[FileInfo] CreatedBy=HDT ModifiedBy=HDT Description=Servo Drive CreationTime=08:41AM CreationDate=05-14-2018 ModificationTime=08:41AM ModificationDate=04-10-2018 FileName=hdt_NTT_V4.00.eds FileVersion=1 FileRevision=0 EDSVersion=4.1 [DeviceInfo] VendorName=HDT VendorNumber=0x00000289 ProductName=NTT ProductNumber=0x000C0442 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 SimpleBootUpMaster=0 SimpleBootUpSlave=1 Granularity=8 DynamicChannelsSupported=0 CompactPDO=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 [Comments] Lines=0 ; [MandatoryObjects] SupportedObjects=3 1=0x1000 2=0x1001 3=0x1018 [1000] ParameterName=Device Type ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00020192 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF [1001] ParameterName=Error Register ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x00 PDOMapping=1 LowLimit=0x00 HighLimit=0xFF [1018] ParameterName=Identity Object ObjectType=0x9 SubNumber=5 [1018sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 LowLimit=0x1 HighLimit=0x03 [1018sub1] ParameterName=Vendor Id ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000289 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ; ------ OPTIONAL ------ [1018sub2] ParameterName=Product Code ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x000C0442 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ; ------ OPTIONAL ------ [1018sub3] ParameterName=Revision number ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ; ------ OPTIONAL ------ [1018sub4] ParameterName=Serial number ObjectType=0x7 DataType=0x0007 LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x0 AccessType=ro PDOMapping=0 [OptionalObjects] SupportedObjects=96 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=0x6079 60=0x607A 61=0x607C 62=0x607D 63=0x607E 64=0x6081 65=0x6083 66=0x6084 67=0x6086 68=0x6087 69=0x6088 70=0x6089 71=0x608A 72=0x608B 73=0x608C 74=0x608D 75=0x608E 76=0x6093 77=0x6094 78=0x6097 79=0x6098 80=0x6099 81=0x609A 82=0x60B1 83=0x60B8 84=0x60B9 85=0x60BA 86=0x60BB 87=0x60BC 88=0x60BD 89=0x60C0 90=0x60C1 91=0x60C2 92=0x60F4 93=0x60FC 94=0x60FD 95=0x60FF 96=0x6502 [1003] ParameterName=pre-defined error field ObjectType=0x8 SubNumber=9 [1003sub0] ParameterName=Number of Errors ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x00 PDOMapping=0 LowLimit=0x00 HighLimit=0x08 [1003sub1] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub2] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub3] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub4] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub5] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub6] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub7] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1003sub8] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00 PDOMapping=0 ;-------------------------------------------------------------- [1005] ParameterName=COB-ID SYNC ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000080 PDOMapping=0 LowLimit=0x00000080 HighLimit=0x00000080 ; ------ OPTIONAL ------ [1008] ParameterName=Manufacturer Device Name ObjectType=0x7 DataType=0x0009 AccessType=const DefaultValue=HDT Lovato NTT 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 AccessType=const PDOMapping=0 ;-------------------------------------------------------------- [100C] ParameterName=Guard Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=65535 [100D] ParameterName=Life Time Factor ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=255 ;-------------------------------------------------------------- [1010] ParameterName=Store Parameter Field ObjectType=0x8 SubNumber=2 [1010sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=1 PDOMapping=0 LowLimit=0x0 HighLimit=0x7F ObjFlags=0x1 [1010sub1] ParameterName=Save all Parameters ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=1 PDOMapping=0 ObjFlags=0x1 ;-------------------------------------------------------------- [1014] ParameterName=COB-ID EMCY ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x80 PDOMapping=0 LowLimit=0x00000001 HighLimit=0xFFFFFFFF ;-------------------------------------------------------------- [1200] ParameterName=Server SDO parameter ObjectType=0x9 SubNumber=3 [1200sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [1200sub1] ParameterName=COB_ID Client->Server (rx) ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x600 PDOMapping=0 [1200sub2] ParameterName=COB_ID Server ->Client (tx) ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x580 PDOMapping=0 ;------------------------------------------------------------------------------- [1400] ParameterName=Receive PDO Communication Parameter ObjectType=0x9 SubNumber=3 [1400sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [1400sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x200 PDOMapping=0 LowLimit=0x00000080 HighLimit=0xFFFFFFFF [1400sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x0 HighLimit=0xFF ;------------------------------------------------------------------------------- [1401] ParameterName=Receive PDO Communication Parameter ObjectType=0x9 SubNumber=3 [1401sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [1401sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x300 PDOMapping=0 LowLimit=0x00000080 HighLimit=0xFFFFFFFF [1401sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x0 HighLimit=0xFF ;------------------------------------------------------------------------------- [1402] ParameterName=Receive PDO Communication Parameter ObjectType=0x9 SubNumber=3 [1402sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [1402sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x400 PDOMapping=0 LowLimit=0x00000080 HighLimit=0xFFFFFFFF [1402sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x0 HighLimit=0xFF ;------------------------------------------------------------------------------- [1403] ParameterName=Receive PDO Communication Parameter ObjectType=0x9 SubNumber=3 [1403sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [1403sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x500 PDOMapping=0 LowLimit=0x00000080 HighLimit=0xFFFFFFFF [1403sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x0 HighLimit=0xFF ;------------------------------------------------------------------------------- [1600] ParameterName=Receive PDO Mapping Parameter ObjectType=0x9 SubNumber=9 ;-------------------------------- ;Number of Entries [1600sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=3 PDOMapping=0 LowLimit=0 HighLimit=8 ;-------------------------------- ; default: Controlword [1600sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: vl_target_velocity [1600sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60420010 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: home_offset [1600sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x607C0020 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1600sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1600sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1600sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1600sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1600sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [1601] ParameterName=Receive PDO Mapping Parameter ObjectType=0x9 SubNumber=9 ;-------------------------------- ;Number of Entries [1601sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 LowLimit=0 HighLimit=8 ;-------------------------------- ; default: Target position [1601sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x607A0020 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: profile_velocity [1601sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60810020 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1601sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1601sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1601sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1601sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1601sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1601sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [1602] ParameterName=Receive PDO Mapping Parameter ObjectType=0x9 SubNumber=9 ;-------------------------------- ; Number of Entries [1602sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 LowLimit=0 HighLimit=8 ;-------------------------------- ; default: profile_accelaration [1602sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60830020 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: profile_decelaration [1602sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60840020 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1602sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1602sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1602sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1602sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1602sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1602sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [1603] ParameterName=Receive PDO Mapping Parameter ObjectType=0x9 SubNumber=9 ;-------------------------------- ; Number of Entries [1603sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=0 HighLimit=8 ;-------------------------------- ; default: --interpolazione,position [1603sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60C10120 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1603sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1603sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1603sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1603sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1603sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1603sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1603sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [1800] ParameterName=Transmit PDO Communication Parameter ObjectType=0x9 SubNumber=6 [1800sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 LowLimit=5 HighLimit=5 [1800sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x180 PDOMapping=0 LowLimit=0x00000080 HighLimit=0xFFFFFFFF [1800sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x00 HighLimit=0xFF ; ------ OPTIONAL ------ [1800sub3] ParameterName=Inhibit Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 LowLimit=0x0000 HighLimit=0xFFFF ; ------ OPTIONAL ------ [1800sub4] ParameterName=Compatibility Entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x00 HighLimit=0xFF ; ------ OPTIONAL ------ [1800sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [1801] ParameterName=Transmit PDO Communication Parameter ObjectType=0x9 SubNumber=6 [1801sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 LowLimit=5 HighLimit=5 [1801sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x280 PDOMapping=0 LowLimit=0x00000080 HighLimit=0xFFFFFFFF [1801sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x00 HighLimit=0xFF ; ------ OPTIONAL ------ [1801sub3] ParameterName=Inhibit Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 LowLimit=0x0000 HighLimit=0xFFFF ; ------ OPTIONAL ------ [1801sub4] ParameterName=Compatibility Entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x00 HighLimit=0xFF ; ------ OPTIONAL ------ [1801sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 LowLimit=0x0000 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [1802] ParameterName=Transmit PDO Communication Parameter ObjectType=0x9 SubNumber=6 [1802sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 LowLimit=5 HighLimit=5 [1802sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x380 PDOMapping=0 LowLimit=0x00000080 HighLimit=0xFFFFFFFF [1802sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x00 HighLimit=0xFF ; ------ OPTIONAL ------ [1802sub3] ParameterName=Inhibit Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 LowLimit=0x0000 HighLimit=0xFFFF ; ------ OPTIONAL ------ [1802sub4] ParameterName=Compatibility Entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x00 HighLimit=0xFF ; ------ OPTIONAL ------ [1802sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 LowLimit=0x0000 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [1803] ParameterName=Transmit PDO Communication Parameter ObjectType=0x9 SubNumber=6 [1803sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 LowLimit=5 HighLimit=5 [1803sub1] ParameterName=COB-ID ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x480 PDOMapping=0 LowLimit=0x00000080 HighLimit=0xFFFFFFFF [1803sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x00 HighLimit=0xFF ; ------ OPTIONAL ------ [1803sub3] ParameterName=Inhibit Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 LowLimit=0x0000 HighLimit=0xFFFF ; ------ OPTIONAL ------ [1803sub4] ParameterName=Compatibility Entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0x00 HighLimit=0xFF ; ------ OPTIONAL ------ [1803sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 LowLimit=0x0000 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [1A00] ParameterName=Transmit PDO Mapping Parameter ObjectType=0x9 SubNumber=9 ;-------------------------------- ; default: Number of Entries [1A00sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=3 PDOMapping=0 LowLimit=0 HighLimit=8 ;-------------------------------- ; default: status word [1A00sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: modes_of_operation [1A00sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60610008 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: error_register [1A00sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x10010008 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A00sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A00sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A00sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A00sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A00sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [1A01] ParameterName=Transmit PDO Mapping Parameter ObjectType=0x9 SubNumber=9 ;-------------------------------- ; default: Number of Entries [1A01sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 LowLimit=0 HighLimit=8 ;-------------------------------- ; default: pos_demand_value [1A01sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60620020 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: pos_actual_value [1A01sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60640020 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A01sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A01sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A01sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A01sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A01sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A01sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [1A02] ParameterName=Transmit PDO Mapping Parameter ObjectType=0x9 SubNumber=9 ;-------------------------------- ; default: ------- [1A02sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 LowLimit=0 HighLimit=8 ;-------------------------------- ; default: vl_velocity_demand [1A02sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60430010 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: vl_control_effort [1A02sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60440010 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A02sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A02sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A02sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A02sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A02sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A02sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [1A03] ParameterName=Transmit PDO Mapping Parameter ObjectType=0x9 SubNumber=9 ;-------------------------------- ; default: Number of Entries [1A03sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=0 HighLimit=8 ;-------------------------------- ; default: digital_inputs [1A03sub1] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60FD0020 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A03sub2] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A03sub3] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A03sub4] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A03sub5] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A03sub6] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A03sub7] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- ; default: ------- [1A03sub8] ParameterName=PDO Mapping Entry ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- ; ; D S 4 0 2 ; ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- [6007] ParameterName=Abort Connection Option Code ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=0 HighLimit=3 ;------------------------------------------------------------------------------- [603F] ParameterName=Error Code ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 LowLimit=0x8000 HighLimit=0x7FFF ;------------------------------------------------------------------------------- [6040] ParameterName=Controlword ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=0x0000 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [6041] ParameterName=Statusword ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0x0240 PDOMapping=1 LowLimit=0x0000 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [6042] ParameterName=Vl Target Velocity ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=-32768 HighLimit=32767 ;------------------------------------------------------------------------------- [6043] ParameterName=Vl Velocity Demand ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 LowLimit=-32768 HighLimit=32767 ;------------------------------------------------------------------------------- [6044] ParameterName=Vl Control Effort ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 LowLimit=-32768 HighLimit=32767 ;------------------------------------------------------------------------------- [6046] ParameterName=Vl Velocity Min Max Amount ObjectType=0x8 SubNumber=3 [6046sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 LowLimit=0x00000002 HighLimit=0x00000002 [6046sub1] ParameterName=Vl Velocity Min Amount ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=2147483647 [6046sub2] ParameterName=Vl Velocity Max Amount ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=5000 PDOMapping=0 LowLimit=0 HighLimit=2147483647 ;------------------------------------------------------------------------------- [6048] ParameterName=Vl Velocity Acceleration ObjectType=0x9 SubNumber=3 [6048sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 LowLimit=0x0 HighLimit=0xFF [6048sub1] ParameterName=delta_speed ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=1 LowLimit=0x0 HighLimit=0xFFFFFFFF [6048sub2] ParameterName=delta_time ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=1 PDOMapping=1 LowLimit=0x0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [6049] ParameterName=Vl Velocity Deceleration ObjectType=0x9 SubNumber=3 [6049sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 LowLimit=0x0 HighLimit=0xFF [6049sub1] ParameterName=delta_speed ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=1 LowLimit=0x0 HighLimit=0xFFFFFFFF [6049sub2] ParameterName=delta_time ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=1 PDOMapping=1 LowLimit=0x0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [604C] ParameterName=Vl dimension factor ObjectType=0x8 SubNumber=3 [604Csub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 LowLimit=1 HighLimit=2 [604Csub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=-2147483647 HighLimit=2147483647 [604Csub2] ParameterName=Denominator ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [604E] ParameterName=vl velocity reference ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=3000 PDOMapping=0 LowLimit=0 HighLimit=0x7FFFFFFF ;------------------------------------------------------------------------------- [6050] ParameterName=Velocity Slow Down Time ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=1 LowLimit=1 HighLimit=60000 ;------------------------------------------------------------------------------- [6051] ParameterName=Velocity Quick Stop Time ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=1 LowLimit=1 HighLimit=60000 ;------------------------------------------------------------------------------- [605A] ParameterName=Quick_stop_option_code ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=2 ;------------------------------------------------------------------------------- [605D] ParameterName=Halt Option Code ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=2 ;------------------------------------------------------------------------------- [605E] ParameterName=Fault Reaction Option Code ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=3 ;------------------------------------------------------------------------------- [6060] ParameterName=Modes of Operation ObjectType=0x7 DataType=0x0002 AccessType=rww DefaultValue=2 PDOMapping=1 LowLimit=-128 HighLimit=127 ;------------------------------------------------------------------------------- [6061] ParameterName=Modes of Operation Display ObjectType=0x7 DataType=0x0002 AccessType=ro DefaultValue=2 PDOMapping=1 LowLimit=-128 HighLimit=127 ;------------------------------------------------------------------------------- [6062] ParameterName=Position Demand Value in User Units ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [6063] ParameterName=position actual value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x0 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [6064] ParameterName=position actual value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [6065] ParameterName=Following Error Window ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=910 PDOMapping=0 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [6066] ParameterName=Following Error Time Out ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=0 HighLimit=10000 ;------------------------------------------------------------------------------- ; Profile Velocity ;------------------------------------------------------------------------------- [6069] ParameterName=Velocity Sensor Actual Value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ;---------------------------------------------- [606B] ParameterName=Velocity Demand Value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ;---------------------------------------------- [606C] ParameterName=Velocity Actual Value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ;------------------------------------------------------------------------------- [606D] ParameterName=Velocity Window ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;---------------------------------------------- [606E] ParameterName=Velocity Window Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=500 PDOMapping=0 LowLimit=0 HighLimit=20000 ;---------------------------------------------- [606F] ParameterName=Velocity Threshold ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;---------------------------------------------- [6070] ParameterName=Velocity Threshold Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=500 PDOMapping=0 LowLimit=0 HighLimit=20000 ;------------------------------------------------------------------------------- [6071] ParameterName=Torque Command ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=-2500 HighLimit=2500 ;------------------------------------------------------------------------------- [6077] ParameterName=Torque Actual Value ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2500 HighLimit=2500 ;-------------------------------- [6079] ParameterName=DC link circuit voltage ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=0 HighLimit=0xFFFFFFFF ;-------------------------------- [607A] ParameterName=Target Position ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [607C] ParameterName=Home Offset ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [607D] ParameterName=Software Position Limit ObjectType=0x8 SubNumber=3 ;DataType=0x0004 ;------------------------------------------------------------------------------- [607Dsub0] ParameterName=Number of Elements ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 LowLimit=2 HighLimit=2 [607Dsub1] ParameterName=Min Software Position Limit ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=-2147483648 PDOMapping=0 LowLimit=-2147483648 HighLimit=2147483647 [607Dsub2] ParameterName=Max Software Position Limit ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=2147483647 PDOMapping=0 LowLimit=-2147483648 HighLimit=2147483647 ;------------------------------------------------------------------------------- [607E] ParameterName=Polarity ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 ;------------------------------------------------------------------------------- [6081] ParameterName=Profile Velocity in pp-mode ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=1 LowLimit=1 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [6083] ParameterName=Profile Acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=1 LowLimit=1 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [6084] ParameterName=Profile Deceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=1 LowLimit=1 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [6086] ParameterName=Motion Profile Type ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=3 PDOMapping=0 LowLimit=0 HighLimit=3 ;------------------------------------------------------------------------------- [6087] ParameterName=Torque slope ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=25000 ;------------------------------------------------------------------------------- [6088] ParameterName=Torque profile type ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=-1 HighLimit=0 ;------------------------------------------------------------------------------- [6089] ParameterName=Position Notation Index ObjectType=0x7 DataType=0x0002 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0 ;------------------------------------------------------------------------------- [608A] ParameterName=Position Dimension Index ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0xAC PDOMapping=0 LowLimit=0xAC HighLimit=0xAC ;------------------------------------------------------------------------------ [608B] ParameterName=Velocity Notation Index ObjectType=0x7 DataType=0x0002 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0 [608C] ParameterName=Velocity Dimension Index ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0xA4 PDOMapping=0 LowLimit=0xA4 HighLimit=0xA4 ;------------------------------------------------------------------------------ [608D] ParameterName=Acceleration Notation Index ObjectType=0x7 DataType=0x0002 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0 [608E] ParameterName=Acceleration Dimension Index ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0xA3 PDOMapping=0 LowLimit=0xA3 HighLimit=0xA3 ;------------------------------------------------------------------------------ [6093] ParameterName=Position Factor ObjectType=0x8 SubNumber=3 [6093sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 LowLimit=0x0 HighLimit=2 [6093sub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=65536 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF [6093sub2] ParameterName=Feed Costants ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=65536 PDOMapping=0 LowLimit=1 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [6094] ParameterName=Velocity Encoder Factor ObjectType=0x8 SubNumber=3 [6094sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 LowLimit=0x0 HighLimit=2 [6094sub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=65536 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF [6094sub2] ParameterName=Divisor ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=60 PDOMapping=0 LowLimit=1 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [6097] ParameterName=Acceleration Factor ObjectType=0x8 SubNumber=3 [6097sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 LowLimit=0x0 HighLimit=2 [6097sub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=65536 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF [6097sub2] ParameterName=Divisor ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=60 PDOMapping=0 LowLimit=1 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [6098] ParameterName=Homing Method ObjectType=0x7 DataType=0x0002 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=35 ;------------------------------------------------------------------------------- [6099] ParameterName=Homing Speeds ObjectType=0x8 SubNumber=3 [6099sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 LowLimit=0 HighLimit=2 [6099sub1] ParameterName=Fast Homing Speed ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=100 PDOMapping=1 LowLimit=0x00000000 HighLimit=0xFFFFFFFF [6099sub2] ParameterName=Slow Homing Speed ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=10 PDOMapping=1 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [609A] ParameterName=Homing acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [60B1] ParameterName=Velocity offset ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [60B8] ParameterName=Touch probe function ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [60B9] ParameterName=Touch probe status ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=0x0000 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [60BA] ParameterName=Touch probe pos1 pos value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ;------------------------------------------------------------------------------- [60BB] ParameterName=Touch probe pos1 neg value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ;------------------------------------------------------------------------------- [60BC] ParameterName=Touch probe pos2 pos value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ;------------------------------------------------------------------------------- [60BD] ParameterName=Touch probe pos2 neg value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ;------------------------------------------------------------------------------- [60C0] ParameterName=IPM Interpolation Submode Select ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=-1 HighLimit=0 ;------------------------------------------------------------------------------- [60C1] ParameterName=IPM Interpolation Data Record ObjectType=0x9 SubNumber=3 [60C1sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 LowLimit=0 HighLimit=2 [60C1sub1] ParameterName=IPM Position Set Value ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0x0 PDOMapping=1 LowLimit=-2147483648 HighLimit=2147483647 [60C1sub2] ParameterName=IPM Velocity Set Value ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=-3000 HighLimit=3000 ;------------------------------------------------------------------------------- [60C2] ParameterName=IPM Interpolation Time Period ObjectType=0x9 SubNumber=3 [60C2sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 LowLimit=0x0 HighLimit=0xFF [60C2sub1] ParameterName=IP Time Units ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 LowLimit=0x0 HighLimit=0xFF [60C2sub2] ParameterName=IP Time Index ObjectType=0x7 DataType=0x0002 AccessType=ro DefaultValue=-3 PDOMapping=0 LowLimit=-3 HighLimit=-3 ;------------------------------------------------------------------------------- [60F4] ParameterName=Following error actual value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [60FC] ParameterName=Position Demand Value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [60FD] ParameterName=Digital inputs ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=0x00000000 HighLimit=0xFFFFFFFF ;------------------------------------------------------------------------------- [60FF] ParameterName=Target Velocity ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [6502] ParameterName=Supported drive modes ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x006F PDOMapping=0 LowLimit=0 HighLimit=0xFFFFFFFF ;=============================================================================== [ManufacturerObjects] SupportedObjects=162 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=0x2022 32=0x2023 33=0x2030 34=0x2031 35=0x2032 36=0x2033 37=0x2034 38=0x2035 39=0x2036 40=0x2037 41=0x2038 42=0x2039 43=0x203A 44=0x203B 45=0x203C 46=0x203D 47=0x203E 48=0x203F 49=0x2040 50=0x2041 51=0x2042 52=0x2043 53=0x2044 54=0x2045 55=0x2046 56=0x2047 57=0x2048 58=0x204B 59=0x204C 60=0x204D 61=0x204E 62=0x2050 63=0x2051 64=0x2052 65=0x2053 66=0x2054 67=0x2055 68=0x2056 69=0x2059 70=0x205A 71=0x205B 72=0x205C 73=0x205E 74=0x2060 75=0x2061 76=0x2062 77=0x2063 78=0x2064 79=0x2065 80=0x2066 81=0x2067 82=0x2068 83=0x2069 84=0x206A 85=0x206B 86=0x206C 87=0x2070 88=0x2071 89=0x2072 90=0x2073 91=0x2074 92=0x2075 93=0x2076 94=0x2077 95=0x2078 96=0x2079 97=0x207A 98=0x207B 99=0x207C 100=0x207D 101=0x207E 102=0x2080 103=0x2081 104=0x2082 105=0x2083 106=0x2084 107=0x2087 108=0x2088 109=0x2089 110=0x208A 111=0x208B 112=0x2200 113=0x2201 114=0x2202 115=0x2203 116=0x2204 117=0x2205 118=0x2206 119=0x2207 120=0x2208 121=0x2209 122=0x220A 123=0x220B 124=0x220C 125=0x220D 126=0x220E 127=0x220F 128=0x2210 129=0x2211 130=0x2212 ;------------------------------------------------------------------------------- ; PRESS 131=0x2400 132=0x2401 133=0x2402 134=0x2403 135=0x2404 136=0x2405 137=0x2406 138=0x2407 139=0x2408 140=0x2409 141=0x240A 142=0x240B 143=0x240C 144=0x240D 145=0x240E 146=0x240F 147=0x2410 148=0x2411 149=0x2412 150=0x2413 151=0x2414 152=0x2415 153=0x2416 154=0x2417 155=0x2418 156=0x2419 157=0x241A 158=0x241B 159=0x241C 160=0x241D 161=0x241E 162=0x241F ;------------------------------------------------------------------------------- [2000] ParameterName=Motor Nominal Velocity ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=3000 PDOMapping=0 LowLimit=0 HighLimit=20000 ;------------------------------------------------------------------------------- [2001] ParameterName=Motor Nominal Current ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 LowLimit=1 HighLimit=60000 ;------------------------------------------------------------------------------- [2002] ParameterName=Motor Peak Current ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=1 HighLimit=60000 ;------------------------------------------------------------------------------- [2003] ParameterName=Motor Polor Couples ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=3 PDOMapping=0 LowLimit=1 HighLimit=18 ;------------------------------------------------------------------------------- [2004] ParameterName=Feedback sensor offset ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=36000 ;------------------------------------------------------------------------------- [2005] ParameterName=Velocity Limit ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=5000 PDOMapping=0 LowLimit=0 HighLimit=20000 ;------------------------------------------------------------------------------- [2006] ParameterName=Current Limit ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=2000 PDOMapping=0 LowLimit=0 HighLimit=3000 ;------------------------------------------------------------------------------- [2007] ParameterName=Position Kp Regulator ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=0 HighLimit=4000 ;------------------------------------------------------------------------------- [2008] ParameterName=Velocity Kp Regulator ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=3000 ;------------------------------------------------------------------------------- [2009] ParameterName=Velocity Ki Regulator ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=300 PDOMapping=0 LowLimit=0 HighLimit=3000 ;------------------------------------------------------------------------------- [200A] ParameterName=Current Kp Regulator ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1200 PDOMapping=0 LowLimit=1 HighLimit=2000 ;------------------------------------------------------------------------------- [200B] ParameterName=Current Ki Regulator ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=1 HighLimit=2000 ;------------------------------------------------------------------------------- [200C] ParameterName=Drive setting flag ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [200D] ParameterName=Notch Frequency ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=220 PDOMapping=0 LowLimit=50 HighLimit=400 ;------------------------------------------------------------------------------- [200E] ParameterName=Notch Band ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=9500 PDOMapping=0 LowLimit=8000 HighLimit=9900 ;------------------------------------------------------------------------------- [200F] ParameterName=Drive allarms mode ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x000A PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [2011] ParameterName=Jerk Posizione ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=100000 PDOMapping=0 LowLimit=1 HighLimit=2147483647 ;------------------------------------------------------------------------------- [2012] ParameterName=Corrente Misurata ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-32767 HighLimit=32767 ;------------------------------------------------------------------------------- [2013] ParameterName=Time Brake On ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=10 HighLimit=2000 ;------------------------------------------------------------------------------- [2014] ParameterName=Time Brake Off ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=10 HighLimit=2000 ;------------------------------------------------------------------------------- [2015] ParameterName=Motor Brake Decel ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=60000 ;------------------------------------------------------------------------------- [2016] ParameterName=Velocity Brake On ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=4 PDOMapping=0 LowLimit=1 HighLimit=500 ;------------------------------------------------------------------------------- [2017] ParameterName=Speed threshold ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=10 PDOMapping=0 LowLimit=1 HighLimit=1500 ;------------------------------------------------------------------------------- [2018] ParameterName=Speed threshold time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=10 HighLimit=10000 ;------------------------------------------------------------------------------- [2019] ParameterName=Relative Position input x ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=65536 PDOMapping=0 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [201A] ParameterName=Position Flag ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;------------------------------------------------------------------------------- [201B] ParameterName=Input setting ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x5A PDOMapping=0 LowLimit=0 HighLimit=0xFF ;------------------------------------------------------------------------------- [201D] ParameterName=Fault torque limit ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=3000 ;------------------------------------------------------------------------------- [2020] ParameterName=Extern AD-Converter[16Bits] 1 ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-32768 HighLimit=32767 ;------------------------------------------------------------------------------- [2021] ParameterName=Position smooth time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 LowLimit=1 HighLimit=65535 [2022] ParameterName=Extern AD-Converter[12Bits] 2 ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2048 HighLimit=2047 [2023] ParameterName=Extern AD-Converter[12Bits] 3 ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2048 HighLimit=2047 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- [2030] ParameterName=Type Motor ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=2 ;------------------------------------------------------------------------------- [2031] ParameterName=Motor Flag ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [2032] ParameterName=Motor Encoder Impulses ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=1024 PDOMapping=0 LowLimit=100 HighLimit=16777216 ;------------------------------------------------------------------------------- [2033] ParameterName=Motor Stall Current ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 LowLimit=0 HighLimit=60000 ;------------------------------------------------------------------------------- [2034] ParameterName=Motor Nominal Voltage ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=60 PDOMapping=0 LowLimit=10 HighLimit=120 ;------------------------------------------------------------------------------- [2035] ParameterName=Motor phase resistor ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 LowLimit=1 HighLimit=25000 ;------------------------------------------------------------------------------- [2036] ParameterName=Motor synchrony inductance ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=2 PDOMapping=0 LowLimit=1 HighLimit=65000 ;------------------------------------------------------------------------------- [2037] ParameterName=Motor I2t Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=120 PDOMapping=0 LowLimit=1 HighLimit=3000 ;------------------------------------------------------------------------------- [2038] ParameterName=Speed Kd ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 LowLimit=0 HighLimit=1000 ;------------------------------------------------------------------------------- [2039] ParameterName=Current Kd ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 LowLimit=0 HighLimit=1000 ;------------------------------------------------------------------------------- [203A] ParameterName=Time Filter Iq ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 LowLimit=1 HighLimit=3000 ;------------------------------------------------------------------------------- [203B] ParameterName=Function Set out 1 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=9 ;------------------------------------------------------------------------------- [203C] ParameterName=Function Set out 2 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=9 ;------------------------------------------------------------------------------- [203D] ParameterName=Function Set out 3 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=9 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- ;=============================================================================== [203E] ParameterName=Output Speed at 1KHz ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=3000 PDOMapping=0 LowLimit=100 HighLimit=4000 ;------------------------------------------------------------------------------- [203F] ParameterName=Motor Encoder autophasing ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0 ;------------------------------------------------------------------------------- [2040] ParameterName=Motor Feedback type ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=3 ;------------------------------------------------------------------------------- [2041] ParameterName=Motor Bit encoder SSI single-turn ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=12 PDOMapping=0 LowLimit=4 HighLimit=31 ;------------------------------------------------------------------------------- [2042] ParameterName=Motor Bit encoder SSI multi-turn ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=31 ;------------------------------------------------------------------------------- [2043] ParameterName=Motor linear pole pitch ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=10000 PDOMapping=0 LowLimit=1 HighLimit=1000000 ;------------------------------------------------------------------------------- [2044] ParameterName=Motor encoder SSI application offset ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=-2147483648 HighLimit=2147483647 ;------------------------------------------------------------------------------- [2045] ParameterName=Motor encoder SSI sensor position measured ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=0 LowLimit=-2147483648 HighLimit=2147483647 ;------------------------------------------------------------------------------- ; ; DRIVE BRAKING RESISTOR ; ;------------------------------------------------------------------------------- [2046] ParameterName=Drive braking resistor ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 LowLimit=10 HighLimit=10000 ;------------------------------------------------------------------------------- [2047] ParameterName=Drive braking resistor nominal power ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=90 PDOMapping=0 LowLimit=30 HighLimit=10000 ;------------------------------------------------------------------------------- [2048] ParameterName=Drive braking resistor overload time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=255 ;------------------------------------------------------------------------------- ;(messo su parametri con password) ;[2049] ;ParameterName=Drive braking resistor max braking voltage hysteresis ;ObjectType=7 ;DataType=0x0006 ;LowLimit=1 ;HighLimit=125 ;DefaultValue=60 ;AccessType=rw ;PDOMapping=0 ;------------------------------------------------------------------------------- ;(messo su parametri con password) ;[204A] ;------------------------------------------------------------------------------- ;=============================================================================== ;------------------------------------------------------------------------------- [204B] ParameterName=Motor electric phase ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [204C] ParameterName=Can flag setting ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [204D] ParameterName=Magnet Flow ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=80 PDOMapping=0 LowLimit=1 HighLimit=65000 ;------------------------------------------------------------------------------- [204E] ParameterName=Resolver Position ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [2050] ParameterName=Velocity fault windows ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=20 PDOMapping=0 LowLimit=0 HighLimit=0x7FFFFFFF ;------------------------------------------------------------------------------- [2051] ParameterName=Velocity fault time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=1 HighLimit=60000 ;------------------------------------------------------------------------------- [2052] ParameterName=Initial position measured ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [2053] ParameterName=Final position measured ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [2054] ParameterName=Delta position measured ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- [2055] ParameterName=Filter Inputs ObjectType=0x9 SubNumber=9 ;-------------------------------- ;Number of Entries [2055sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=8 PDOMapping=0 LowLimit=8 HighLimit=8 ;-------------------------------- [2055sub1] ParameterName=Filter time input 0 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- [2055sub2] ParameterName=Filter time input 1 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- [2055sub3] ParameterName=Filter time input 2 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- [2055sub4] ParameterName=Filter time input 3 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- [2055sub5] ParameterName=Filter time input 4 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- [2055sub6] ParameterName=Filter time input 5 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- [2055sub7] ParameterName=Filter time input 6 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- ;-------------------------------- [2055sub8] ParameterName=Filter time input 7 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- [2056] ParameterName=Filter Inputs extension ObjectType=0x9 SubNumber=4 ;-------------------------------- ;Number of Entries [2056sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=3 PDOMapping=0 LowLimit=3 HighLimit=3 ;-------------------------------- [2056sub1] ParameterName=Filter time input 8 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- [2056sub2] ParameterName=Filter time input 9 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;-------------------------------- [2056sub3] ParameterName=Filter time input 10 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;------------------------------------------------------------------------------- ;------------------------------------------------------------------------------- [2059] ParameterName=Drive name ObjectType=0x9 SubNumber=13 ;-------------------------------- ;Number of Entries [2059sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=12 PDOMapping=0 LowLimit=12 HighLimit=12 ;-------------------------------- [2059sub1] ParameterName=Drive name byte 0 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059sub2] ParameterName=Drive name byte 1 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059sub3] ParameterName=Drive name byte 2 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059sub4] ParameterName=Drive name byte 3 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059sub5] ParameterName=Drive name byte 4 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059sub6] ParameterName=Drive name byte 5 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059sub7] ParameterName=Drive name byte 6 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059sub8] ParameterName=Drive name byte 7 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059sub9] ParameterName=Drive name byte 8 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059subA] ParameterName=Drive name byte 9 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059subB] ParameterName=Drive name byte 10 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- [2059subC] ParameterName=Drive name byte 11 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFF ;-------------------------------- ;------------------------------------------------------------------------------- [205A] ParameterName=Flag 4 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [205B] ParameterName=Observer pos gain ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=65535 ;-------------------------------- [205C] ParameterName=Observer pos bandwith ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=60000 ;------------------------------------------------------------------------------- [205E] ParameterName=Pulses per revolution Encoder Extern ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=1024 PDOMapping=0 LowLimit=128 HighLimit=65536 ;------------------------------------------------------------------------------- ;=============================================================================== ;-------------------------------- [2060] ParameterName=Covariance Current ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=65000 ;-------------------------------- [2061] ParameterName=Covariance Speed ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 LowLimit=1 HighLimit=65000 ;-------------------------------- [2062] ParameterName=Covariance Phase ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=80 PDOMapping=0 LowLimit=1 HighLimit=65000 ;-------------------------------- [2063] ParameterName=Current Noise ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 LowLimit=1 HighLimit=65000 ;-------------------------------- [2064] ParameterName=Flag Sensorless ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=1 HighLimit=65000 ;-------------------------------- [2065] ParameterName=Starting Current ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=2000 ;-------------------------------- [2066] ParameterName=Current Ramp ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=400 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- [2067] ParameterName=Stationing current ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=500 PDOMapping=0 LowLimit=0 HighLimit=2000 ;-------------------------------- [2068] ParameterName=Initial Speed Max ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 LowLimit=1 HighLimit=10000 ;-------------------------------- [2069] ParameterName=Speed Hysteresis ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 LowLimit=1 HighLimit=1000 ;-------------------------------- [206A] ParameterName=Speed Ramp ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- [206B] ParameterName=Fault Measured Speed ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=2000 PDOMapping=0 LowLimit=1 HighLimit=65000 ;-------------------------------- [206C] ParameterName=Initial Delay ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 LowLimit=1 HighLimit=10000 ;-------------------------------- [2070] ParameterName=Function Set out 0 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=6 ;-------------------------------- [2071] ParameterName=Divisor count encoder ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=9 ;------------------------------------------------------------------------------- ;=============================================================================== [2072] ParameterName=Generic data ObjectType=0x9 SubNumber=17 ;-------------------------------- ;Number of Entries [2072sub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=16 PDOMapping=0 LowLimit=16 HighLimit=16 ;-------------------------------- [2072sub1] ParameterName=Generic data word 0 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub2] ParameterName=Generic data word 1 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub3] ParameterName=Generic data word 2 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub4] ParameterName=Generic data word 3 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub5] ParameterName=Generic data word 4 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub6] ParameterName=Generic data word 5 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub7] ParameterName=Generic data word 6 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub8] ParameterName=Generic data word 7 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub9] ParameterName=Generic data word 8 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072subA] ParameterName=Generic data word 9 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072subB] ParameterName=Generic data word 10 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072subC] ParameterName=Generic data word 11 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072subD] ParameterName=Generic data word 12 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072subE] ParameterName=Generic data word 13 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072subF] ParameterName=Generic data word 14 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2072sub10] ParameterName=Generic data word 15 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [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 AccessType=rw DefaultValue=700 PDOMapping=0 LowLimit=10 HighLimit=950 ;-------------------------------- [2075] ParameterName=Time (home pos - mechanic stop) ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=10 HighLimit=10000 ;-------------------------------- [2076] ParameterName=Setting flag 2 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [2077] ParameterName=Setting Input 0 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=2 ;-------------------------------- [2078] ParameterName=Setting Input 1 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=0 HighLimit=2 ;-------------------------------- [2079] ParameterName=Setting Input 5 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 LowLimit=0 HighLimit=2 ;-------------------------------- [207A] ParameterName=Time alarm I2t ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=60000 ;------------------------------------------------------------------------------- [207B] ParameterName=Home position offet ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 LowLimit=-2147483647 HighLimit=2147483647 ;------------------------------------------------------------------------------- [207C] ParameterName=Flag 2 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;------------------------------------------------------------------------------- [207D] ParameterName=Resolver state ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=0xFFFF ;-------------------------------- [207E] ParameterName=Resolver polar pairs ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=8 ;------------------------------------------------------------------------------- [2080] ParameterName=Setting Input 6 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=5 ;-------------------------------- [2081] ParameterName=Setting Input 7 ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=5 ;-------------------------------- [2082] ParameterName=Function Set out 4 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=9 ;-------------------------------- [2083] ParameterName=Function Set out 5 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=9 ;-------------------------------- [2084] ParameterName=Function Set out 6 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=9 ;-------------------------------- [2087] ParameterName=Gear ratio - num ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=0x0 HighLimit=0xFFFFFFFF ;-------------------------------- [2088] ParameterName=Gear ratio - den ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=0xFFFFFFFF ;-------------------------------- [2089] ParameterName=Pos. measured (motor) ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2147483648 HighLimit=2147483647 ;-------------------------------- [208A] ParameterName=Pos. measured (external) ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2147483648 HighLimit=2147483647 ;------------------------------------------------------------------------------- [208B] ParameterName=Time output ObjectType=0x9 SubNumber=8 ;-------------------------------- ;Number of Entries [208Bsub0] ParameterName=Number of Entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=7 PDOMapping=0 LowLimit=7 HighLimit=7 ;-------------------------------- [208Bsub1] ParameterName=Time output 0 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- [208Bsub2] ParameterName=Time output 1 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- [208Bsub3] ParameterName=Time output 2 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- [208Bsub4] ParameterName=Time output 3 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- [208Bsub5] ParameterName=Time output 4 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- [208Bsub6] ParameterName=Time output 5 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- [208Bsub7] ParameterName=Time output 6 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=1 HighLimit=60000 ;-------------------------------- ;------------------------------------------------------------------------------- ; ; GEAR BOX (Asse elettrico) ; ;------------------------------------------------------------------------------- [2200] ParameterName=Numerator Ratio ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=1 PDOMapping=1 LowLimit=-32768 HighLimit=32767 ;------------------------------------------------------------------------------- [2201] ParameterName=Denominator Ratio ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=1 PDOMapping=1 LowLimit=1 HighLimit=65535 ;------------------------------------------------------------------------------- [2202] ParameterName=Engage mode ObjectType=0x7 DataType=0x0002 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=0 HighLimit=2 ;------------------------------------------------------------------------------- [2203] ParameterName=Disengage mode ObjectType=0x7 DataType=0x0002 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=0 HighLimit=2 ;------------------------------------------------------------------------------- [2204] ParameterName=Encoder mode ObjectType=0x7 DataType=0x0002 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=2 ;------------------------------------------------------------------------------- [2205] ParameterName=Pos. Disengage Mode absolute/relative ObjectType=0x7 DataType=0x0002 AccessType=rw DefaultValue=1 PDOMapping=0 LowLimit=0 HighLimit=1 ;------------------------------------------------------------------------------- [2206] ParameterName=Engage speed-accelaration ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=5000 PDOMapping=0 LowLimit=1 HighLimit=6000000 [2207] ParameterName=Engage speed-jerk ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=30000 PDOMapping=0 LowLimit=1 HighLimit=6000000 [2208] ParameterName=Engage Position-Quota ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=65536 PDOMapping=0 LowLimit=0 HighLimit=2147483647 ;------------------------------------------------------------------------------- [2209] ParameterName=Disengage speed-accelaration ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=5000 PDOMapping=0 LowLimit=1 HighLimit=6000000 [220A] ParameterName=Disengage speed-jerk ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=30000 PDOMapping=0 LowLimit=1 HighLimit=6000000 ;------------------------------------------------------------------------------- [220B] ParameterName=Disengage position-speed ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 LowLimit=1 HighLimit=10000 [220C] ParameterName=Disengage position-accelaration ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=2000 PDOMapping=0 LowLimit=1 HighLimit=60000 [220D] ParameterName=Disengage position-Target ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=65536 PDOMapping=0 LowLimit=-2147483648 HighLimit=2147483647 ;------------------------------------------------------------------------------- [220E] ParameterName=Encoder pulses measured ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=-2147483648 HighLimit=2147483647 ;------------------------------------------------------------------------------- [220F] ParameterName=Encoder pulses revolution ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=1024 PDOMapping=0 LowLimit=100 HighLimit=65536 ;------------------------------------------------------------------------------- [2210] ParameterName=GearBox pulse phase shift ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=-16777215 HighLimit=16777215 ;------------------------------------------------------------------------------- [2211] ParameterName=GearBox speed phase shift ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=50 PDOMapping=0 LowLimit=1 HighLimit=200 ;------------------------------------------------------------------------------- [2212] ParameterName=GearBox accelaration phase shift ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 LowLimit=1 HighLimit=60000 ;------------------------------------------------------------------------------- ;=============================================================================== ;------------------------------------------------------------------------------- ; --- 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 ;=============================================================================== ;===============================================================================