#x768 EURA Drives Electric Co., Ltd 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Drives Servo Drives 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SD20-E-Ecat SD20-E-Ecat 2000 9000 5000 200 100 2000 Drives 402 BIT2 2 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 USINT 8 STRING(20) 160 STRING(3) 24 DT1018 80 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial UDINT 32 112 ro o DT2000 256 0 SubIndex 000 USINT 8 0 ro o 1 Motor code UINT 16 16 ro o 2 Control mode and forward direction setting UINT 16 32 rw o 4 Encoder frequency-division numbers UINT 16 48 rw o 6 Encoder pulse frequency-division numbers denominator UDINT 32 64 rw o 8 Motion range for movement of inertia recognition INT 16 96 rw o 9 Inertia recognition mode selection INT 16 112 rw o 10 Movement of inertia recognition gap time INT 16 128 rw o 11 Rigidity selection INT 16 144 rw o 14 Rotation inertia ratio INT 16 160 rw o 15 Movement of inertia acele/decel time INT 16 176 rw o 16 Motion range of off-line inertia recognition DINT 32 192 rw o 18 Z pulse frequency-division output width INT 16 224 rw o 19 Pulse output configuration UINT 16 240 rw o 20 Virtual Z output period DINT 32 256 rw o DT2001 560 0 SubIndex 000 USINT 8 0 ro o 2 First speed loop proportional gain INT 16 16 rw o 3 First speed loop integral time INT 16 32 rw o 4 Second speed loop proportional gain INT 16 48 rw o 5 Second speed loop integral time INT 16 64 rw o 6 First speed loop filter time constant INT 16 80 rw o 7 Second speed loop filter time constant INT 16 96 rw o 8 Torque feedforward gain INT 16 112 rw o 9 Torque feedforward gain filter INT 16 128 rw o 10 Acceleration time (only valid in speed mode) INT 16 144 rw o 11 Deceleration time (only valid in speed mode) INT 16 160 rw o 12 S curve accele/decele time INT 16 176 rw o 13 S curve starting indication INT 16 192 rw o 19 Rotation detection value INT 16 208 rw o 27 Speed value in the zero clamp INT 16 224 rw o 28 Zero clamp enabled INT 16 240 rw o 29 Duration time of home found signal INT 16 256 rw o 30 Delay time of home searching UINT 16 272 rw o 31 Gain switchover mode INT 16 288 rw o 32 Gain switching speed INT 16 304 rw o 33 Gain switching pulse INT 16 320 rw o 34 Position loop gain switching time INT 16 336 rw o 35 Speed loop gain switching time INT 16 352 rw o 36 Gain switchover delay time INT 16 368 rw o 37 Mechanical home one-loop DINT 32 384 rw o 39 Mechanical home multi-loop DINT 32 416 rw o 41 Forward running range pulse when overtravel protection DINT 32 448 rw o 43 Forward running range multi-loop numbers when overtravel protection INT 16 480 rw o 44 Reverse running range pulse when overtravel protection DINT 32 496 rw o 46 Reverse running range multi-loop numbers when overtravel protection INT 16 528 rw o 49 Zeropoint position DINT 32 544 rw o 54 Speed order filter time constant INT 16 560 rw o DT2002 624 0 SubIndex 000 USINT 8 0 ro o 1 First current loop bandwidth INT 16 16 rw o 2 Second current loop bandwidth INT 16 32 rw o 8 Forward/reverse run prohibited and emergency stop torque INT 16 48 rw o 9 Forward max torque limit INT 16 64 rw o 10 Reverse max torque limit INT 16 80 rw o 11 Speed limit during torque control INT 16 96 rw o 12 Internal speed limit INT 16 112 rw o 15 First torque loop filter time constant INT 16 128 rw o 16 Second torque loop filter time constant INT 16 144 rw o 17 Forward/reverse run prohibited torque setting INT 16 160 rw o 18 The first notch filter center frequency INT 16 176 rw o 19 The first notch filter width INT 16 192 rw o 20 The first notch filter depth INT 16 208 rw o 21 The second notch filter center frequency INT 16 224 rw o 22 The second notch filter width INT 16 240 rw o 23 The second notch filter depth INT 16 256 rw o 24 The third notch filter center frequency INT 16 272 rw o 25 The third notch filter width INT 16 288 rw o 26 The third notch filter depth INT 16 304 rw o 27 The fourth notch filter center frequency INT 16 320 rw o 28 The fourth notch filter width INT 16 336 rw o 29 The fourth notch filter depth INT 16 352 rw o 30 Notch filter function enabled INT 16 368 rw o 31 No. of notch filter INT 16 384 rw o 35 Load observer gain INT 16 400 rw o 36 Filter time of load observer INT 16 416 rw o 37 Back EMF compensation coefficient INT 16 432 rw o 38 Target torque range INT 16 448 rw o 39 Torque filter frequency INT 16 464 rw o 40 Gravity compensation INT 16 480 rw o 41 Center frequency of jitter inhibition INT 16 496 rw o 43 Intensity of jitter inhibition INT 16 512 rw o 90 Cogging torque compensation ON INT 16 528 rw o 91 Frictional compensation speed 1 INT 16 544 rw o 92 Frictional compensation factor 1 INT 16 560 rw o 93 Frictional compensation speed 2 INT 16 576 rw o 94 Frictional compensation factor 2 INT 16 592 rw o 95 Frictional compensation speed 3 INT 16 608 rw o 96 Frictional compensation factor 3 INT 16 624 rw o DT2003 304 0 SubIndex 000 USINT 8 0 ro o 1 Pulse command setting UINT 16 16 rw o 2 First position loop gain INT 16 32 rw o 3 Second position loop gain INT 16 48 rw o 4 Position loop feedforward gain INT 16 64 rw o 5 First group electronic gear numerator UINT 16 80 rw o 6 First group electronic gear denominator UINT 16 96 rw o 7 Position loop filter time constant INT 16 112 rw o 9 Command pulse clear function UINT 16 128 rw o 27 Filter time constant of position feedforward UINT 16 144 rw o 28 Position error alarm pulse UINT 16 160 rw o 39 Internal position given speed unit INT 16 176 rw o 40 Electronic gear selection INT 16 192 rw o 41 Position mode FIR filter INT 16 208 rw o 77 Position feedback source INT 16 224 rw o 78 External encoder proportion numerator UINT 16 240 rw o 79 External encoder proportion denominator UINT 16 256 rw o 80 Mixed error clear cycles INT 16 272 rw o 81 Mixed error alarm value UINT 16 288 rw o 94 OP abnormal protection time UINT 16 304 rw o DT2004 336 0 SubIndex 000 USINT 8 0 ro o 8 DI1 terminal function selection UINT 16 16 rw o 9 DI2 terminal function selection UINT 16 32 rw o 10 DI3 terminal function selection UINT 16 48 rw o 11 DI4 terminal function selection UINT 16 64 rw o 12 DI5 terminal function selection UINT 16 80 rw o 13 DI6 terminal function selection UINT 16 96 rw o 14 DI7 terminal function selection UINT 16 112 rw o 15 DI8 terminal function selection UINT 16 128 rw o 22 DO1 terminal function selection UINT 16 144 rw o 23 DO2 terminal function selection UINT 16 160 rw o 24 DO3 terminal function selection UINT 16 176 rw o 25 DO4 terminal function selection UINT 16 192 rw o 26 ALM terminal function selection UINT 16 208 rw o 39 DI1 filter time UINT 16 224 rw o 40 DI2 filter time UINT 16 240 rw o 41 DI3 filter time UINT 16 256 rw o 42 DI4 filter time UINT 16 272 rw o 43 DI5 filter time UINT 16 288 rw o 44 DI6 filter time UINT 16 304 rw o 45 DI7 filter time UINT 16 320 rw o 46 DI8 filter time UINT 16 336 rw o DT2005 96 0 SubIndex 000 USINT 8 0 ro o 1 Communication address UINT 16 16 rw o 2 Communication mode UINT 16 32 rw o 3 Stop bit UINT 16 48 rw o 4 Odd/even calibration UINT 16 64 rw o 5 Baud rate UINT 16 80 rw o 6 Whether communication is valid UINT 16 96 rw o DT2006 256 0 SubIndex 000 USINT 8 0 ro o 1 Rated voltage UINT 16 16 ro o 2 Rated current UINT 16 32 rw o 3 Max rotary speed UINT 16 48 rw o 4 Rated rotary speed UINT 16 64 rw o 5 Motor pole pairs UINT 16 80 rw o 6 Resistance between phases UINT 16 96 rw o 7 D-axis inductance UINT 16 112 rw o 8 Q-axis inductance UINT 16 128 rw o 9 Back EMF line voltage value UINT 16 144 rw o 12 Motor rated power UINT 16 160 rw o 13 Motor movement inertia UINT 16 176 rw o 17 Encoder line number 32bits DINT 32 208 rw o 19 Encoder installation angle (number of pulse) DINT 32 240 rw o 72 Overload sensitivity setting INT 16 256 rw o DT2008 944 0 SubIndex 000 USINT 8 0 ro o 1 Software version UINT 16 16 ro o 2 User's password(Avoid modifying parameters by mistake) UINT 16 32 rw o 3 Delay time for servo OFF UINT 16 48 rw o 4 Delay time for electro- magnetic braking OFF UINT 16 64 rw o 5 Braking resistor value UINT 16 80 rw o 6 Discharge duty ratio UINT 16 96 rw o 7 Input power phase-loss protection UINT 16 112 rw o 8 Servo OFF stop mode UINT 16 128 rw o 9 Dynamic braking delay time UINT 16 144 rw o 10 Servo drive status display UINT 16 160 rw o 11 Record of the latest malfunction type UINT 16 176 ro o 12 Record of malfunction type for last but one UINT 16 192 ro o 13 Record of malfunction type for two but one UINT 16 208 ro o 14 JOG speed UINT 16 224 rw o 16 Encoder disconnection protection UINT 16 240 rw o 17 Speed threshold of electromagnetic braking UINT 16 256 rw o 18 Forward run prohibited UINT 16 272 rw o 19 Reverse run prohibited UINT 16 288 rw o 20 Analog monitor function selection UINT 16 304 rw o 21 Servo drive output current corresponding to 10V UINT 16 320 rw o 22 Servodrive max voltage corresponding to 10V UINT 16 336 rw o 23 Max rotation speed corresponding to 10V UINT 16 352 rw o 24 Motor parameter storing location UINT 16 368 rw o 25 Analog monitor voltage compensation INT 16 384 rw o 26 Electrical angle identification settings UINT 16 400 rw o 27 Fan control UINT 16 416 rw o 28 Fan temperature setting UINT 16 432 rw o 29 Power off and braking UINT 16 448 rw o 30 Time of power off and braking UINT 16 464 rw o 31 Setting of absolute position and relative position UINT 16 480 rw o 32 Communication related error UINT 16 496 rw o 33 Leakage protection function switch UINT 16 512 rw o 35 Motor lock-rotor protection function UINT 16 528 rw o 36 Overload pre-alarm current UINT 16 544 rw o 37 Overload pre-alarm filter time UINT 16 560 rw o 38 Motor overload coefficient setting UINT 16 576 rw o 39 Under voltage protection of LI battery UINT 16 596 rw o 40 Overtravel limit function UINT 16 608 rw o 41 Delay time of lock-rotor protection UINT 16 624 rw o 43 Alarm output duty ratio UINT 16 640 rw o 44 Encoder reset UINT 16 656 rw o 45 Parameter copy UINT 16 672 rw o 47 FPGA software version UINT 16 688 ro o 49 When it is 1, it can be used to set motor parameter UINT 16 704 rw o 50 Revert to Mfr's value UINT 16 720 rw o 51 Motor overheat protection UINT 16 736 rw o 52 Motor disconnected protection of temperature detection UINT 16 752 rw o 55 Torque detuning protection UINT 16 768 rw o 56 Torque detuning protection filter time UINT 16 784 rw o 57 Air-cooling motor mode selection UINT 16 800 rw o 58 Forced input setting of DI UINT 16 816 rw o 59 Forced input and output mode of DI/DO UINT 16 832 rw o 60 Stationalias UINT 16 848 rw o 61 Firmware version UINT 16 864 ro o 62 Analog monitor channel 2 UINT 16 880 rw o 63 Analog monitor voltage compensation 2 INT 16 896 rw o 65 Alarm stop mode UINT 16 912 rw o 66 Alarm deceleration stop time UINT 16 928 rw o 67 Speed torque display unit UINT 16 944 rw o DT2009 128 0 SubIndex 000 USINT 8 0 ro o 1 LoParam1 address UINT 16 16 rw o 2 LoParam2 address UINT 16 32 rw o 3 LoParam3 address UINT 16 48 rw o 4 LoParam1 value DINT 32 64 rw o 5 LoParam2 value DINT 32 96 rw o 6 LoParam3 value DINT 32 128 rw o DT1C00 64 0 SubIndex 000 USINT 8 0 ro o 1 Communication type SM0 USINT 8 16 ro o 2 Communication type SM1 USINT 8 32 ro o 3 Communication type SM2 USINT 8 48 ro o 4 Communication type SM3 USINT 8 64 ro o DT6091 80 0 SubIndex 000 USINT 8 0 ro o 1 Motor revolutions DINT 32 16 rw o 2 Shaft revolutions DINT 32 48 rw o DT6099 32 0 SubIndex 000 USINT 8 0 ro o 1 Home searching first speed UINT 16 16 rw o 2 Home searching second speed UINT 16 32 rw o DT1C32 144 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 48 ro o 5 Minimum Cycle Time UDINT 32 64 ro o 10 Sync0 Cycle Time UDINT 32 96 rw o 11 SM-Event Missed UINT 16 128 ro c 32 Sync Error BOOL 1 144 ro c DT1C33 144 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 48 ro o 5 Minimum Cycle Time UDINT 32 64 ro o 10 Sync0 Cycle Time UDINT 32 96 rw o 11 SM-Event Missed UINT 16 128 ro c 32 Sync Error BOOL 1 144 ro c DT1600 304 0 SubIndex 000 USINT 8 0 rw o 1 1st receive PDO mapped UDINT 32 16 rw o 2 2nd receive PDO mapped UDINT 32 48 rw o 3 3rd receive PDO mapped UDINT 32 80 rw o 4 4th receive PDO mapped UDINT 32 112 rw o 5 5th receive PDO mapped UDINT 32 144 rw o 6 6th receive PDO mapped UDINT 32 176 rw o 7 7th receive PDO mapped UDINT 32 208 rw o 8 8th receive PDO mapped UDINT 32 240 rw o 9 9th receive PDO mapped UDINT 32 272 rw o 10 10th receive PDO mapped UDINT 32 304 rw o DT1701 112 0 SubIndex 000 USINT 8 0 ro o 1 1st receive PDO mapped UDINT 32 16 ro o 2 2nd receive PDO mapped UDINT 32 48 ro o 3 3rd receive PDO mapped UDINT 32 80 ro o 4 4th receive PDO mapped UDINT 32 112 ro o DT1702 208 0 SubIndex 000 USINT 8 0 ro o 1 1st receive PDO mapped UDINT 32 16 ro o 2 2nd receive PDO mapped UDINT 32 48 ro o 3 3rd receive PDO mapped UDINT 32 80 ro o 4 4th receive PDO mapped UDINT 32 112 ro o 5 5th receive PDO mapped UDINT 32 144 ro o 6 6th receive PDO mapped UDINT 32 176 ro o 7 7th receive PDO mapped UDINT 32 208 ro o DT1703 208 0 SubIndex 000 USINT 8 0 ro o 1 1st receive PDO mapped UDINT 32 16 ro o 2 2nd receive PDO mapped UDINT 32 48 ro o 3 3rd receive PDO mapped UDINT 32 80 ro o 4 4th receive PDO mapped UDINT 32 112 ro o 5 5th receive PDO mapped UDINT 32 144 ro o 6 6th receive PDO mapped UDINT 32 176 ro o 7 7th receive PDO mapped UDINT 32 208 ro o DT1704 272 0 SubIndex 000 USINT 8 0 ro o 1 1st receive PDO mapped UDINT 32 16 ro o 2 2nd receive PDO mapped UDINT 32 48 ro o 3 3rd receive PDO mapped UDINT 32 80 ro o 4 4th receive PDO mapped UDINT 32 112 ro o 5 5th receive PDO mapped UDINT 32 144 ro o 6 6th receive PDO mapped UDINT 32 176 ro o 7 7th receive PDO mapped UDINT 32 208 ro o 8 8th receive PDO mapped UDINT 32 240 ro o 9 9th receive PDO mapped UDINT 32 272 ro o DT1705 240 0 SubIndex 000 USINT 8 0 ro o 1 1st receive PDO mapped UDINT 32 16 ro o 2 2nd receive PDO mapped UDINT 32 48 ro o 3 3rd receive PDO mapped UDINT 32 80 ro o 4 4th receive PDO mapped UDINT 32 112 ro o 5 5th receive PDO mapped UDINT 32 144 ro o 6 6th receive PDO mapped UDINT 32 176 ro o 7 7th receive PDO mapped UDINT 32 208 ro o 8 8th receive PDO mapped UDINT 32 240 ro o DT1A00 304 0 SubIndex 000 USINT 8 0 rw o 1 1st transmit PDO mapped UDINT 32 16 rw o 2 2nd transmit PDO mapped UDINT 32 48 rw o 3 3rd transmit PDO mapped UDINT 32 80 rw o 4 4th transmit PDO mapped UDINT 32 112 rw o 5 5th transmit PDO mapped UDINT 32 144 rw o 6 6th transmit PDO mapped UDINT 32 176 rw o 7 7th transmit PDO mapped UDINT 32 208 rw o 8 8th transmit PDO mapped UDINT 32 240 rw o 9 9th transmit PDO mapped UDINT 32 272 rw o 10 10th transmit PDO mapped UDINT 32 304 rw o DT1B01 240 0 SubIndex 000 USINT 8 0 rw o 1 1st transmit PDO mapped UDINT 32 16 ro o 2 2nd transmit PDO mapped UDINT 32 48 ro o 3 3rd transmit PDO mapped UDINT 32 80 ro o 4 4th transmit PDO mapped UDINT 32 112 ro o 5 5th transmit PDO mapped UDINT 32 144 ro o 6 6th transmit PDO mapped UDINT 32 176 ro o 7 7th transmit PDO mapped UDINT 32 208 ro o 8 8th transmit PDO mapped UDINT 32 240 ro o DT1B02 272 0 SubIndex 000 USINT 8 0 ro o 1 1st transmit PDO mapped UDINT 32 16 ro o 2 2nd transmit PDO mapped UDINT 32 48 ro o 3 3rd transmit PDO mapped UDINT 32 80 ro o 4 4th transmit PDO mapped UDINT 32 112 ro o 5 5th transmit PDO mapped UDINT 32 144 ro o 6 6th transmit PDO mapped UDINT 32 176 ro o 7 7th transmit PDO mapped UDINT 32 208 ro o 8 8th transmit PDO mapped UDINT 32 240 ro o 9 9th transmit PDO mapped UDINT 32 272 ro o DT1B03 304 0 SubIndex 000 USINT 8 0 ro o 1 1st transmit PDO mapped UDINT 32 16 ro o 2 2nd transmit PDO mapped UDINT 32 48 ro o 3 3rd transmit PDO mapped UDINT 32 80 ro o 4 4th transmit PDO mapped UDINT 32 112 ro o 5 5th transmit PDO mapped UDINT 32 144 ro o 6 6th transmit PDO mapped UDINT 32 176 ro o 7 7th transmit PDO mapped UDINT 32 208 ro o 8 8th transmit PDO mapped UDINT 32 240 ro o 9 9th transmit PDO mapped UDINT 32 272 ro o 10 10th transmit PDO mapped UDINT 32 304 ro o DT1B04 304 0 SubIndex 000 USINT 8 0 ro o 1 1st transmit PDO mapped UDINT 32 16 ro o 2 2nd transmit PDO mapped UDINT 32 48 ro o 3 3rd transmit PDO mapped UDINT 32 80 ro o 4 4th transmit PDO mapped UDINT 32 112 ro o 5 5th transmit PDO mapped UDINT 32 144 ro o 6 6th transmit PDO mapped UDINT 32 176 ro o 7 7th transmit PDO mapped UDINT 32 208 ro o 8 8th transmit PDO mapped UDINT 32 240 ro o 9 9th transmit PDO mapped UDINT 32 272 ro o 10 10th transmit PDO mapped UDINT 32 304 ro o DT1C12 48 0 SubIndex 000 USINT 8 0 rw o 1 PDO mapping object index of assigned RxPDO1 UINT 16 16 rw o 2 PDO mapping object index of assigned RxPDO2 UINT 16 32 rw o DT1C13 48 0 SubIndex 000 USINT 8 0 rw o 1 PDO mapping object index of assigned TxPDO1 UINT 16 16 rw o 2 PDO mapping object index of assigned TxPDO2 UINT 16 32 rw o #x1000 Device type UDINT 32 92010200 ro o #x1001 Error register USINT 8 00 ro o #x1008 Device name STRING(20) 160 5344323020457468657243415420536C617665 ro o #x1009 Hardware version STRING(3) 24 313031 ro o #x100a Software version STRING(3) 24 313131 ro o #x1018 Identity DT1018 112 SubIndex 000 04 Vendor ID 68070000 Product code 01000000 Revision 64000000 Serial 01000000 ro o #x1600 RxPDO-Map DT1600 304 SubIndex 000 0A 1st receive PDO mapped 10004060 2nd receive PDO mapped 20007A60 3rd receive PDO mapped 10008160 4th receive PDO mapped 08006060 5th receive PDO mapped 00000000 6th receive PDO mapped 00000000 7th receive PDO mapped 00000000 8th receive PDO mapped 00000000 9th receive PDO mapped 00000000 10th receive PDO mapped 00000000 rw o #x1701 RxPDO1-Map DT1701 112 SubIndex 000 04 1st receive PDO mapped 10004060 2nd receive PDO mapped 20007A60 3rd receive PDO mapped 1000B860 4th receive PDO mapped 2000FE60 ro o #x1702 RxPDO2-Map DT1702 208 SubIndex 000 07 1st receive PDO mapped 10004060 2nd receive PDO mapped 20007A60 3rd receive PDO mapped 2000FF60 4th receive PDO mapped 10007160 5th receive PDO mapped 08006060 6th receive PDO mapped 1000B860 7th receive PDO mapped 20007F60 ro o #x1703 RxPDO3-Map DT1703 208 SubIndex 000 07 1st receive PDO mapped 10004060 2nd receive PDO mapped 20007A60 3rd receive PDO mapped 2000FF60 4th receive PDO mapped 08006060 5th receive PDO mapped 1000B860 6th receive PDO mapped 1000E060 7th receive PDO mapped 1000E160 ro o #x1704 RxPDO4-Map DT1704 272 SubIndex 000 09 1st receive PDO mapped 10004060 2nd receive PDO mapped 20007A60 3rd receive PDO mapped 2000FF60 4th receive PDO mapped 10007160 5th receive PDO mapped 08006060 6th receive PDO mapped 1000B860 7th receive PDO mapped 20007F60 8th receive PDO mapped 1000E060 9th receive PDO mapped 1000E160 ro o #x1705 RxPDO5-Map DT1705 240 SubIndex 000 08 1st receive PDO mapped 10004060 2nd receive PDO mapped 20007A60 3rd receive PDO mapped 2000FF60 4th receive PDO mapped 08006060 5th receive PDO mapped 1000B860 6th receive PDO mapped 1000E060 7th receive PDO mapped 1000E160 8th receive PDO mapped 1000B260 ro o #x1A00 TxPDO-Map DT1A00 304 SubIndex 000 0A 1st transmit PDO mapped 10004160 2nd transmit PDO mapped 20006460 3rd transmit PDO mapped 20006C60 4th transmit PDO mapped 10003F60 5th transmit PDO mapped 10006160 6th transmit PDO mapped 00000000 7th transmit PDO mapped 00000000 8th transmit PDO mapped 00000000 9th transmit PDO mapped 00000000 10th transmit PDO mapped 00000000 rw o #x1B01 TxPDO1-Map DT1B01 240 SubIndex 000 08 1st transmit PDO mapped 10003F60 2nd transmit PDO mapped 10004160 3rd transmit PDO mapped 20004260 4th transmit PDO mapped 10007760 5th transmit PDO mapped 1000F460 6th transmit PDO mapped 1000B960 7th transmit PDO mapped 2000BA60 8th transmit PDO mapped 2000FD60 ro o #x1B02 TxPDO2-Map DT1B02 272 SubIndex 000 09 1st transmit PDO mapped 10003F60 2nd transmit PDO mapped 10004160 3rd transmit PDO mapped 20006460 4th transmit PDO mapped 10007760 5th transmit PDO mapped 10006160 6th transmit PDO mapped 1000B960 7th transmit PDO mapped 2000BA60 8th transmit PDO mapped 2000BC60 9th transmit PDO mapped 2000BD60 ro o #x1B03 TxPDO3-Map DT1B03 304 SubIndex 000 0A 1st transmit PDO mapped 10003F60 2nd transmit PDO mapped 10004160 3rd transmit PDO mapped 20006460 4th transmit PDO mapped 10007760 5th transmit PDO mapped 2000F460 6th transmit PDO mapped 10006160 7th transmit PDO mapped 1000B960 8th transmit PDO mapped 2000BA60 9th transmit PDO mapped 2000BC60 10th transmit PDO mapped 2000FD60 ro o #x1B04 TxPDO4-Map DT1B04 304 SubIndex 000 0A 1st transmit PDO mapped 10003F60 2nd transmit PDO mapped 10004160 3rd transmit PDO mapped 20006460 4th transmit PDO mapped 10007760 5th transmit PDO mapped 10006160 6th transmit PDO mapped 2000F460 7th transmit PDO mapped 1000B960 8th transmit PDO mapped 2000BA60 9th transmit PDO mapped 2000BC60 10th transmit PDO mapped 20006C60 ro o #x1c00 Sync manager type DT1C00 64 SubIndex 000 04 Communication type SM0 01 Communication type SM1 02 Communication type SM2 03 Communication type SM3 04 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 01 SubIndex 001 0016 SubIndex 002 0117 rw o #x1c13 TxPDO assign DT1C13 48 SubIndex 000 01 SubIndex 001 001A SubIndex 002 011B rw o #x1c32 SM output parameter DT1C32 144 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 144 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Sync Error 00 ro o #x2000 Index2000 table DT2000 256 ro o #x2001 Index2001 table DT2001 560 ro o #x2002 Index2002 table DT2002 624 ro o #x2003 Index2003 table DT2003 304 ro o #x2004 Index2004 table DT2004 336 ro o #x2005 Index2005 table DT2005 96 ro o #x2006 Index2006 table DT2006 256 ro o #x2008 Index2008 table DT2008 944 ro o #x2009 Index2009 table DT2009 128 ro o #x603F Error code UINT 16 0000 ro o T #x6040 Controlword UINT 16 0000 rw o R #x6041 Statusword UINT 16 0000 ro o T #x605A Quick stop option mode INT 16 0200 rw o #x605D Halt option code INT 16 0100 rw o #x6060 Modes of operation SINT 8 0000 rw o R #x6061 Modes of operation display SINT 8 0000 ro o T #x6062 Position demand value DINT 32 00000000 ro o T #x6063 Position feedback value DINT 32 00000000 ro o T #x6064 Position actual value DINT 32 00000000 ro o T #x6065 Following error window UINT 16 96190000 rw o #x6067 Position window DINT 32 1E050000 rw o #x6068 Position window time UINT 16 0000 rw o #x606C Velocity actual value DINT 32 00000000 ro o T #x606D Velocity window UINT 16 2C01 rw o #x606E Velocity window time UINT 16 0000 rw o #x6071 Target torque INT 16 0000 rw o R #x6072 Max torque UINT 16 C800 rw o #x6074 Torque demand value INT 16 0000 ro o T #x6077 Torque actual value INT 16 0000 ro o T #x607A Position target value DINT 32 00000000 rw o R #x607C Home offset DINT 32 00000000 rw o #x607E Polarity UINT 16 0000 rw o R #x607F Max profile velocity UDINT 32 E40C0000 rw o #x6081 Profile velocity UINT 16 0000 rw o R #x6083 Profile acceleration UINT 16 6400 rw o #x6084 Profile deceleration UINT 16 6400 rw o #x6085 Quick stop deceleration UINT 16 6400 rw o #x6087 Torque slope UINT 16 0000 rw o #x6091 Gear ratio DT6091 80 SubIndex 000 #x02 Motor revolutions #x0000 Shaft revolutions #x2710 ro o #x6098 Homing method USINT 8 01 rw o #x6099 Homing search speed DT6099 32 SubIndex 000 #x02 Home searching first speed #x01F4 Home searching second speed #x00C8 ro o #x609A Homing acceleration UINT 16 0000 rw o #x60B0 Position offset DINT 32 00000000 rw R #x60B1 Velocity offset DINT 32 00000000 rw o R #x60B2 Torque offset INT 16 0000 rw o R #x60B8 Touch probe function UINT 16 0000 rw o R #x60B9 Touch probe status UINT 16 0000 ro o T #x60BA Touch probe pos1 position value DINT 32 00000000 ro o T #x60BB Touch probe neg1 position value DINT 32 00000000 ro o T #x60BC Touch probe pos2 position value DINT 32 00000000 ro o T #x60BD Touch probe neg2 position value DINT 32 00000000 ro o T #x60E0 Forward torque limite value UINT 16 C800 rw o R #x60E1 Reverse torque limite value UINT 16 C800 rw o R #x60F4 Following errror actual value DINT 32 00000000 ro o T #x60FD Digital inputs DINT 32 00000000 ro o T #x60FE Digital outputs DINT 32 00000000 rw o R #x60FF Target velocity DINT 32 00000000 rw o R #x6502 Supported drive modes UDINT 32 AD030000 ro o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO-MAP #x1701 #x1702 #x1703 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Position target value DINT #x6081 0 16 Profile velocity UINT #x6060 0 8 Modes of operation SINT #x1701 RxPDO-MAP1 #x1600 #x1702 #x1703 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Position target value DINT #x60B8 0 16 Touch probe function UINT #x60FE 0 32 Digital outputs DINT #x1702 RxPDO-MAP2 #x1600 #x1701 #x1703 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Position target value DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch probe function UINT #x607F 0 32 Max profile velocity UDINT #x1703 RxPDO-MAP3 #x1600 #x1701 #x1702 #x1704 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Position target value DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch probe function UINT #x60E0 0 16 Forward torque limite value UINT #x60E1 0 16 Reverse torque limite value UINT #x1704 RxPDO-MAP4 #x1600 #x1701 #x1702 #x1703 #x1705 #x6040 0 16 Controlword UINT #x607A 0 32 Position target value DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch probe function UINT #x607F 0 32 Max profile velocity UDINT #x60E0 0 16 Forward torque limite value UINT #x60E1 0 16 Reverse torque limite value UINT #x1705 RxPDO-MAP5 #x1600 #x1701 #x1702 #x1703 #x1704 #x6040 0 16 Controlword UINT #x607A 0 32 Position target value DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch probe function UINT #x60E0 0 16 Forward torque limite value UINT #x60E1 0 16 Reverse torque limite value UINT #x60B2 0 16 Torque offset INT #x1A00 TxPDO-MAP #x1B01 #x1B02 #x1B03 #x1B04 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity actual value DINT #x6061 0 8 Modes of operation display SINT #x603F 0 16 Error code UINT #x1B01 TxPDO-MAP1 #x1A00 #x1B02 #x1B03 #x1B04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following errror actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 position value DINT #x60FD 0 32 Digital inputs DINT #x1B02 TxPDO-MAP2 #x1A00 #x1B01 #x1B03 #x1B04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 position value DINT #x60BC 0 32 Touch probe pos2 position value DINT #x60FD 0 32 Digital inputs DINT #x1B03 TxPDO-MAP3 #x1A00 #x1B01 #x1B02 #x1B04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following errror actual value DINT #x6061 0 8 Modes of operation display SINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 position value DINT #x60BC 0 32 Touch probe pos2 position value DINT #x60FD 0 32 Digital inputs DINT #x1B04 TxPDO-MAP4 #x1A00 #x1B01 #x1B02 #x1B03 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x60F4 0 32 Following errror actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 position value DINT #x60BC 0 32 Touch probe pos2 position value DINT #x606C 0 32 Velocity actual value DINT Synchron SM-Synchron #x0 0 0 0 DC DC-Synchron #x300 0 0 0 2048 800E00CC8813f000000000800000 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