit=0x0000 ; HighLimit=0xFFFF ; DefaultValue=0x0000 ; AccessType=rw ; PDOMapping=0 ; ------ OPTIONAL ------ ; [1803sub4] ; ParameterName=Compatibility Entry ; ObjectType=0x7 ; DataType=0x0005 ; LowLimit=0x00 ; HighLimit=0xFF ; DefaultValue=0 ; AccessType=rw ; PDOMapping=0 ; ------ OPTIONAL ------ ; [1803sub5] ; ParameterName=Event Timer ; ObjectType=0x7 ; DataType=0x0006 ; LowLimit=0x0000 ; HighLimit=0xFFFF ; DefaultValue=0x0 ; AccessType=rw ; PDOMapping=0 ;------------------------------------------------------------------------------- [1A00] SubNumber=9 ParameterName=Transmit PDO Mapping Parameter ObjectType=0x9 ;-------------------------------- ; default: Number of Entries [1A00sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=8 DefaultValue=3 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: status word [1A00sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0x60410010 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: modes_of_operation [1A00sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60610008 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: error_register [1A00sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x10010008 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A00sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A00sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A00sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A00sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A00sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1A01] SubNumber=9 ParameterName=Transmit PDO Mapping Parameter ObjectType=0x9 ;-------------------------------- ; default: Number of Entries [1A01sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=8 DefaultValue=2 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: pos_demand_value [1A01sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0x60620020 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: pos_actual_value [1A01sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60640020 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A01sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A01sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A01sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A01sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A01sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A01sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1A02] SubNumber=9 ParameterName=Transmit PDO Mapping Parameter ObjectType=0x9 ;-------------------------------- ; default: ------- [1A02sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=8 DefaultValue=2 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: vl_velocity_demand [1A02sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0x60430010 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: vl_control_effort [1A02sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60440010 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A02sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A02sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A02sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A02sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A02sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A02sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [1A03] SubNumber=9 ParameterName=Transmit PDO Mapping Parameter ObjectType=0x9 ;-------------------------------- ; default: Number of Entries [1A03sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=8 DefaultValue=1 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: digital_inputs [1A03sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0x60FD0020 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A03sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A03sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A03sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A03sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A03sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A03sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;-------------------------------- ; default: ------- [1A03sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x00000000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- ; ; D S 4 0 2 ; ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- [6007] ParameterName=Abort Connection Option Code ObjectType=0x7 DataType=0x0003 LowLimit=0 HighLimit=3 DefaultValue=1 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [603F] ParameterName=Error Code ObjectType=0x7 DataType=0x0003 LowLimit=0x8000 HighLimit=0x7FFF DefaultValue=0x0000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6040] ParameterName=Controlword ObjectType=0x7 DataType=0x0006 LowLimit=0x0000 HighLimit=0xFFFF DefaultValue=0 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6041] ParameterName=Statusword ObjectType=0x7 DataType=0x0006 LowLimit=0x0000 HighLimit=0xFFFF DefaultValue=0x0240 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6042] ParameterName=Vl Target Velocity ObjectType=0x7 DataType=0x0003 LowLimit=-32768 HighLimit=32767 DefaultValue=0 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6043] ParameterName=Vl Velocity Demand ObjectType=0x7 DataType=0x0003 LowLimit=-32768 HighLimit=32767 DefaultValue=0x0000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6044] ParameterName=Vl Control Effort ObjectType=0x7 DataType=0x0003 LowLimit=-32768 HighLimit=32767 DefaultValue=0x0000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6046] SubNumber=3 ParameterName=Vl Velocity Min Max Amount ObjectType=0x8 [6046sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0x00000002 HighLimit=0x00000002 DefaultValue=0x00000002 AccessType=ro PDOMapping=0 [6046sub1] ParameterName=Vl Velocity Min Amount ObjectType=0x7 DataType=0x0007 LowLimit=0 HighLimit=2147483647 DefaultValue=0 AccessType=rw PDOMapping=0 [6046sub2] ParameterName=Vl Velocity Max Amount ObjectType=0x7 DataType=0x0007 LowLimit=0 HighLimit=2147483647 DefaultValue=5000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6048] SubNumber=3 ParameterName=Vl Velocity Acceleration ObjectType=0x9 [6048sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=0xFF DefaultValue=0x02 AccessType=ro PDOMapping=0 [6048sub1] ParameterName=delta_speed ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=1000 AccessType=rww PDOMapping=1 [6048sub2] ParameterName=delta_time ObjectType=0x7 DataType=0x0006 LowLimit=0x0 HighLimit=0xFFFF DefaultValue=1 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6049] SubNumber=3 ParameterName=Vl Velocity Deceleration ObjectType=0x9 [6049sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=0xFF DefaultValue=0x02 AccessType=ro PDOMapping=0 [6049sub1] ParameterName=delta_speed ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=1000 AccessType=rww PDOMapping=1 [6049sub2] ParameterName=delta_time ObjectType=0x7 DataType=0x0006 LowLimit=0x0 HighLimit=0xFFFF DefaultValue=1 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [604C] SubNumber=3 ParameterName=Vl dimension factor ObjectType=0x8 [604Csub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=1 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [604Csub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=1 AccessType=rw PDOMapping=0 [604Csub2] ParameterName=Denominator ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=1 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [604E] ParameterName=vl velocity reference ObjectType=0x7 DataType=0x0007 LowLimit=0 HighLimit=0x7FFFFFFF DefaultValue=3000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6050] ParameterName=Velocity Slow Down Time ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=60000 DefaultValue=1000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6051] ParameterName=Velocity Quick Stop Time ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=60000 DefaultValue=1000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [605A] ParameterName=Quick_stop_option_code ObjectType=0x7 DataType=0x0003 LowLimit=0 HighLimit=2 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [605D] ParameterName=Halt Option Code ObjectType=0x7 DataType=0x0003 LowLimit=0 HighLimit=2 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [605E] ParameterName=Fault Reaction Option Code ObjectType=7 DataType=0x0003 PDOMapping=0 LowLimit=0 HighLimit=3 DefaultValue=0 AccessType=rw ;------------------------------------------------------------------------------- [6060] ParameterName=Modes of Operation ObjectType=0x7 DataType=0x0002 LowLimit=-128 HighLimit=127 DefaultValue=2 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6061] ParameterName=Modes of Operation Display ObjectType=0x7 DataType=0x0002 LowLimit=-128 HighLimit=127 DefaultValue=2 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6062] ParameterName=Position Demand Value in User Units ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0x00000000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6063] ParameterName=position actual value ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0x0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6064] ParameterName=position actual value ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6065] ParameterName=Following Error Window ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=910 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6066] ParameterName=Following Error Time Out ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=10000 DefaultValue=200 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [607A] ParameterName=Target Position ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0x00000000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [607C] ParameterName=Home Offset ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0x00000000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [607D] ParameterName=Software Position Limit ObjectType=0x8 ;DataType=0x0004 SubNumber=3 ;------------------------------------------------------------------------------- [607Dsub0] ParameterName=Number of Elements ObjectType=0x7 DataType=0x0005 LowLimit=2 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [607Dsub1] ParameterName=Min Software Position Limit ObjectType=0x7 DataType=0x0004 LowLimit=-2147483648 HighLimit=2147483647 DefaultValue=-2147483648 AccessType=rw PDOMapping=0 [607Dsub2] ParameterName=Max Software Position Limit ObjectType=0x7 DataType=0x0004 LowLimit=-2147483648 HighLimit=2147483647 DefaultValue=2147483647 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [607E] ParameterName=Polarity ObjectType=7 DataType=0x0005 LowLimit= HighLimit= DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6081] ParameterName=Profile Velocity in pp-mode ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=0xFFFFFFFF DefaultValue=1000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6083] ParameterName=Profile Acceleration ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=0xFFFFFFFF DefaultValue=1000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6084] ParameterName=Profile Deceleration ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=0xFFFFFFFF DefaultValue=1000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6086] ParameterName=Motion Profile Type ObjectType=0x7 DataType=0x0003 LowLimit=0 HighLimit=3 DefaultValue=3 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6089] ParameterName=Position Notation Index ObjectType=7 AccessType=rw DataType=0x0002 PDOMapping=0 LowLimit=0 HighLimit=0 DefaultValue=0 [608A] ParameterName=Position Dimension Index ObjectType=7 AccessType=rw DataType=0x0005 PDOMapping=0 LowLimit=0xAC HighLimit=0xAC DefaultValue=0xAC ;------------------------------------------------------------------------------ [608B] ParameterName=Velocity Notation Index ObjectType=7 AccessType=rw DataType=0x0002 PDOMapping=0 LowLimit=0 HighLimit=0 DefaultValue=0 [608C] ParameterName=Velocity Dimension Index ObjectType=7 AccessType=rw DataType=0x0005 PDOMapping=0 LowLimit=0xA4 HighLimit=0xA4 DefaultValue=0xA4 ;------------------------------------------------------------------------------ [608D] ParameterName=Acceleration Notation Index ObjectType=7 AccessType=rw DataType=0x0002 PDOMapping=0 LowLimit=0 HighLimit=0 DefaultValue=0 [608E] ParameterName=Acceleration Dimension Index ObjectType=7 AccessType=rw DataType=0x0005 PDOMapping=0 LowLimit=0xA3 HighLimit=0xA3 DefaultValue=0xA3 ;------------------------------------------------------------------------------ [6093] SubNumber=3 ParameterName=Position Factor ObjectType=0x8 [6093sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [6093sub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=65536 AccessType=rww PDOMapping=0 [6093sub2] ParameterName=Feed Costants ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=0xFFFFFFFF DefaultValue=65536 AccessType=rww PDOMapping=0 ;------------------------------------------------------------------------------- [6094] SubNumber=3 ParameterName=Velocity Encoder Factor ObjectType=0x8 [6094sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [6094sub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=65536 AccessType=rww PDOMapping=0 [6094sub2] ParameterName=Divisor ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=0xFFFFFFFF DefaultValue=60 AccessType=rww PDOMapping=0 ;------------------------------------------------------------------------------- [6097] SubNumber=3 ParameterName=Acceleration Factor ObjectType=0x8 [6097sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [6097sub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=65536 AccessType=rww PDOMapping=0 [6097sub2] ParameterName=Divisor ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=0xFFFFFFFF DefaultValue=60 AccessType=rww PDOMapping=0 ;------------------------------------------------------------------------------- [6098] ParameterName=Homing Method ObjectType=0x7 DataType=0x0002 LowLimit=0 HighLimit=35 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6099] SubNumber=3 ParameterName=Homing Speeds ObjectType=0x8 [6099sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [6099sub1] ParameterName=Fast Homing Speed ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=100 AccessType=rww PDOMapping=1 [6099sub2] ParameterName=Slow Homing Speed ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=10 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [609A] ParameterName=Homing acceleration ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=0xFFFFFFFF DefaultValue=1000 AccessType=rww PDOMapping=0 ;------------------------------------------------------------------------------- [60B1] ParameterName=Velocity offset ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0x00000000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [60B8] ParameterName=Touch probe function ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [60B9] ParameterName=Touch probe status ObjectType=0x7 DataType=0x0006 LowLimit=0x0000 HighLimit=0xFFFF DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [60BA] ParameterName=Touch probe pos1 pos value ObjectType=0x7 DataType=0x0004 LowLimit=0x80000000 HighLimit=0x7FFFFFFF DefaultValue=0x00000000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [60BB] ParameterName=Touch probe pos1 neg value ObjectType=0x7 DataType=0x0004 LowLimit=0x80000000 HighLimit=0x7FFFFFFF DefaultValue=0x00000000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [60BC] ParameterName=Touch probe pos2 pos value ObjectType=0x7 DataType=0x0004 LowLimit=0x80000000 HighLimit=0x7FFFFFFF DefaultValue=0x00000000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [60BD] ParameterName=Touch probe pos2 neg value ObjectType=0x7 DataType=0x0004 LowLimit=0x80000000 HighLimit=0x7FFFFFFF DefaultValue=0x00000000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [60C0] ParameterName=IPM Interpolation Submode Select ObjectType=0x7 DataType=0x0003 LowLimit=-1 HighLimit=0 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [60C1] SubNumber=3 ParameterName=IPM Interpolation Data Record ObjectType=0x9 [60C1sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=2 DefaultValue=2 AccessType=ro PDOMapping=0 [60C1sub1] ParameterName=IPM Position Set Value ObjectType=0x7 DataType=0x0004 LowLimit=-2147483648 HighLimit=2147483647 DefaultValue=0x0 AccessType=rww PDOMapping=1 [60C1sub2] ParameterName=IPM Velocity Set Value ObjectType=0x7 DataType=0x0004 LowLimit=-3000 HighLimit=3000 DefaultValue=0 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [60C2] SubNumber=3 ParameterName=IPM Interpolation Time Period ObjectType=0x9 [60C2sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=0xFF DefaultValue=0x02 AccessType=ro PDOMapping=0 [60C2sub1] ParameterName=IP Time Units ObjectType=0x7 DataType=0x0005 LowLimit=0x0 HighLimit=0xFF DefaultValue=2 AccessType=rw PDOMapping=0 [60C2sub2] ParameterName=IP Time Index ObjectType=0x7 DataType=0x0002 LowLimit=-3 HighLimit=-3 DefaultValue=-3 AccessType=ro PDOMapping=0 ;------------------------------------------------------------------------------- [60F4] ParameterName=Following error actual value ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [60FC] ParameterName=Position Demand Value ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0x00000000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [60FD] ParameterName=Digital inputs ObjectType=0x7 DataType=0x0007 LowLimit=0x00000000 HighLimit=0xFFFFFFFF DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [60FF] ParameterName=Target Velocity ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- ; Profile Velocity ;------------------------------------------------------------------------------- [6069] ParameterName=Velocity Sensor Actual Value ObjectType=0x7 DataType=0x0004 LowLimit=0x80000000 HighLimit=0x7FFFFFFF DefaultValue=0x00000000 AccessType=ro PDOMapping=1 [606B] ParameterName=Velocity Demand Value ObjectType=0x7 DataType=0x0004 LowLimit=0x80000000 HighLimit=0x7FFFFFFF DefaultValue=0x00000000 AccessType=ro PDOMapping=1 [606C] ParameterName=Velocity Actual Value ObjectType=0x7 DataType=0x0004 LowLimit=0x80000000 HighLimit=0x7FFFFFFF DefaultValue=0x00000000 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [606D] ParameterName=Velocity Window ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=20 AccessType=rw PDOMapping=0 [606E] ParameterName=Velocity Window Time ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=20000 DefaultValue=500 AccessType=rw PDOMapping=0 [606F] ParameterName=Velocity Threshold ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=20 AccessType=rw PDOMapping=0 [6070] ParameterName=Velocity Threshold Time ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=20000 DefaultValue=500 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6071] ParameterName=Torque Command ObjectType=7 DataType=0x0003 LowLimit=-2500 HighLimit=2500 DefaultValue=0 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [6077] ParameterName=Torque Actual Value ObjectType=0x7 DataType=0x0003 LowLimit=-2500 HighLimit=2500 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [6087] ParameterName=Torque slope ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=25000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6088] ParameterName=Torque profile type ObjectType=0x7 DataType=0x0003 LowLimit=-1 HighLimit=0 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [6502] ParameterName=Supported drive modes ObjectType=0x7 DataType=0x0007 LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0x006F AccessType=ro PDOMapping=0 ;=============================================================================== ;=============================================================================== ;=============================================================================== [ManufacturerObjects] SupportedObjects=129 1=0x2000 2=0x2001 3=0x2002 4=0x2003 5=0x2004 6=0x2005 7=0x2006 8=0x2007 9=0x2008 10=0x2009 11=0x200A 12=0x200B 13=0x200C 14=0x200D 15=0x200E 16=0x200F 17=0x2011 18=0x2012 19=0x2013 20=0x2014 21=0x2015 22=0x2016 23=0x2017 24=0x2018 25=0x2019 26=0x201A 27=0x201B 28=0x201D 29=0x2020 30=0x2021 31=0x2030 32=0x2031 33=0x2032 34=0x2033 35=0x2034 36=0x2035 37=0x2036 38=0x2037 39=0x2038 40=0x2039 41=0x203A 42=0x203B 43=0x203C 44=0x203E 45=0x203F 46=0x2040 47=0x2041 48=0x2042 49=0x2043 50=0x2044 51=0x2045 52=0x204B ;=0x204C ;=0x2050 ;=0x2051 53=0x2052 54=0x2053 55=0x2054 56=0x2055 57=0x2059 58=0x2060 59=0x2061 60=0x2062 61=0x2063 62=0x2064 63=0x2065 64=0x2066 65=0x2067 66=0x2068 67=0x2069 68=0x206A 69=0x206B 70=0x206C 71=0x2070 72=0x2071 73=0x2072 74=0x2073 75=0x2074 76=0x2075 77=0x2076 78=0x2077 79=0x2078 80=0x2079 ;------------------------------------------------------------------------------- ; GEARBOX 81=0x2200 82=0x2201 83=0x2202 84=0x2203 85=0x2204 86=0x2205 87=0x2206 88=0x2207 89=0x2208 90=0x2209 91=0x220A 92=0x220B 93=0x220C 94=0x220D 95=0x220E 96=0x220F 97=0x2210 98=0x2211 99=0x2212 ;------------------------------------------------------------------------------- ; PRESS 100=0x2400 101=0x2401 102=0x2402 103=0x2403 104=0x2404 105=0x2405 106=0x2406 107=0x2407 108=0x2408 109=0x2409 110=0x240A 111=0x240B 112=0x240C 113=0x240D 114=0x240E 115=0x240F 116=0x2410 117=0x2411 118=0x2412 119=0x2413 120=0x2414 121=0x2415 122=0x2416 123=0x2417 124=0x2418 125=0x2419 126=0x241A 127=0x241B 128=0x241E 129=0x241F ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- ;Function Set out 2 (Solo TomCat) ;66=0x203C ;------------------------------------------------------------------------------- ; DRIVE BRAKING RESISTOR (Solo TomCat) ;67=0x2046 ;68=0x2047 ;69=0x2048 ;70=0x2049 ;71=0x204A ;=============================================================================== ;------------------------------------------------------------------------------- [2000] ParameterName=Motor Nominal Velocity ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=20000 DefaultValue=3000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2001] ParameterName=Motor Nominal Current ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=100 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2002] ParameterName=Motor Peak Current ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=200 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2003] ParameterName=Motor Polor Couples ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=18 DefaultValue=3 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2004] ParameterName=Feedback sensor offset ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=36000 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2005] ParameterName=Velocity Limit ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=20000 DefaultValue=5000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2006] ParameterName=Current Limit ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=3000 DefaultValue=2000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2007] ParameterName=Position Kp Regulator ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=4000 DefaultValue=200 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2008] ParameterName=Velocity Kp Regulator ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=3000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2009] ParameterName=Velocity Ki Regulator ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=3000 DefaultValue=300 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [200A] ParameterName=Current Kp Regulator ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=2000 DefaultValue=1200 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [200B] ParameterName=Current Ki Regulator ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=2000 DefaultValue=200 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [200C] ParameterName=Drive setting flag ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [200D] ParameterName=Notch Frequency ObjectType=7 DataType=0x0006 LowLimit=50 HighLimit=400 DefaultValue=220 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [200E] ParameterName=Notch Band ObjectType=7 DataType=0x0006 LowLimit=8000 HighLimit=9900 DefaultValue=9500 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [200F] ParameterName=Drive allarms mode ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0x000A AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2011] ParameterName=Jerk Posizione ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=2147483647 DefaultValue=100000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2012] ParameterName=Corrente Misurata ObjectType=0x7 DataType=0x0003 LowLimit=-32767 HighLimit=32767 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [2013] ParameterName=Time Brake On ObjectType=7 DataType=0x0006 LowLimit=10 HighLimit=2000 DefaultValue=200 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2014] ParameterName=Time Brake Off ObjectType=7 DataType=0x0006 LowLimit=10 HighLimit=2000 DefaultValue=200 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2015] ParameterName=Motor Brake Decel ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2016] ParameterName=Velocity Brake On ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=500 DefaultValue=4 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2017] ParameterName=Speed threshold ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=1500 DefaultValue=10 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2018] ParameterName=Speed threshold time ObjectType=7 DataType=0x0006 LowLimit=10 HighLimit=10000 DefaultValue=200 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2019] ParameterName=Relative Position input 1 ObjectType=0x7 DataType=0x0007 LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=65536 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [201A] ParameterName=Position Flag ObjectType=7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [201B] ParameterName=Input setting ObjectType=7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0x5A AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [201D] ParameterName=Fault torque limit ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=3000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2020] ParameterName=Extern AD-Converter ObjectType=0x7 DataType=0x0003 LowLimit=-32768 HighLimit=32767 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [2021] ParameterName=Position smooth time ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=65535 DefaultValue=100 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2030] ParameterName=Type Motor ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=2 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2031] ParameterName=Motor Flag ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2032] ParameterName=Motor Encoder Impulses ObjectType=0x7 DataType=0x0007 LowLimit=100 HighLimit=16777216 DefaultValue=1024 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2033] ParameterName=Motor Stall Current ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=100 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2034] ParameterName=Motor Nominal Voltage ObjectType=7 DataType=0x0006 LowLimit=10 HighLimit=120 DefaultValue=60 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2035] ParameterName=Motor phase resistor ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=25000 DefaultValue=20 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2036] ParameterName=Motor synchrony inductance ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=65000 DefaultValue=2 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2037] ParameterName=Motor I2t Time ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=3000 DefaultValue=120 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2038] ParameterName=Speed Kd ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=1000 DefaultValue=20 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2039] ParameterName=Current Kd ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=1000 DefaultValue=20 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [203A] ParameterName=Time Filter Iq ObjectType=7 DataType=0x0006 LowLimit=1 HighLimit=3000 DefaultValue=20 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [203B] ParameterName=Function Set out 1 ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=5 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [203C] ParameterName=Function Set out 2 ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=5 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [203E] ParameterName=Output Speed at 1KHz ObjectType=7 DataType=0x0006 LowLimit=100 HighLimit=4000 DefaultValue=3000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [203F] ParameterName=Motor Encoder autophasing ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=0 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2040] ParameterName=Motor Feedback type ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=3 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2041] ParameterName=Motor Bit encoder SSI single-turn ObjectType=7 DataType=0x0006 LowLimit=4 HighLimit=31 DefaultValue=12 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2042] ParameterName=Motor Bit encoder SSI multi-turn ObjectType=7 DataType=0x0006 LowLimit=0 HighLimit=31 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2043] ParameterName=Motor linear pole pitch ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=1000000 DefaultValue=10000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2044] ParameterName=Motor encoder SSI application offset ObjectType=0x7 DataType=0x0004 LowLimit=-2147483648 HighLimit=2147483647 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2045] ParameterName=Motor encoder SSI sensor position measured ObjectType=0x7 DataType=0x0004 LowLimit=-2147483648 HighLimit=2147483647 DefaultValue=0 AccessType=ro PDOMapping=0 ;------------------------------------------------------------------------------- [204B] ParameterName=Motor electric phase ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=ro PDOMapping=0 ;------------------------------------------------------------------------------- ; Da implemtare ;[204C] ;ParameterName=Can flag setting ;ObjectType=0x7 ;DataType=0x0006 ;LowLimit=0 ;HighLimit=0xFFFF ;DefaultValue=0 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ; Da implemtare ;[2050] ;ParameterName=Velocity fault windows ;ObjectType=0x7 ;DataType=0x0007 ;LowLimit=0 ;HighLimit=0x7FFFFFFF ;DefaultValue=20 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ; Da implemtare ;[2051] ;ParameterName=Velocity fault time ;ObjectType=0x7 ;DataType=0x0006 ;LowLimit=1 ;HighLimit=60000 ;DefaultValue=200 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- [2052] ParameterName=Initial position measured ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [2053] ParameterName=Final position measured ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [2054] ParameterName=Delta position measured ObjectType=0x7 DataType=0x0004 LowLimit=-2147483647 HighLimit=2147483647 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- [2055] SubNumber=9 ParameterName=Filter Inputs ObjectType=0x9 ;-------------------------------- ;Number of Entries [2055sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=8 HighLimit=8 DefaultValue=8 AccessType=ro PDOMapping=0 ;-------------------------------- [2055sub1] ParameterName=Filter time input 0 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2055sub2] ParameterName=Filter time input 1 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2055sub3] ParameterName=Filter time input 2 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2055sub4] ParameterName=Filter time input 3 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2055sub5] ParameterName=Filter time input 4 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2055sub6] ParameterName=Filter time input 5 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2055sub7] ParameterName=Filter time input 6 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2055sub8] ParameterName=Filter time input 7 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=60000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- ;------------------------------------------------------------------------------- [2059] SubNumber=13 ParameterName=Drive name ObjectType=0x9 ;-------------------------------- ;Number of Entries [2059sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=12 HighLimit=12 DefaultValue=12 AccessType=ro PDOMapping=0 ;-------------------------------- [2059sub1] ParameterName=Drive name byte 0 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059sub2] ParameterName=Drive name byte 1 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059sub3] ParameterName=Drive name byte 2 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059sub4] ParameterName=Drive name byte 3 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059sub5] ParameterName=Drive name byte 4 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059sub6] ParameterName=Drive name byte 5 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059sub7] ParameterName=Drive name byte 6 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059sub8] ParameterName=Drive name byte 7 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059sub9] ParameterName=Drive name byte 8 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059subA] ParameterName=Drive name byte 9 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059subB] ParameterName=Drive name byte 10 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2059subC] ParameterName=Drive name byte 11 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=0xFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- ;=============================================================================== ;-------------------------------- [2060] ParameterName=Covariance Current ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=65000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;-------------------------------- [2061] ParameterName=Covariance Speed ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=65000 DefaultValue=100 AccessType=rw PDOMapping=0 ;-------------------------------- [2062] ParameterName=Covariance Phase ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=65000 DefaultValue=80 AccessType=rw PDOMapping=0 ;-------------------------------- [2063] ParameterName=Current Noise ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=65000 DefaultValue=100 AccessType=rw PDOMapping=0 ;-------------------------------- [2064] ParameterName=Flag Sensorless ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=65000 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2065] ParameterName=Starting Current ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=2000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;-------------------------------- [2066] ParameterName=Current Ramp ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=400 AccessType=rw PDOMapping=0 ;-------------------------------- [2067] ParameterName=Stationing current ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=2000 DefaultValue=500 AccessType=rw PDOMapping=0 ;-------------------------------- [2068] ParameterName=Initial Speed Max ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=10000 DefaultValue=100 AccessType=rw PDOMapping=0 ;-------------------------------- [2069] ParameterName=Speed Hysteresis ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=1000 DefaultValue=20 AccessType=rw PDOMapping=0 ;-------------------------------- [206A] ParameterName=Speed Ramp ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;-------------------------------- [206B] ParameterName=Fault Measured Speed ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=65000 DefaultValue=2000 AccessType=rw PDOMapping=0 ;-------------------------------- [206C] ParameterName=Initial Delay ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=10000 DefaultValue=200 AccessType=rw PDOMapping=0 ;-------------------------------- [2070] ParameterName=Function Set out 0 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=6 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2071] ParameterName=Divisor count encoder ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=9 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- ;=============================================================================== [2072] SubNumber=17 ParameterName=Generic data ObjectType=0x9 ;-------------------------------- ;Number of Entries [2072sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 LowLimit=16 HighLimit=16 DefaultValue=16 AccessType=ro PDOMapping=0 ;-------------------------------- [2072sub1] ParameterName=Generic data word 0 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub2] ParameterName=Generic data word 1 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub3] ParameterName=Generic data word 2 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub4] ParameterName=Generic data word 3 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub5] ParameterName=Generic data word 4 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub6] ParameterName=Generic data word 5 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub7] ParameterName=Generic data word 6 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub8] ParameterName=Generic data word 7 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub9] ParameterName=Generic data word 8 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072subA] ParameterName=Generic data word 9 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072subB] ParameterName=Generic data word 10 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072subC] ParameterName=Generic data word 11 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072subD] ParameterName=Generic data word 12 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072subE] ParameterName=Generic data word 13 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072subF] ParameterName=Generic data word 14 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2072sub10] ParameterName=Generic data word 15 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2073] ParameterName=Outputs set ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rww PDOMapping=1 ;-------------------------------- [2074] ParameterName=Current max (home pos - mechanic stop) ObjectType=0x7 DataType=0x0006 LowLimit=10 HighLimit=950 DefaultValue=700 AccessType=rw PDOMapping=0 ;-------------------------------- [2075] ParameterName=Time (home pos - mechanic stop) ObjectType=0x7 DataType=0x0006 LowLimit=10 HighLimit=10000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;-------------------------------- [2076] ParameterName=Setting flag 2 ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2077] ParameterName=Setting I.0 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=3 DefaultValue=0 AccessType=rw PDOMapping=0 ;-------------------------------- [2078] ParameterName=Setting I.1 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=5 DefaultValue=1 AccessType=rw PDOMapping=0 ;-------------------------------- [2079] ParameterName=Setting I.5 ObjectType=0x7 DataType=0x0005 LowLimit=0 HighLimit=5 DefaultValue=2 AccessType=rw PDOMapping=0 ;=============================================================================== ;=============================================================================== ;=============================================================================== ; ; GEAR BOX (Asse elettrico) ; ;------------------------------------------------------------------------------- [2200] ParameterName=Numerator Ratio ObjectType=0x7 DataType=0x0003 LowLimit=-32768 HighLimit=32767 DefaultValue=1 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2201] ParameterName=Denominator Ratio ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=65535 DefaultValue=1 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2202] ParameterName=Engage mode ObjectType=0x7 DataType=0x0002 LowLimit=0 HighLimit=2 DefaultValue=1 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2203] ParameterName=Disengage mode ObjectType=0x7 DataType=0x0002 LowLimit=0 HighLimit=2 DefaultValue=1 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2204] ParameterName=Encoder mode ObjectType=0x7 DataType=0x0002 LowLimit=0 HighLimit=2 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2205] ParameterName=Pos. Disengage Mode absolute/relative ObjectType=0x7 DataType=0x0002 LowLimit=0 HighLimit=1 DefaultValue=1 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2206] ParameterName=Engage speed-accelaration ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=6000000 DefaultValue=5000 AccessType=rw PDOMapping=0 [2207] ParameterName=Engage speed-jerk ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=6000000 DefaultValue=30000 AccessType=rw PDOMapping=0 [2208] ParameterName=Engage Position-Quota ObjectType=0x7 DataType=0x0004 LowLimit=0 HighLimit=2147483647 DefaultValue=65536 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2209] ParameterName=Disengage speed-accelaration ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=6000000 DefaultValue=5000 AccessType=rw PDOMapping=0 [220A] ParameterName=Disengage speed-jerk ObjectType=0x7 DataType=0x0007 LowLimit=1 HighLimit=6000000 DefaultValue=30000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [220B] ParameterName=Disengage position-speed ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=10000 DefaultValue=1000 AccessType=rw PDOMapping=0 [220C] ParameterName=Disengage position-accelaration ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=2000 AccessType=rw PDOMapping=0 [220D] ParameterName=Disengage position-Target ObjectType=0x7 DataType=0x0004 LowLimit=-2147483648 HighLimit=2147483647 DefaultValue=65536 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [220E] ParameterName=Encoder pulses measured ObjectType=0x7 DataType=0x0004 LowLimit=-2147483648 HighLimit=2147483647 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [220F] ParameterName=Encoder pulses revolution ObjectType=0x7 DataType=0x0007 LowLimit=100 HighLimit=65536 DefaultValue=1024 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2210] ParameterName=GearBox pulse phase shift ObjectType=0x7 DataType=0x0004 LowLimit=-16777215 HighLimit=16777215 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2211] ParameterName=GearBox speed phase shift ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=200 DefaultValue=50 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2212] ParameterName=GearBox accelaration phase shift ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=100 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- ;=============================================================================== ;=============================================================================== ; ; FUNCTION SET OUT 2 (Solo TomCat) ;------------------------------------------------------------------------------- ;[203C] ;ParameterName=Function Set out 2 ;ObjectType=7 ;DataType=0x0006 ;LowLimit=0 ;HighLimit=6 ;DefaultValue=0 ;AccessType=rw ;PDOMapping=0 ;=============================================================================== ;=============================================================================== ; ; DRIVE BRAKING RESISTOR (Solo TomCat) ; ;------------------------------------------------------------------------------- ;[2046] ;ParameterName=Drive braking resistor ;ObjectType=7 ;DataType=0x0006 ;LowLimit=10 ;HighLimit=10000 ;DefaultValue=100 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ;[2047] ;ParameterName=Drive braking resistor nominal power ;ObjectType=7 ;DataType=0x0006 ;LowLimit=30 ;HighLimit=10000 ;DefaultValue=90 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ;[2048] ;ParameterName=Drive braking resistor overload time ;ObjectType=7 ;DataType=0x0006 ;LowLimit=1 ;HighLimit=255 ;DefaultValue=1 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ;[2049] ;ParameterName=Drive braking resistor max braking voltage ;ObjectType=7 ;DataType=0x0006 ;LowLimit=15 ;HighLimit=960 ;DefaultValue=805 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ;[204A] ;ParameterName=Drive braking resistor max braking voltage hysteresis ;ObjectType=7 ;DataType=0x0006 ;LowLimit=1 ;HighLimit=125 ;DefaultValue=60 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ;=============================================================================== ;------------------------------------------------------------------------------- ; --- Press --- ;------------------------------------------------------------------------------- [2400] ParameterName=Pressure flag ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=0xFFFF DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2401] ParameterName=Pres. Reference ObjectType=0x7 DataType=0x0003 LowLimit=1 HighLimit=10000 DefaultValue=1 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2402] ParameterName=Pres. measure ObjectType=0x7 DataType=0x0003 LowLimit=-32768 HighLimit=32767 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [2403] ParameterName=Max press measure ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=1000 DefaultValue=400 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2404] ParameterName=Pres offset meas ObjectType=0x7 DataType=0x0003 LowLimit=-1000 HighLimit=1000 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2405] ParameterName=Pres. Ref accel ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=6000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2406] ParameterName=Pres. Ref decel ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=6000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2407] ParameterName=Pres. Ref round ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=10000 DefaultValue=50 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2408] ParameterName=Pres. Ref speed ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=9999 DefaultValue=1 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2409] ParameterName=Pres. negat speed ObjectType=0x7 DataType=0x0003 LowLimit=-9999 HighLimit=0 DefaultValue=-50 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [240A] ParameterName=Pres. speed accel ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=4500 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [240B] ParameterName=Pres. speed decel ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=60000 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [240C] ParameterName=Pres. error set ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=1000 DefaultValue=20 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [240D] ParameterName=Pres. error time ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=200 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [240E] ParameterName=Pres. alarm high ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=1000 DefaultValue=250 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [240F] ParameterName=Pr. al high time ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=300 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2410] ParameterName=Pres. alarm low ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=1000 DefaultValue=8 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- [2411] ParameterName=Pr. al low time ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=5 AccessType=rww PDOMapping=1 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- [2412] ParameterName=Pres. pid kp ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=32767 DefaultValue=450 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2413] ParameterName=Pres. pid ki ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=32767 DefaultValue=5 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2414] ParameterName=Pres. pid kd ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=32767 DefaultValue=0 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2415] ParameterName=Pres. pid exp-kp ObjectType=0x7 DataType=0x0003 LowLimit=-16 HighLimit=16 DefaultValue=9 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2416] ParameterName=Pres. pid exp-ki ObjectType=0x7 DataType=0x0003 LowLimit=-16 HighLimit=16 DefaultValue=5 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2417] ParameterName=Pres. pid exp-kd ObjectType=0x7 DataType=0x0003 LowLimit=-16 HighLimit=16 DefaultValue=4 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2418] ParameterName=Power limit ref ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=1000 DefaultValue=120 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [2419] ParameterName=Power limit hyst ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=50 DefaultValue=20 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [241A] ParameterName=Power limit speed ObjectType=0x7 DataType=0x0006 LowLimit=0 HighLimit=9999 DefaultValue=2500 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- [241B] ParameterName=Pwr limit acc-dec ObjectType=0x7 DataType=0x0006 LowLimit=1 HighLimit=60000 DefaultValue=1000 AccessType=rw PDOMapping=0 ;------------------------------------------------------------------------------- ; Solo NTT (fondo scala uscita analogica pressione) ;[241C] ;ParameterName=Max press out-an ;ObjectType=0x7 ;DataType=0x0006 ;LowLimit=0 ;HighLimit=1000 ;DefaultValue=180 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- ; Solo NTT (fondo scala uscita analogica velocita`) ;[241D] ;ParameterName=Max speed out-an ;ObjectType=0x7 ;DataType=0x0006 ;LowLimit=1 ;HighLimit=9999 ;DefaultValue=3000 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- [241E] ParameterName=Pres. Refer-Input ObjectType=0x7 DataType=0x0003 LowLimit=-32768 HighLimit=32767 DefaultValue=0 AccessType=ro PDOMapping=1 ;------------------------------------------------------------------------------- [241F] ParameterName=Pres. Refer-Set ObjectType=0x7 DataType=0x0003 LowLimit=-32768 HighLimit=32767 DefaultValue=0 AccessType=ro PDOMapping=1 ;=============================================================================== ;===============================================================================