#x768 EURA Drives Electric Co., Ltd 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EuraMultiAxis Multi_Axis Drive 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SD20-D-Ecat SD20-D-Ecat ServoDrive http://www.euradrives.com 3000 9000 5000 200 100 2000 EuraMultiAxis 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 288 0 SubIndex 000 USINT 8 0 ro o 1 A Motor code UINT 16 16 ro o 2 A Control mode and forward direction setting UINT 16 32 rw o 4 A Encoder frequency-division numbers UINT 16 48 rw o 6 A Encoder pulse frequency-division numbers denominator UDINT 32 64 rw o 8 A Motion range for movement of inertia recognition INT 16 96 rw o 9 A Inertia recognition mode selection INT 16 112 rw o 10 A Movement of inertia recognition gap time INT 16 128 rw o 11 A Rigidity selection INT 16 144 rw o 14 A Frist Rotation inertia ratio INT 16 160 rw o 15 A Movement of inertia acele/decel time INT 16 176 rw o 16 A Motion range of off-line inertia recognition DINT 32 192 rw o 18 A Z pulse frequency-division output width INT 16 224 rw o 19 A Pulse output configuration UINT 16 240 rw o 20 A Virtual Z output period DINT 32 256 rw o 31 A Second Rotation inertia ratio INT 16 272 rw o 32 A Rotation inertia ratio selection INT 16 288 rw o DT2001 576 0 SubIndex 000 USINT 8 0 ro o 2 A First speed loop proportional gain INT 16 16 rw o 3 A First speed loop integral time INT 16 32 rw o 4 A Second speed loop proportional gain INT 16 48 rw o 5 A Second speed loop integral time INT 16 64 rw o 6 A First speed loop filter time constant INT 16 80 rw o 7 A Second speed loop filter time constant INT 16 96 rw o 8 A Torque feedforward gain INT 16 112 rw o 9 A Torque feedforward gain filter INT 16 128 rw o 10 A Acceleration time (only valid in speed mode) INT 16 144 rw o 11 A Deceleration time (only valid in speed mode) INT 16 160 rw o 12 A S curve accele/decele time INT 16 176 rw o 13 A S curve starting indication INT 16 192 rw o 19 A Rotation detection value INT 16 208 rw o 27 A Speed value in the zero clamp INT 16 224 rw o 28 A Zero clamp enabled INT 16 240 rw o 29 A Duration time of home found signal INT 16 256 rw o 30 A Delay time of home searching UINT 16 272 rw o 31 A Gain switchover mode INT 16 288 rw o 32 A Gain switching speed INT 16 304 rw o 33 A Gain switching pulse INT 16 320 rw o 34 A Position loop gain switching time INT 16 336 rw o 35 A Speed loop gain switching time INT 16 352 rw o 36 A Gain switchover delay time INT 16 368 rw o 37 A Mechanical home one-loop DINT 32 384 rw o 39 A Mechanical home multi-loop DINT 32 416 rw o 41 A Forward running range pulse when overtravel protection DINT 32 448 rw o 43 A Forward running range multi-loop numbers when overtravel protection INT 16 480 rw o 44 A Reverse running range pulse when overtravel protection DINT 32 496 rw o 46 A Reverse running range multi-loop numbers when overtravel protection INT 16 528 rw o 49 A Zeropoint position DINT 32 544 rw o 56 A Speed loop filter selection INT 16 576 rw o DT2002 752 0 SubIndex 000 USINT 8 0 ro o 1 A First current loop bandwidth INT 16 16 rw o 2 A Second current loop bandwidth INT 16 32 rw o 8 A Forward/reverse run prohibited and emergency stop torque INT 16 48 rw o 9 A Forward max torque limit INT 16 64 rw o 10 A Reverse max torque limit INT 16 80 rw o 11 A Speed limit during torque control INT 16 96 rw o 12 A Internal speed limit INT 16 112 rw o 15 A First torque loop filter time constant INT 16 128 rw o 16 A Second torque loop filter time constant INT 16 144 rw o 17 A Forward/reverse run prohibited torque setting INT 16 160 rw o 18 A The first notch filter center frequency INT 16 176 rw o 19 A The first notch filter width INT 16 192 rw o 20 A The first notch filter depth INT 16 208 rw o 21 A The second notch filter center frequency INT 16 224 rw o 22 A The second notch filter width INT 16 240 rw o 23 A The second notch filter depth INT 16 256 rw o 24 A The third notch filter center frequency INT 16 272 rw o 25 A The third notch filter width INT 16 288 rw o 26 A The third notch filter depth INT 16 304 rw o 27 A The fourth notch filter center frequency INT 16 320 rw o 28 A The fourth notch filter width INT 16 336 rw o 29 A The fourth notch filter depth INT 16 352 rw o 30 A Notch filter function enabled INT 16 368 rw o 31 A No. of notch filter INT 16 384 rw o 35 A Load observer gain INT 16 400 rw o 36 A Filter time of load observer INT 16 416 rw o 37 A Back EMF compensation coefficient INT 16 432 rw o 38 A Target torque range INT 16 448 rw o 39 A Torque filter frequency INT 16 464 rw o 40 A Frist Gravity compensation INT 16 480 rw o 41 A Frist Center frequency of jitter inhibition INT 16 496 rw o 43 A Frist Intensity of jitter inhibition INT 16 512 rw o 45 A Second Center frequency of jitter inhibition INT 16 528 rw o 47 A Second Intensity of jitter inhibition INT 16 544 rw o 48 A The fifth notch filter center frequency INT 16 560 rw o 49 A The fifth notch filter width INT 16 576 rw o 50 A The fifth notch filter depth INT 16 592 rw o 51 A The sixth notch filter center frequency INT 16 608 rw o 52 A The sixth notch filter width INT 16 624 rw o 53 A The sixth notch filter depth INT 16 640 rw o 54 A The seventh notch filter center frequency INT 16 656 rw o 55 A The seventh notch filter width INT 16 672 rw o 56 A The seventh notch filter depth INT 16 688 rw o 57 A The eighth notch filter center frequency INT 16 704 rw o 58 A The eighth notch filter width INT 16 720 rw o 59 A The eighth notch filter depth INT 16 736 rw o 90 A Cogging torque compensation ON INT 16 752 rw o DT2003 304 0 SubIndex 000 USINT 8 0 ro o 1 A Pulse command setting UINT 16 16 rw o 2 A First position loop gain INT 16 32 rw o 3 A Second position loop gain INT 16 48 rw o 4 A Position loop feedforward gain INT 16 64 rw o 5 A First group electronic gear numerator UINT 16 80 rw o 6 A First group electronic gear denominator UINT 16 96 rw o 7 A Position loop filter time constant INT 16 112 rw o 9 A Command pulse clear function UINT 16 128 rw o 27 A Filter time constant of position feedforward UINT 16 144 rw o 28 A Position error alarm pulse UINT 16 160 rw o 39 A Internal position given speed unit INT 16 176 rw o 40 A Electronic gear selection INT 16 192 rw o 41 A Position mode FIR filter INT 16 208 rw o 77 A Position feedback source INT 16 224 rw o 78 A External encoder proportion numerator UINT 16 240 rw o 79 A External encoder proportion denominator UINT 16 256 rw o 80 A Mixed error clear cycles INT 16 272 rw o 81 A Mixed error alarm value UINT 16 288 rw o 94 A OP abnormal protection time UINT 16 304 rw o DT2004 432 0 SubIndex 000 USINT 8 0 ro o 8 A DI1 terminal function selection UINT 16 16 rw o 9 A DI2 terminal function selection UINT 16 32 rw o 10 A DI3 terminal function selection UINT 16 48 rw o 11 A DI4 terminal function selection UINT 16 64 rw o 12 A DI5 terminal function selection UINT 16 80 rw o 22 A DO1 terminal function selection UINT 16 144 rw o 23 A DO2 terminal function selection UINT 16 160 rw o 24 A DO3 terminal function selection UINT 16 176 rw o 39 A DI1 filter time UINT 16 224 rw o 40 A DI2 filter time UINT 16 240 rw o 41 A DI3 filter time UINT 16 256 rw o 42 A DI4 filter time UINT 16 272 rw o 43 A DI5 filter time UINT 16 288 rw o 50 Extend DI filter time UINT 16 304 rw o 51 Extend DI1 terminal function selection UINT 16 320 rw o 52 Extend DI2 terminal function selection UINT 16 336 rw o 53 Extend DI3 terminal function selection UINT 16 352 rw o 54 Extend DI4 terminal function selection UINT 16 368 rw o 55 Extend DI5 terminal function selection UINT 16 384 rw o 61 Extend DO1 terminal function selection UINT 16 400 rw o 62 Extend DO2 terminal function selection UINT 16 416 rw o 63 Extend DO3 terminal function selection UINT 16 432 rw o DT2005 96 0 SubIndex 000 USINT 8 0 ro o 1 A Communication address UINT 16 16 rw o 2 A Communication mode UINT 16 32 rw o 3 A Stop bit UINT 16 48 rw o 4 A Odd/even calibration UINT 16 64 rw o 5 A Baud rate UINT 16 80 rw o 6 A Whether communication is valid UINT 16 96 rw o DT2006 256 0 SubIndex 000 USINT 8 0 ro o 1 A Rated voltage UINT 16 16 ro o 2 A Rated current UINT 16 32 rw o 3 A Max rotary speed UINT 16 48 rw o 4 A Rated rotary speed UINT 16 64 rw o 5 A Motor pole pairs UINT 16 80 rw o 6 A Resistance between phases UINT 16 96 rw o 7 A D-axis inductance UINT 16 112 rw o 8 A Q-axis inductance UINT 16 128 rw o 9 A Back EMF line voltage value UINT 16 144 rw o 12 A Motor rated power UINT 16 160 rw o 13 A Motor movement inertia UINT 16 176 rw o 17 A Encoder line number 32bits DINT 32 208 rw o 19 A Encoder installation angle (number of pulse) DINT 32 240 rw o 72 A Overload sensitivity setting INT 16 256 rw o DT2008 944 0 SubIndex 000 USINT 8 0 ro o 1 A Software version UINT 16 16 ro o 2 A User's password(Avoid modifying parameters by mistake) UINT 16 32 rw o 3 A Delay time for servo OFF UINT 16 48 rw o 4 A Delay time for electro- magnetic braking OFF UINT 16 64 rw o 5 A Braking resistor value UINT 16 80 rw o 6 A Discharge duty ratio UINT 16 96 rw o 7 A Input power phase-loss protection UINT 16 112 rw o 8 A Servo OFF stop mode UINT 16 128 rw o 9 A Dynamic braking delay time UINT 16 144 rw o 10 A Servo drive status display UINT 16 160 rw o 11 A Record of the latest malfunction type UINT 16 176 ro o 12 A Record of malfunction type for last but one UINT 16 192 ro o 13 A Record of malfunction type for two but one UINT 16 208 ro o 14 A JOG speed UINT 16 224 rw o 16 A Encoder disconnection protection UINT 16 240 rw o 17 A Speed threshold of electromagnetic braking UINT 16 256 rw o 18 A Forward run prohibited UINT 16 272 rw o 19 A Reverse run prohibited UINT 16 288 rw o 20 A Analog monitor function selection UINT 16 304 rw o 21 A Servo drive output current corresponding to 10V UINT 16 320 rw o 22 A Servodrive max voltage corresponding to 10V UINT 16 336 rw o 23 A Max rotation speed corresponding to 10V UINT 16 352 rw o 24 A Motor parameter storing location UINT 16 368 rw o 25 A Analog monitor voltage compensation INT 16 384 rw o 26 A Electrical angle identification settings UINT 16 400 rw o 27 A Fan control UINT 16 416 rw o 28 A Fan temperature setting UINT 16 432 rw o 29 A Power off and braking UINT 16 448 rw o 30 A Time of power off and braking UINT 16 464 rw o 31 A Setting of absolute position and relative position UINT 16 480 rw o 32 A Communication related error UINT 16 496 rw o 33 A Leakage protection function switch UINT 16 512 rw o 35 A Motor lock-rotor protection function UINT 16 528 rw o 36 A Overload pre-alarm current UINT 16 544 rw o 37 A Overload pre-alarm filter time UINT 16 560 rw o 38 A Motor overload coefficient setting UINT 16 576 rw o 39 A Under voltage protection of LI battery UINT 16 596 rw o 40 A Overtravel limit function UINT 16 608 rw o 41 A Delay time of lock-rotor protection UINT 16 624 rw o 43 A Alarm output duty ratio UINT 16 640 rw o 44 A Encoder reset UINT 16 656 rw o 45 A Parameter copy UINT 16 672 rw o 47 A FPGA software version UINT 16 688 ro o 49 A When it is 1, it can be used to set motor parameter UINT 16 704 rw o 50 A Revert to Mfr's value UINT 16 720 rw o 51 A Motor overheat protection UINT 16 736 rw o 52 A Motor disconnected protection of temperature detection UINT 16 752 rw o 55 A Torque detuning protection UINT 16 768 rw o 56 A Torque detuning protection filter time UINT 16 784 rw o 57 A Air-cooling motor mode selection UINT 16 800 rw o 58 A Forced input setting of DI UINT 16 816 rw o 59 A Forced input and output mode of DI/DO UINT 16 832 rw o 60 A Stationalias UINT 16 848 rw o 61 A Firmware version UINT 16 864 ro o 62 A Analog monitor channel 2 UINT 16 880 rw o 63 A Analog monitor voltage compensation 2 INT 16 896 rw o 65 A Alarm stop mode UINT 16 912 rw o 66 A Alarm deceleration stop time UINT 16 928 rw o 67 A Speed torque display unit UINT 16 944 rw o DT2009 192 0 SubIndex 000 USINT 8 0 ro o 1 A LoParam1 address UINT 16 16 rw o R 2 A LoParam2 address UINT 16 32 rw o R 3 A LoParam3 address UINT 16 48 rw o R 4 A LoParam4 address UINT 16 64 rw o R 5 A LoParam5 address UINT 16 80 rw o R 6 A LoParam1 value DINT 32 96 ro o T 7 A LoParam2 value DINT 32 128 ro o T 8 A LoParam3 value DINT 32 128 ro o T 9 A LoParam4 value DINT 32 160 ro o T 10 A LoParam5 value DINT 32 192 ro o T DT2800 288 0 SubIndex 000 USINT 8 0 ro o 1 B Motor code UINT 16 16 ro o 2 B Control mode and forward direction setting UINT 16 32 rw o 4 B Encoder frequency-division numbers UINT 16 48 rw o 6 B Encoder pulse frequency-division numbers denominator UDINT 32 64 rw o 8 B Motion range for movement of inertia recognition INT 16 96 rw o 9 B Inertia recognition mode selection INT 16 112 rw o 10 B Movement of inertia recognition gap time INT 16 128 rw o 11 B Rigidity selection INT 16 144 rw o 14 B Rotation inertia ratio INT 16 160 rw o 15 B Movement of inertia acele/decel time INT 16 176 rw o 16 B Motion range of off-line inertia recognition DINT 32 192 rw o 18 B Z pulse frequency-division output width INT 16 224 rw o 19 B Pulse output configuration UINT 16 240 rw o 20 B Virtual Z output period DINT 32 256 rw o 31 B Second Rotation inertia ratio INT 16 272 rw o 32 B Rotation inertia ratio selection INT 16 288 rw o DT2801 576 0 SubIndex 000 USINT 8 0 ro o 2 B First speed loop proportional gain INT 16 16 rw o 3 B First speed loop integral time INT 16 32 rw o 4 B Second speed loop proportional gain INT 16 48 rw o 5 B Second speed loop integral time INT 16 64 rw o 6 B First speed loop filter time constant INT 16 80 rw o 7 B Second speed loop filter time constant INT 16 96 rw o 8 B Torque feedforward gain INT 16 112 rw o 9 B Torque feedforward gain filter INT 16 128 rw o 10 B Acceleration time (only valid in speed mode) INT 16 144 rw o 11 B Deceleration time (only valid in speed mode) INT 16 160 rw o 12 B S curve accele/decele time INT 16 176 rw o 13 B S curve starting indication INT 16 192 rw o 19 B Rotation detection value INT 16 208 rw o 27 B Speed value in the zero clamp INT 16 224 rw o 28 B Zero clamp enabled INT 16 240 rw o 29 B Duration time of home found signal INT 16 256 rw o 30 B Delay time of home searching UINT 16 272 rw o 31 B Gain switchover mode INT 16 288 rw o 32 B Gain switching speed INT 16 304 rw o 33 B Gain switching pulse INT 16 320 rw o 34 B Position loop gain switching time INT 16 336 rw o 35 B Speed loop gain switching time INT 16 352 rw o 36 B Gain switchover delay time INT 16 368 rw o 37 B Mechanical home one-loop DINT 32 384 rw o 39 B Mechanical home multi-loop DINT 32 416 rw o 41 B Forward running range pulse when overtravel protection DINT 32 448 rw o 43 B Forward running range multi-loop numbers when overtravel protection INT 16 480 rw o 44 B Reverse running range pulse when overtravel protection DINT 32 496 rw o 46 B Reverse running range multi-loop numbers when overtravel protection INT 16 528 rw o 49 B Zeropoint position DINT 32 544 rw o 56 A Speed loop filter selection INT 16 576 rw o DT2802 528 0 SubIndex 000 USINT 8 0 ro o 1 B First current loop bandwidth INT 16 16 rw o 2 B Second current loop bandwidth INT 16 32 rw o 8 B Forward/reverse run prohibited and emergency stop torque INT 16 48 rw o 9 B Forward max torque limit INT 16 64 rw o 10 B Reverse max torque limit INT 16 80 rw o 11 B Speed limit during torque control INT 16 96 rw o 12 B Internal speed limit INT 16 112 rw o 15 B First torque loop filter time constant INT 16 128 rw o 16 B Second torque loop filter time constant INT 16 144 rw o 17 B Forward/reverse run prohibited torque setting INT 16 160 rw o 18 B The first notch filter center frequency INT 16 176 rw o 19 B The first notch filter width INT 16 192 rw o 20 B The first notch filter depth INT 16 208 rw o 21 B The second notch filter center frequency INT 16 224 rw o 22 B The second notch filter width INT 16 240 rw o 23 B The second notch filter depth INT 16 256 rw o 24 B The third notch filter center frequency INT 16 272 rw o 25 B The third notch filter width INT 16 288 rw o 26 B The third notch filter depth INT 16 304 rw o 27 B The fourth notch filter center frequency INT 16 320 rw o 28 B The fourth notch filter width INT 16 336 rw o 29 B The fourth notch filter depth INT 16 352 rw o 30 B Notch filter function enabled INT 16 368 rw o 31 B No. of notch filter INT 16 384 rw o 35 B Load observer gain INT 16 400 rw o 36 B Filter time of load observer INT 16 416 rw o 37 B Back EMF compensation coefficient INT 16 432 rw o 38 B Target torque range INT 16 448 rw o 39 B Torque filter frequency INT 16 464 rw o 40 B Gravity compensation INT 16 480 rw o 41 B Center frequency of jitter inhibition INT 16 496 rw o 43 B Intensity of jitter inhibition INT 16 512 rw o 41 B Frist Center frequency of jitter inhibition INT 16 496 rw o 43 B Frist Intensity of jitter inhibition INT 16 512 rw o 45 B Second Center frequency of jitter inhibition INT 16 528 rw o 47 B Second Intensity of jitter inhibition INT 16 544 rw o 48 B The fifth notch filter center frequency INT 16 560 rw o 49 B The fifth notch filter width INT 16 576 rw o 50 B The fifth notch filter depth INT 16 592 rw o 51 B The sixth notch filter center frequency INT 16 608 rw o 52 B The sixth notch filter width INT 16 624 rw o 53 B The sixth notch filter depth INT 16 640 rw o 54 B The seventh notch filter center frequency INT 16 656 rw o 55 B The seventh notch filter width INT 16 672 rw o 56 B The seventh notch filter depth INT 16 688 rw o 57 B The eighth notch filter center frequency INT 16 704 rw o 58 B The eighth notch filter width INT 16 720 rw o 59 B The eighth notch filter depth INT 16 736 rw o 90 B Cogging torque compensation ON INT 16 752 rw o DT2803 304 0 SubIndex 000 USINT 8 0 ro o 1 B Pulse command setting UINT 16 16 rw o 2 B First position loop gain INT 16 32 rw o 3 B Second position loop gain INT 16 48 rw o 4 B Position loop feedforward gain INT 16 64 rw o 5 B First group electronic gear numerator UINT 16 80 rw o 6 B First group electronic gear denominator UINT 16 96 rw o 7 B Position loop filter time constant INT 16 112 rw o 9 B Command pulse clear function UINT 16 128 rw o 27 B Filter time constant of position feedforward UINT 16 144 rw o 28 B Position error alarm pulse UINT 16 160 rw o 39 B Internal position given speed unit INT 16 176 rw o 40 B Electronic gear selection INT 16 192 rw o 41 B Position mode FIR filter INT 16 208 rw o 77 B Position feedback source INT 16 224 rw o 78 B External encoder proportion numerator UINT 16 240 rw o 79 B External encoder proportion denominator UINT 16 256 rw o 80 B Mixed error clear cycles INT 16 272 rw o 81 B Mixed error alarm value UINT 16 288 rw o 94 B OP abnormal protection time UINT 16 304 rw o DT2804 432 0 SubIndex 000 USINT 8 0 ro o 8 B DI1 terminal function selection UINT 16 16 rw o 9 B DI2 terminal function selection UINT 16 32 rw o 10 B DI3 terminal function selection UINT 16 48 rw o 11 B DI4 terminal function selection UINT 16 64 rw o 12 B DI5 terminal function selection UINT 16 80 rw o 22 B DO1 terminal function selection UINT 16 144 rw o 23 B DO2 terminal function selection UINT 16 160 rw o 24 B DO3 terminal function selection UINT 16 176 rw o 39 B DI1 filter time UINT 16 224 rw o 40 B DI2 filter time UINT 16 240 rw o 41 B DI3 filter time UINT 16 256 rw o 42 B DI4 filter time UINT 16 272 rw o 43 B DI5 filter time UINT 16 288 rw o 50 Extend DI filter time UINT 16 304 rw o 51 Extend DI1 terminal function selection UINT 16 320 rw o 52 Extend DI2 terminal function selection UINT 16 336 rw o 53 Extend DI3 terminal function selection UINT 16 352 rw o 54 Extend DI4 terminal function selection UINT 16 368 rw o 55 Extend DI5 terminal function selection UINT 16 384 rw o 61 Extend DO1 terminal function selection UINT 16 400 rw o 62 Extend DO2 terminal function selection UINT 16 416 rw o 63 Extend DO3 terminal function selection UINT 16 432 rw o DT2805 96 0 SubIndex 000 USINT 8 0 ro o 1 B Communication address UINT 16 16 rw o 2 B Communication mode UINT 16 32 rw o 3 B Stop bit UINT 16 48 rw o 4 B Odd/even calibration UINT 16 64 rw o 5 B Baud rate UINT 16 80 rw o 6 B Whether communication is valid UINT 16 96 rw o DT2806 256 0 SubIndex 000 USINT 8 0 ro o 1 B Rated voltage UINT 16 16 ro o 2 B Rated current UINT 16 32 rw o 3 B Max rotary speed UINT 16 48 rw o 4 B Rated rotary speed UINT 16 64 rw o 5 B Motor pole pairs UINT 16 80 rw o 6 B Resistance between phases UINT 16 96 rw o 7 B D-axis inductance UINT 16 112 rw o 8 B Q-axis inductance UINT 16 128 rw o 9 B Back EMF line voltage value UINT 16 144 rw o 12 B Motor rated power UINT 16 160 rw o 13 B Motor movement inertia UINT 16 176 rw o 17 B Encoder line number 32bits DINT 32 208 rw o 19 B Encoder installation angle (number of pulse) DINT 32 240 rw o 72 B Overload sensitivity setting INT 16 256 rw o DT2808 944 0 SubIndex 000 USINT 8 0 ro o 1 B Software version UINT 16 16 ro o 2 B User's password(Avoid modifying parameters by mistake) UINT 16 32 rw o 3 B Delay time for servo OFF UINT 16 48 rw o 4 B Delay time for electro- magnetic braking OFF UINT 16 64 rw o 5 B Braking resistor value UINT 16 80 rw o 6 B Discharge duty ratio UINT 16 96 rw o 7 B Input power phase-loss protection UINT 16 112 rw o 8 B Servo OFF stop mode UINT 16 128 rw o 9 B Dynamic braking delay time UINT 16 144 rw o 10 B Servo drive status display UINT 16 160 rw o 11 B Record of the latest malfunction type UINT 16 176 ro o 12 B Record of malfunction type for last but one UINT 16 192 ro o 13 B Record of malfunction type for two but one UINT 16 208 ro o 14 B JOG speed UINT 16 224 rw o 16 B Encoder disconnection protection UINT 16 240 rw o 17 B Speed threshold of electromagnetic braking UINT 16 256 rw o 18 B Forward run prohibited UINT 16 272 rw o 19 B Reverse run prohibited UINT 16 288 rw o 20 B Analog monitor function selection UINT 16 304 rw o 21 B Servo drive output current corresponding to 10V UINT 16 320 rw o 22 B Servodrive max voltage corresponding to 10V UINT 16 336 rw o 23 B Max rotation speed corresponding to 10V UINT 16 352 rw o 24 B Motor parameter storing location UINT 16 368 rw o 25 B Analog monitor voltage compensation INT 16 384 rw o 26 B Electrical angle identification settings UINT 16 400 rw o 27 B Fan control UINT 16 416 rw o 28 B Fan temperature setting UINT 16 432 rw o 29 B Power off and braking UINT 16 448 rw o 30 B Time of power off and braking UINT 16 464 rw o 31 B Setting of absolute position and relative position UINT 16 480 rw o 32 B Communication related error UINT 16 496 rw o 33 B Leakage protection function switch UINT 16 512 rw o 35 B Motor lock-rotor protection function UINT 16 528 rw o 36 B Overload pre-alarm current UINT 16 544 rw o 37 B Overload pre-alarm filter time UINT 16 560 rw o 38 B Motor overload coefficient setting UINT 16 576 rw o 39 B Under voltage protection of LI battery UINT 16 596 rw o 40 B Overtravel limit function UINT 16 608 rw o 41 B Delay time of lock-rotor protection UINT 16 624 rw o 43 B Alarm output duty ratio UINT 16 640 rw o 44 B Encoder reset UINT 16 656 rw o 45 B Parameter copy UINT 16 672 rw o 47 B FPGA software version UINT 16 688 ro o 49 B When it is 1, it can be used to set motor parameter UINT 16 704 rw o 50 B Revert to Mfr's value UINT 16 720 rw o 51 B Motor overheat protection UINT 16 736 rw o 52 B Motor disconnected protection of temperature detection UINT 16 752 rw o 55 B Torque detuning protection UINT 16 768 rw o 56 B Torque detuning protection filter time UINT 16 784 rw o 57 B Air-cooling motor mode selection UINT 16 800 rw o 58 B Forced input setting of DI UINT 16 816 rw o 59 B Forced input and output mode of DI/DO UINT 16 832 rw o 60 B Stationalias UINT 16 848 rw o 61 B Firmware version UINT 16 864 ro o 62 B Analog monitor channel 2 UINT 16 880 rw o 63 B Analog monitor voltage compensation 2 INT 16 896 rw o 65 B Alarm stop mode UINT 16 912 rw o 66 B Alarm deceleration stop time UINT 16 928 rw o 67 B Speed torque display unit UINT 16 944 rw o DT2809 192 0 SubIndex 000 USINT 8 0 ro o 1 B LoParam1 address UINT 16 16 rw o R 2 B LoParam2 address UINT 16 32 rw o R 3 B LoParam3 address UINT 16 48 rw o R 4 B LoParam4 address UINT 16 64 rw o R 5 B LoParam5 address UINT 16 80 rw o R 6 B LoParam1 value DINT 32 96 ro o T 7 B LoParam2 value DINT 32 128 ro o T 8 B LoParam3 value DINT 32 128 ro o T 9 B LoParam4 value DINT 32 160 ro o T 10 B LoParam5 value DINT 32 192 ro o T 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 A Motor revolutions DINT 32 16 rw o R 2 A Shaft revolutions DINT 32 48 rw o R DT6891 80 0 SubIndex 000 USINT 8 0 ro o 1 B Motor revolutions DINT 32 16 rw o R 2 B Shaft revolutions DINT 32 48 rw o R DT6099 32 0 SubIndex 000 USINT 8 0 ro o 1 A Home searching first speed UINT 16 16 rw o R 2 A Home searching second speed UINT 16 32 rw o R DT6899 32 0 SubIndex 000 USINT 8 0 ro o 1 B Home searching first speed UINT 16 16 rw o R 2 B Home searching second speed UINT 16 32 rw o R 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 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 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 313030 ro o #x1018 Identity DT1018 112 SubIndex 000 04 Vendor ID 68070000 Product code 10000000 Revision 64000000 Serial 01000000 ro o #x1600 RxPDO-Map DT1600 304 SubIndex 000 0A 1st receive PDO mapped 10004060 2nd receive PDO mapped 08006060 3rd receive PDO mapped 20007A60 4th receive PDO mapped 1000B860 5th receive PDO mapped 2000FF60 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 #x1610 RxPDO-Map DT1600 304 SubIndex 000 0A 1st receive PDO mapped 10004068 2nd receive PDO mapped 08006068 3rd receive PDO mapped 20007A68 4th receive PDO mapped 1000B868 5th receive PDO mapped 2000FF68 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 #x1A00 TxPDO-Map DT1A00 304 SubIndex 000 0A 1st transmit PDO mapped 10003F60 2nd transmit PDO mapped 10004160 3rd transmit PDO mapped 08006160 4th transmit PDO mapped 20006460 5th transmit PDO mapped 20006C60 6th transmit PDO mapped 1000B960 7th transmit PDO mapped 2000BA60 8th transmit PDO mapped 2000BC60 9th transmit PDO mapped 2000F460 10th transmit PDO mapped 2000FD60 rw o #x1A10 TxPDO-Map DT1A00 304 SubIndex 000 0A 1st transmit PDO mapped 10003F68 2nd transmit PDO mapped 10004168 3rd transmit PDO mapped 08006168 4th transmit PDO mapped 20006468 5th transmit PDO mapped 20006C68 6th transmit PDO mapped 1000B968 7th transmit PDO mapped 2000BA68 8th transmit PDO mapped 2000BC68 9th transmit PDO mapped 2000F468 10th transmit PDO mapped 2000FD68 rw 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 1016 rw o #x1c13 TxPDO assign DT1C13 48 SubIndex 000 01 SubIndex 001 001A SubIndex 002 101A 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 288 ro o #x2001 Index2001 table DT2001 576 ro o #x2002 Index2002 table DT2002 752 ro o #x2003 Index2003 table DT2003 304 ro o #x2004 Index2004 table DT2004 432 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 192 ro o #x2800 Index2800 table DT2800 288 ro o #x2801 Index2801 table DT2801 576 ro o #x2802 Index2802 table DT2802 752 ro o #x2803 Index2803 table DT2803 304 ro o #x2804 Index2804 table DT2804 432 ro o #x2805 Index2805 table DT2805 96 ro o #x2806 Index2806 table DT2806 256 ro o #x2808 Index2808 table DT2808 944 ro o #x2809 Index2809 table DT2809 192 ro o #x603F A Error code UINT 16 0000 ro o T #x6040 A Controlword UINT 16 0000 rw o R #x6041 A Statusword UINT 16 0000 ro o T #x605A A Quick stop option mode INT 16 0200 rw o R #x605D A Halt option code INT 16 0100 rw o R #x6060 A Modes of operation USINT 8 00 rw o R #x6061 A Modes of operation display USINT 8 00 ro o T #x6062 A Position demand value DINT 32 00000000 ro o T #x6063 A Position feedback value DINT 32 00000000 ro o T #x6064 A Position actual value DINT 32 00000000 ro o T #x6065 A Following error window UINT 16 96190000 rw o R #x6067 A Position window DINT 32 1E050000 rw o R #x6068 A Position window time UINT 16 0000 rw o R #x606C A Velocity actual value DINT 32 00000000 ro o T #x606D A Velocity window UINT 16 2C01 rw o R #x606E A Velocity window time UINT 16 0000 rw o R #x6071 A Target torque INT 16 0000 rw o R #x6072 A Max torque UINT 16 C800 rw o R #x6074 A Torque demand value INT 16 0000 ro o T #x6077 A Torque actual value INT 16 0000 ro o T #x607A A Position target value DINT 32 00000000 rw o R #x607C A Home offset DINT 32 00000000 rw o R #x607E A Polarity UINT 16 0000 rw o R #x607F A Max profile velocity UDINT 32 E40C0000 rw o R #x6081 A Profile velocity UINT 16 0000 rw o R #x6083 A Profile acceleration UINT 16 6400 rw o R #x6084 A Profile deceleration UINT 16 6400 rw o R #x6085 A Quick stop deceleration UINT 16 6400 rw o R #x6087 A Torque slope UINT 16 0000 rw o R #x6091 A Gear ratio DT6091 80 SubIndex 000 #x02 A Motor revolutions #x0000 A Shaft revolutions #x2710 ro o R #x6098 A Homing method USINT 8 01 rw o R #x6099 A Homing search speed DT6099 32 SubIndex 000 #x02 A Home searching first speed #x01F4 A Home searching second speed #x00C8 ro o R #x609A A Homing acceleration UINT 16 0000 rw o R #x60B0 A Position offset DINT 32 00000000 rw o R #x60B1 A Velocity offset DINT 32 00000000 rw o R #x60B2 A Torque offset INT 16 0000 rw o R #x60B8 A Touch probe function UINT 16 0000 rw o R #x60B9 A Touch probe status UINT 16 0000 ro o T #x60BA A Touch probe pos1 position value DINT 32 00000000 ro o T #x60BB A Touch probe neg1 position value DINT 32 00000000 ro o T #x60BC A Touch probe pos2 position value DINT 32 00000000 ro o T #x60BD A Touch probe neg2 position value DINT 32 00000000 ro o T #x60E0 A Forward torque limite value UINT 16 C800 rw o R #x60E1 A Reverse torque limite value UINT 16 C800 rw o R #x60F4 A Following errror actual value DINT 32 00000000 ro o T #x60FD A Digital inputs DINT 32 00000000 ro o T #x60FE A Digital outputs DINT 32 00000000 rw o R #x60FF A Target velocity DINT 32 00000000 rw o R #x6502 A Supported drive modes UDINT 32 AD030000 ro o T #x683F B Error code UINT 16 0000 ro o T #x6840 B Controlword UINT 16 0000 rw o R #x6841 B Statusword UINT 16 0000 ro o T #x685A B Quick stop option mode INT 16 0200 rw o R #x685D B Halt option code INT 16 0100 rw o R #x6860 B Modes of operation USINT 8 0000 rw o R #x6861 B Modes of operation display USINT 8 00 ro o T #x6862 B Position demand value DINT 32 00000000 ro o T #x6863 B Position feedback value DINT 32 00000000 ro o T #x6864 B Position actual value DINT 32 00000000 ro o T #x6865 B Following error window UINT 16 96190000 rw o R #x6867 B Position window DINT 32 1E050000 rw o R #x6868 B Position window time UINT 16 0000 rw o R #x686C B Velocity actual value DINT 32 00000000 ro o T #x686D B Velocity window UINT 16 2C01 rw o R #x686E B Velocity window time UINT 16 0000 rw o R #x6871 B Target torque INT 16 0000 rw o R #x6872 B Max torque UINT 16 C800 rw o R #x6874 B Torque demand value INT 16 0000 ro o T #x6877 B Torque actual value INT 16 0000 ro o T #x687A B Position target value DINT 32 00000000 rw o R #x687C B Home offset DINT 32 00000000 rw o R #x687E B Polarity UINT 16 0000 rw o R #x687F B Max profile velocity UDINT 32 E40C0000 rw o R #x6881 B Profile velocity UINT 16 0000 rw o R #x6883 B Profile acceleration UINT 16 6400 rw o R #x6884 B Profile deceleration UINT 16 6400 rw o R #x6885 B Quick stop deceleration UINT 16 6400 rw o #x6887 B Torque slope UINT 16 0000 rw o R #x6891 B Gear ratio DT6891 80 SubIndex 000 #x02 B Motor revolutions #x0000 B Shaft revolutions #x2710 ro o R #x6898 B Homing method USINT 8 01 rw o R #x6899 B Homing search speed DT6899 32 SubIndex 000 #x02 B Home searching first speed #x01F4 B Home searching second speed #x00C8 ro o #x689A B Homing acceleration UINT 16 rw o R #x68B0 B Position offset DINT 32 00000000 rw R #x68B1 B Velocity offset DINT 32 00000000 rw o R #x68B2 B Torque offset INT 16 0000 0000 rw o R #x68B8 B Touch probe function UINT 16 0000 rw o R #x68B9 B Touch probe status UINT 16 0000 ro o T #x68BA B Touch probe pos1 position value DINT 32 00000000 ro o T #x68BB B Touch probe neg1 position value DINT 32 00000000 ro o T #x68BC B Touch probe pos2 position value DINT 32 00000000 ro o T #x68BD B Touch probe neg2 position value DINT 32 00000000 ro o T #x68E0 B Forward torque limite value UINT 16 C800 rw o R #x68E1 B Reverse torque limite value UINT 16 C800 rw o R #x68F4 B Following errror actual value DINT 32 00000000 ro o T #x68FD B Digital inputs DINT 32 00000000 ro o T #x68FE B Digital outputs DINT 32 00000000 rw o R #x68FF B Target velocity DINT 32 00000000 rw o R #x6D02 B Supported drive modes UDINT 32 AD030000 ro o T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs Synchron SM-Synchron #x0 0 0 0 DC DC-Synchron #x300 0 0 0 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 880E04CC88130000000000800000 424DD6020000000000003600000028000000100000000E0000000100180000000000A002000000000000000000000000000000000000DADADADCDDDCDADADADADADADBDBDBD9D9D9D9D9D9D9D9D9DCDBDBDBDBDBD9D9D9DADADAD4D4D4DADAD9DBDBDADBDBDB75757A58595EECECEB6A6B6F5A5B60EDEDEC636368E7E7E6B5B4B64F5055EEEEED84848856575CEAE9E98C8C8F56575D8383866C6D71ECECEB77787C5F6065EEEDED75767BEBEBEB7F8083848588DFDFDF92939568686DEBEBEA86878A87878BE9E9ECECECF1E2E2E8EAEAEFEBEBEEE6E6F3E9E9EEE5E5F1E9E9EFE6E6E5DFDFE1E6E6E8E8E8E8DEDEDEE8E8ECE9E9EED5D5BCC8C799C9C89CC8C89BDFDED693920F8180008C8B00CBCBA2E9E9F1DFDFD7D5D5BDE9E9EFF0F0FFD1D1B3C9C99DB3B25C8180007978009C9B23AAAA48888700E5E5DA99981B8A8900FEFEFFA5A53BEDEEF0969516A7A741848300B1B159BAB969848300FAFBFFFFFFFFA09F2C99981BFFFFFFB8B967858400F9F9FF7C7A00ABAA468C8C00A2A2327E7D00F0F0EBBCBC6C848300DBDAB4DCDCB798971999981AFFFFFFB8B8648A8800B7B3538B8A00DBDBB2838200AFAE4E9E9D25FFFFFFBEBD6E8786007E7D007D7C00818000959412FFFFFFBBB966898600788A1A8C8500EAEAD494930E737200DEDEBAFFFFFFBDBC6D828100FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBB9658C8600009CFF648C42A8A32AFFFFFFEBEBD5FFFFFFFFFFFFBEBD6D838200D4D4A0CECD91E0E0BAFFFFFFFFFFFFBBBA648A85000F98F0768817A7A42FFFFFFFFFFFFFEBECEDA9AAACBDBB698584008381007D7C00AEAD49FFFFFFFFFFFFBAB8648584009887008C8800E4E5C4FFFFFFFFFFFFE8E8E88C8C90FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF CSP/CSV Cyclic Synchronous Position/Velocity Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x60FF 0 32 Target velocity DINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CSP Cyclic Synchronous Position Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CST Cyclic Synchronous Torque Mode #x1600 Outputs #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 0A 402 CSP/CST Cyclic Synchronous Position/Torque Mode & Touch Probe #x1600 Outputs #x6060 0 8 Modes of Operation SINT #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x1a00 Position Inputs #x603F 0 16 Error code UINT #x6061 0 8 Modes of Operation Display SINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CSP/CSV/CST Cyclic Synchronous Position/Torque/Torque Mode & Touch Pro #x1600 Position Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x607F 0 32 Max profile velocity UDINT #x60B8 0 16 Touch probe function UINT #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x60FF 0 32 Target velocity DINT #x1a00 Position Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CST (Speed Limited) Cyclic Synchronous Torque Mode + Speed Limted #x1600 Outputs #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x607F 0 20 Max profile velocity UDINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 0A 402 PP + TP Profile Position Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x607A 0 32 Target position DINT #x6081 0 16 Profile velocity UINT #x6083 0 16 Profile acceleration UINT #x6084 0 16 Profile deceleration UINT #x60B8 0 16 Touch probe function UINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60F4 0 32 Following error actual value DINT PS #x6060 0 01 402 PP/PV/PT Profile Position/Torque/Torque Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x6071 0 16 Target torque INT #x607A 0 Target position DINT #x6081 0 16 Profile velocity UINT #x6083 0 16 Profile acceleration UINT #x6084 0 16 Profile deceleration UINT #x60B8 0 16 Touch probe function UINT #x60FF 0 32 TargetVelocity DINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 01 402