; DELTA ELECTRONIC, INC. ; Network: CANopen ; Modlue: ; Device: ; Model: ; Create by EDS Builder software [FileInfo] FileName=Hollysys_HSD_Q71.eds FileVersion=1 FileRevision=100 EDSVersion=100 Description=EDS for Hollysys product CreationTime=10:03AM CreationDate=4-30-2024 CreatedBy=4828 ModificationTime=10:03AM ModificationDate=4-30-2024 ModifiedBy=4828, Beijing Hollysys Intelligent [DeviceInfo] VendorName=Beijing Hollysys Intelligent VendorNumber=0x0000000A ProductName=HSD_Q70 ProductNumber=0x0000000A RevisionNumber=0x00000064 OrderCode=Hollysys_servo BaudRate_10=1 BaudRate_20=1 BaudRate_50=1 BaudRate_125=1 BaudRate_250=1 BaudRate_500=1 BaudRate_800=0 BaudRate_1000=1 SimpleBootUpMaster=0 SimpleBootUpSlave=1 Granularity=0x08 DynamicChannelsSupported=0 GroupMessaging=0 NrOfRXPDO=4 NrOfTXPDO=4 LSS_Supported=0 [DummyUsage] Dummy0001=0 Dummy0002=0 Dummy0003=0 Dummy0004=0 Dummy0005=1 Dummy0006=1 Dummy0007=1 [Comments] Lines=1 Line1=EDS file for Hollysys_canopen01 [MandatoryObjects] SupportedObjects=16 1=0x1000 2=0x1001 3=0x1018 4=0x2000 5=0x2001 6=0x2002 7=0x2003 8=0x2004 9=0x2005 10=0x2006 11=0x2007 12=0x2008 13=0x2E00 14=0x2E01 15=0x2E02 16=0x2E03 [1000] ParameterName=Device Type ObjectType=7 DataType=0x0006 AccessType=ro DefaultValue=0x00020192 PDOMapping=0 [1001] ParameterName=Error Register ObjectType=7 DataType=0x0005 AccessType=ro LowLimit=0x0 HighLimit=0xFF DefaultValue=0x0 PDOMapping=0 [1018] ParameterName=Identity Object ObjectType=9 SubNumber=4 [1018sub0] ParameterName=number of Entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x3 PDOMapping=0 [1018sub1] ParameterName=Vendor ID ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0xF00002B5 PDOMapping=0 [1018sub2] ParameterName=Product code ObjectType=7 DataType=0x0006 AccessType=ro DefaultValue=0x00000006 PDOMapping=0 [1018sub3] ParameterName=Revision number ObjectType=7 DataType=0x0006 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [2000] ParameterName=Pn0Fundamental Parametre ObjectType=8 SubNumber=37 [2000sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x85 PDOMapping=1 [2000sub1] ParameterName=Drive Operation Mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=11 DefaultValue=0 PDOMapping=1 [2000sub2] ParameterName=Software Sover On ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2000sub3] ParameterName=Drive Run Direction ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2000sub4] ParameterName=Moniter Parameter ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=0xFFFF DefaultValue=0xFFF PDOMapping=1 [2000sub5] ParameterName=Sevor Stop Option1 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2 DefaultValue=0 PDOMapping=1 [2000sub6] ParameterName=Sevor Stop Option 2 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2000sub7] ParameterName=OT Warning Select ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2000sub8] ParameterName=OT Stop Option ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2 DefaultValue=0 PDOMapping=1 [2000sub9] ParameterName=Brake Lock Time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=50 DefaultValue=0 PDOMapping=1 [2000subA] ParameterName=Braking Delay Time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=50 PDOMapping=1 [2000sub11] ParameterName=Braking Release Speed ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=100 PDOMapping=1 [2000sub13] ParameterName=Brake Resistor Power ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2000sub14] ParameterName=Braking Resistor Value ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2000sub16] ParameterName=Overload Warn Value ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=100 DefaultValue=20 PDOMapping=1 [2000sub17] ParameterName=Base current derating setting at motor overload detection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=100 DefaultValue=100 PDOMapping=1 [2000sub31] ParameterName=Reserve Parameter ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=0xFFFF DefaultValue=0 PDOMapping=1 [2000sub32] ParameterName=Parameter modification operation locked ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2000sub41] ParameterName=Using method of absolute encoder ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2000sub42] ParameterName=Absolute encoder battery undervoltage alarm / warning selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2000sub45] ParameterName=Full closed loop function switch ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=51 DefaultValue=0 PDOMapping=1 [2000sub46] ParameterName=Function selection while under voltage ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2 DefaultValue=0 PDOMapping=1 [2000sub47] ParameterName=Torque limit while main circuit voltage drops ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=50 PDOMapping=1 [2000sub48] ParameterName=Delay time of torque limit release while main circuit voltage drops ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1000 DefaultValue=100 PDOMapping=1 [2000sub51] ParameterName=Torque limit method setting ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3 DefaultValue=1 PDOMapping=1 [2000sub52] ParameterName=Max torque limitation 1 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=500 DefaultValue=500 PDOMapping=1 [2000sub53] ParameterName=Max torque limitation2 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=500 DefaultValue=500 PDOMapping=1 [2000sub54] ParameterName=Emergency stop torque ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=800 DefaultValue=800 PDOMapping=1 [2000sub62] ParameterName=Operator parameter display selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=1 PDOMapping=1 [2000sub63] ParameterName=DB Resistor Power ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2000sub71] ParameterName=Encoder frequency-dividing pulse ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=16 HighLimit=4194304 DefaultValue=2048 PDOMapping=1 [2000sub73] ParameterName=Reverse direction of frequency division output ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2000sub81] ParameterName=Local communication address ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=0x7F DefaultValue=1 PDOMapping=1 [2000sub82] ParameterName=RS485 communication baud rate selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=4 DefaultValue=1 PDOMapping=1 [2000sub83] ParameterName=RS485 communication verification mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=5 DefaultValue=1 PDOMapping=1 [2000sub84] ParameterName=CANopen communication baud rate selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6 DefaultValue=4 PDOMapping=1 [2000sub85] ParameterName=Data Save Select ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001] ParameterName=Pn1Gain Related Parameter ObjectType=8 SubNumber=70 [2001sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x94 PDOMapping=0 [2001sub1] ParameterName=Rotary inertia ratio ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=20000 DefaultValue=100 PDOMapping=1 [2001sub2] ParameterName=First speed gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=20000 DefaultValue=400 PDOMapping=1 [2001sub3] ParameterName=First speed integral time constant ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=15 HighLimit=51200 DefaultValue=2000 PDOMapping=1 [2001sub4] ParameterName=First position gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=20000 DefaultValue=400 PDOMapping=1 [2001sub5] ParameterName=First torque command filter ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=1 PDOMapping=1 [2001sub6] ParameterName=Second speed gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=20000 DefaultValue=400 PDOMapping=1 [2001sub7] ParameterName=Second speed integral time constant ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=15 HighLimit=51200 DefaultValue=2000 PDOMapping=1 [2001sub8] ParameterName=Second position gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=20000 DefaultValue=400 PDOMapping=1 [2001sub9] ParameterName=Second torque command filter ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=100 PDOMapping=1 [2001sub11] ParameterName=The gain switching function includes two methods of ¡°manual gain switching¡± using an external input signal and ¡°automatic gain switching¡± automatically switching. By using the gain switching function, gain can be increased and positioning time can be ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub12] ParameterName=Automatic switching condition of position control gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=5 DefaultValue=0 PDOMapping=1 [2001sub13] ParameterName=Gain switching transition time 1 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2001sub14] ParameterName=Gain switching transition time 2 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2001sub15] ParameterName=Gain switching delay time 1 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2001sub16] ParameterName=Gain switching delay time 2 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2001sub21] ParameterName=Position integral time constant ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2001sub22] ParameterName=Speed feedforward gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=0 PDOMapping=1 [2001sub23] ParameterName=Speed feedforward filter time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6400 DefaultValue=0 PDOMapping=1 [2001sub24] ParameterName=Use V-REF as the speed feedforward selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub25] ParameterName=Speed/Position control selection (T-REF distribution) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub26] ParameterName=Time constant of speed feedback filtering ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2001sub27] ParameterName=Speed Feedback Move Average Time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=20 DefaultValue=0 PDOMapping=1 [2001sub31] ParameterName=Speed loop control method (PI/IP) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub32] ParameterName=The selection switch of speed loop P/PI switch condition ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=4 DefaultValue=0 PDOMapping=1 [2001sub33] ParameterName=Speed loop P/PI switching condition (torque command) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=800 DefaultValue=200 PDOMapping=1 [2001sub34] ParameterName=Speed loop P/PI switching condition (speed command) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=0 PDOMapping=1 [2001sub35] ParameterName=Speed loop P/PI switching condition (acceleration speed) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=30000 DefaultValue=0 PDOMapping=1 [2001sub36] ParameterName=Speed loop P/PI switching condition (position deviation) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=0 PDOMapping=1 [2001sub37] ParameterName=The speed loop P/PI switching condition (line) (speed) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2001sub38] ParameterName=Speed loop P/PI switching condition (straight line) (acceleration) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2001sub41] ParameterName=Medium frequency vibration suppression control selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=17 DefaultValue=16 PDOMapping=1 [2001sub42] ParameterName=Inertial modification of intermediate frequency vibration suppression ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=1000 DefaultValue=100 PDOMapping=1 [2001sub43] ParameterName=First medium frequency vibration suppression frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=30000 DefaultValue=1000 PDOMapping=1 [2001sub44] ParameterName=First medium frequency vibration suppression attenuation gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=300 DefaultValue=0 PDOMapping=1 [2001sub45] ParameterName=Filter time parameter 1 correction of intermediate frequency vibration suppression ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-1000 HighLimit=1000 DefaultValue=0 PDOMapping=1 [2001sub46] ParameterName=Filter time parameter 2 correction of intermediate frequency vibration suppression ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-1000 HighLimit=1000 DefaultValue=0 PDOMapping=1 [2001sub51] ParameterName=Notch filter 1 automatic adjustment selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2001sub52] ParameterName=Notch filter 2 automatic adjustment selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2001sub53] ParameterName=Automatic notch resonance detection sensitivity ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=200 DefaultValue=100 PDOMapping=1 [2001sub54] ParameterName=Notch filter 1 frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=50 HighLimit=5000 DefaultValue=5000 PDOMapping=1 [2001sub55] ParameterName=Notch filter 1 Q value ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=50 HighLimit=1000 DefaultValue=70 PDOMapping=1 [2001sub56] ParameterName=Notch filter 1 depth ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1000 DefaultValue=0 PDOMapping=1 [2001sub57] ParameterName=Notch filter 2 frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=50 HighLimit=5000 DefaultValue=5000 PDOMapping=1 [2001sub58] ParameterName=Notch filter 2 Q value ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=50 HighLimit=1000 DefaultValue=70 PDOMapping=1 [2001sub59] ParameterName=Notch filter 2 depth ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1000 DefaultValue=0 PDOMapping=1 [2001sub61] ParameterName=Disturbance compensation function selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub62] ParameterName=Disturbance observer cutoff frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=10000 DefaultValue=150 PDOMapping=1 [2001sub63] ParameterName=2nd disturbance observer cutoff frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=0 PDOMapping=1 [2001sub64] ParameterName=Disturbance compensation coefficient ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub65] ParameterName=Dynamic observer frequency selection filter frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=10000 PDOMapping=1 [2001sub66] ParameterName=Disturbance observer inertia correction coefficient ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=1000 DefaultValue=100 PDOMapping=1 [2001sub67] ParameterName=Speed observer switch ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub68] ParameterName=Speed observer cutoff frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=500 DefaultValue=80 PDOMapping=1 [2001sub69] ParameterName=Inertial correction coefficient in speed observer ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1000 DefaultValue=100 PDOMapping=1 [2001sub6A] ParameterName=Fliter time correction in speed observer ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=10 PDOMapping=1 [2001sub71] ParameterName=Friction torque compensation cutoff speed ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1000 DefaultValue=20 PDOMapping=1 [2001sub72] ParameterName=Friction torque forward compensation coefficient ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=0 PDOMapping=1 [2001sub73] ParameterName=Friction torque reverse compensation coefficient ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=0 PDOMapping=1 [2001sub76] ParameterName=Robust control options ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub77] ParameterName=Robust control type selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2001sub78] ParameterName=Robust control tuning values ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=100 HighLimit=800 DefaultValue=400 PDOMapping=1 [2001sub79] ParameterName=Minimum load values of robust control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=500 DefaultValue=0 PDOMapping=1 [2001sub7A] ParameterName=Control Method of Speed Control in Robust Control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2001sub86] ParameterName=vibration detection selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2 DefaultValue=0 PDOMapping=1 [2001sub87] ParameterName=Vibration detection sensitivity ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=50 HighLimit=500 DefaultValue=100 PDOMapping=1 [2001sub88] ParameterName=Vibration detection value ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=5000 DefaultValue=50 PDOMapping=1 [2001sub89] ParameterName=Vibration detection value (straight line) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=100 PDOMapping=1 [2001sub93] ParameterName=Detection sensitivity (relative positioning completed) during position overshoot in advance tuning ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=4000 DefaultValue=3000 PDOMapping=1 [2001sub94] ParameterName=Maximum gain setting value when searching for maximum gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3000 DefaultValue=0 PDOMapping=1 [2002] ParameterName=Pn2 Positional related ObjectType=8 SubNumber=42 [2002sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x75 PDOMapping=0 [2002sub1] ParameterName=Command pulse input selection (low/high speed filter) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=255 DefaultValue=20 PDOMapping=1 [2002sub2] ParameterName=Pulse input form ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6 DefaultValue=0 PDOMapping=1 [2002sub3] ParameterName=Reversed pulse input direction ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=0xFFFF DefaultValue=0 PDOMapping=1 [2002sub4] ParameterName=Command pulse input rate ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=100 DefaultValue=1 PDOMapping=1 [2002sub5] ParameterName=Electronic gear ratio numerator ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=1073741824 DefaultValue=64 PDOMapping=1 [2002sub7] ParameterName=Electronic gear ratio denominator ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=1073741824 DefaultValue=1 PDOMapping=1 [2002sub9] ParameterName=Inner position command selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=4 DefaultValue=0 PDOMapping=1 [2002sub12] ParameterName=Position command low pass filter time constant ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6550 DefaultValue=0 PDOMapping=1 [2002sub13] ParameterName=Position command slide average filter time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=0 PDOMapping=1 [2002sub31] ParameterName=Low frequency vibration suppression selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2 DefaultValue=0 PDOMapping=1 [2002sub32] ParameterName=Low frequency vibration suppression function automatic tuning selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2002sub33] ParameterName=Low-frequency vibration detection sensitivity (relative positioning is completed) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=3000 DefaultValue=400 PDOMapping=1 [2002sub36] ParameterName=Low frequency vibration suppression 1 frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=2000 DefaultValue=200 PDOMapping=1 [2002sub37] ParameterName=Low frequency vibration suppression 1 correction ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=1000 DefaultValue=100 PDOMapping=1 [2002sub38] ParameterName=Low frequency vibration suppression 2 frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=2000 DefaultValue=2000 PDOMapping=1 [2002sub39] ParameterName=Low frequency vibration suppression 2 correction ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=1000 DefaultValue=100 PDOMapping=1 [2002sub41] ParameterName=Model tracking control selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2002sub42] ParameterName=Gain of model tracking control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=20000 DefaultValue=500 PDOMapping=1 [2002sub43] ParameterName=Attenuation coefficient of model tracking control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=500 HighLimit=2000 DefaultValue=1000 PDOMapping=1 [2002sub44] ParameterName=Speed forwardback gain of model tracking ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=1000 PDOMapping=1 [2002sub45] ParameterName=Forward torque feedforward gain of model tracking control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=1000 PDOMapping=1 [2002sub46] ParameterName=Speed feedforward gain of model tracking control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=1000 PDOMapping=1 [2002sub47] ParameterName=Gain of 2nd model tracking control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=20000 DefaultValue=500 PDOMapping=1 [2002sub48] ParameterName=attenuation coefficient of model tracking control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=500 HighLimit=2000 DefaultValue=1000 PDOMapping=1 [2002sub49] ParameterName=Model tracking control type selection (improved resolution) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2002sub4A] ParameterName=Speed feedforward (VFF) / torque feedforward selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2002sub51] ParameterName=Instructions of external encoders under full closed loop control mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3 DefaultValue=0 PDOMapping=1 [2002sub52] ParameterName=FENC Speed feedback selection under full closed loop control mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2002sub53] ParameterName=Motor load division coefficient while tuning 1 cycle under full closed loop ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=20 PDOMapping=1 [2002sub54] ParameterName=External grating ruler resolution ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=4 HighLimit=1048576 DefaultValue=32768 PDOMapping=1 [2002sub58] ParameterName=Large mixed?deviation setting ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=1073741824 DefaultValue=100 PDOMapping=1 [2002sub61] ParameterName=NEAR signal width ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=1073741824 DefaultValue=1073741824 PDOMapping=1 [2002sub63] ParameterName=Position arrival range ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=1073741824 DefaultValue=38912 PDOMapping=1 [2002sub65] ParameterName=Maximum tolerance value of position deviation ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=1073741824 DefaultValue=5242880 PDOMapping=1 [2002sub67] ParameterName=Large position deviation alarm setting ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=100 DefaultValue=100 PDOMapping=1 [2002sub68] ParameterName=Alarm threshold of position deviation excess when servo is on ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=1073741824 DefaultValue=5242880 PDOMapping=1 [2002sub6A] ParameterName=Warning threshold of large position deviation when servo is on ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=100 DefaultValue=100 PDOMapping=1 [2002sub71] ParameterName=Speed limitation when servo on ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=10000 PDOMapping=1 [2002sub73] ParameterName=Retention pulse zero clearance mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3 DefaultValue=0 PDOMapping=1 [2002sub74] ParameterName=Position deviation clearance mode selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=4 DefaultValue=0 PDOMapping=1 [2002sub75] ParameterName=/ COIN output time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2 DefaultValue=0 PDOMapping=1 [2003] ParameterName=Pn3 Speed related ObjectType=8 SubNumber=14 [2003sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x21 PDOMapping=0 [2003sub1] ParameterName=Analog speed command gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=150 HighLimit=3000 DefaultValue=600 PDOMapping=1 [2003sub2] ParameterName=Reversed analog speed command ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2003sub3] ParameterName=Analog speed command filter time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=40 PDOMapping=1 [2003sub4] ParameterName=Analog speed command dead area range ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3000 DefaultValue=0 PDOMapping=1 [2003sub5] ParameterName=Internal speed 1 ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-6000 HighLimit=6000 DefaultValue=100 PDOMapping=1 [2003sub6] ParameterName=Internal speed 2 ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-6000 HighLimit=6000 DefaultValue=200 PDOMapping=1 [2003sub7] ParameterName=Internal speed 3 ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-6000 HighLimit=6000 DefaultValue=300 PDOMapping=1 [2003sub11] ParameterName=Speed command trapezoidal acceleration time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=30000 DefaultValue=0 PDOMapping=1 [2003sub12] ParameterName=Speed command trapezoidal deceleration time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=30000 DefaultValue=0 PDOMapping=1 [2003sub13] ParameterName=Speed zero-clamp mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3 DefaultValue=3 PDOMapping=1 [2003sub14] ParameterName=Speed zero-clamp threshold ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=10 PDOMapping=1 [2003sub18] ParameterName=Rotation judgment value ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=10000 DefaultValue=20 PDOMapping=1 [2003sub21] ParameterName=Speed matching range ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=100 DefaultValue=10 PDOMapping=1 [2004] ParameterName=Pn4 Torque related ObjectType=8 SubNumber=13 [2004sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x14 PDOMapping=0 [2004sub1] ParameterName=Torque command selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2004sub2] ParameterName=Torque command 2nd order low pass filter cutoff frequency ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=100 HighLimit=5000 DefaultValue=5000 PDOMapping=1 [2004sub3] ParameterName=Torque command 2nd order low pass filter Q value ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=50 HighLimit=100 DefaultValue=50 PDOMapping=1 [2004sub4] ParameterName=Torque command direction set ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2004sub5] ParameterName=Analog torque command filter time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2004sub6] ParameterName=Analog torque command gain ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=100 DefaultValue=30 PDOMapping=1 [2004sub7] ParameterName=Reversed analog torque command ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2004sub8] ParameterName=Analog torque command dead area range ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3000 DefaultValue=0 PDOMapping=1 [2004sub11] ParameterName=Internal torque command under torque control ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-5000 HighLimit=5000 DefaultValue=0 PDOMapping=1 [2004sub12] ParameterName=Speed limitation mode setting under torque control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2004sub13] ParameterName=Speed limit selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2004sub14] ParameterName=speed limit under torque contro ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=1000 PDOMapping=1 [2005] ParameterName=Pn5 JOG related ObjectType=8 SubNumber=9 [2005sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x9 PDOMapping=0 [2005sub1] ParameterName=JOG speed ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1000 DefaultValue=500 PDOMapping=1 [2005sub2] ParameterName=JOG speed (straight line) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=5 DefaultValue=0 PDOMapping=1 [2005sub3] ParameterName=Program JOG running mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=1073741824 DefaultValue=32768 PDOMapping=1 [2005sub4] ParameterName=Program JOG moving distance ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=2 HighLimit=10000 DefaultValue=100 PDOMapping=1 [2005sub6] ParameterName=Program JOG acceleration/deceleration time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=10000 DefaultValue=100 PDOMapping=1 [2005sub7] ParameterName=Program JOG waiting time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1000 DefaultValue=1 PDOMapping=1 [2005sub8] ParameterName=Program JOG moving times ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=10000 DefaultValue=500 PDOMapping=1 [2005sub9] ParameterName=Program JOG moving speed ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2006] ParameterName=Pn6 Digital Input/Output Related ObjectType=8 SubNumber=19 [2006sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x24 PDOMapping=0 [2006sub1] ParameterName=Switch input signal distribution mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=1 PDOMapping=1 [2006sub2] ParameterName=CN1-40 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=1 PDOMapping=1 [2006sub3] ParameterName=CN1-42 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=258 PDOMapping=1 [2006sub4] ParameterName=CN1-43 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=259 PDOMapping=1 [2006sub5] ParameterName=CN1-41 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=5 PDOMapping=1 [2006sub6] ParameterName=CN1-44 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=4 PDOMapping=1 [2006sub7] ParameterName=CN1-45 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=6 PDOMapping=1 [2006sub8] ParameterName=CN1-46 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=7 PDOMapping=1 [2006sub9] ParameterName=CN1-39 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=0 PDOMapping=1 [2006subA] ParameterName=CN1-38 input configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=276 DefaultValue=0 PDOMapping=1 [2006sub11] ParameterName=Switch input internal configuration 1 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=20 DefaultValue=0 PDOMapping=1 [2006sub12] ParameterName=Switch input internal configuration 2 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=20 DefaultValue=0 PDOMapping=1 [2006sub13] ParameterName=Switch input internal configuration 3 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=20 DefaultValue=0 PDOMapping=1 [2006sub14] ParameterName=CN1-25/26 output configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=265 DefaultValue=6 PDOMapping=1 [2006sub15] ParameterName=CN1-27/28 output configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=265 DefaultValue=1 PDOMapping=1 [2006sub16] ParameterName=CN1-29/30 output configuration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=265 DefaultValue=2 PDOMapping=1 [2006sub23] ParameterName=Warning detection selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2006sub24] ParameterName=SI lowpass filter time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=32768 DefaultValue=0 PDOMapping=1 [2007] ParameterName=Pn7 Extension related ObjectType=8 SubNumber=17 [2007sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x9D PDOMapping=0 [2007sub3] ParameterName=Inertia identifies movable range ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=2 HighLimit=200 DefaultValue=20 PDOMapping=1 [2007sub6] ParameterName=Initial J before running in J study mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=20000 DefaultValue=300 PDOMapping=0 [2007sub7] ParameterName=Initial speed before running in J study mode ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=5000 DefaultValue=300 PDOMapping=0 [2007sub21] ParameterName=Sweep start hertz ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=5000 DefaultValue=400 PDOMapping=1 [2007sub22] ParameterName=Sweep finish hertz ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=50 HighLimit=5000 DefaultValue=40000 PDOMapping=1 [2007sub23] ParameterName=The lower limit of resonance frequency detection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=50 HighLimit=5000 DefaultValue=500 PDOMapping=1 [2007sub24] ParameterName=Scan torque command amplitude ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=800 DefaultValue=15 PDOMapping=1 [2007sub25] ParameterName=Relevant function switches of FFT ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=0x2742 DefaultValue=0x210 PDOMapping=1 [2007sub31] ParameterName=No-motor test function selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2007sub32] ParameterName=No motor test function encoder selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3 DefaultValue=1 PDOMapping=1 [2007sub33] ParameterName=No-motor test function encoder resolution selection ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=1 DefaultValue=0 PDOMapping=1 [2007sub91] ParameterName=Moter Type ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=9999 DefaultValue=4096 PDOMapping=0 [2007sub92] ParameterName=Encoder Type ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=18 DefaultValue=4096 PDOMapping=1 [2007sub93] ParameterName=Absolute encoder EEPROM operation ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3 DefaultValue=0 PDOMapping=1 [2007sub9B] ParameterName=The linear optical grating pitch(straight line) ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2007sub9D] ParameterName=The linear optical grating pitch(straight line) ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008] ParameterName=Inter Position Parameter ObjectType=8 SubNumber=110 [2008sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0xA0 PDOMapping=0 [2008sub1] ParameterName=Home Control ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub3] ParameterName=Home offset ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub5] ParameterName=Pr1 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub7] ParameterName=Pr1 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub9] ParameterName=Pr2 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008subB] ParameterName=Pr2 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008subD] ParameterName=Pr3 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008subF] ParameterName=Pr3 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub11] ParameterName=Pr4 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub13] ParameterName=Pr4 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub15] ParameterName=Pr5 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub17] ParameterName=Pr5 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub19] ParameterName=Pr6 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub1B] ParameterName=Pr6 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub1D] ParameterName=Pr7 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub1F] ParameterName=Pr7 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub21] ParameterName=Pr8 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub23] ParameterName=Pr8 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub25] ParameterName=Pr9 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub27] ParameterName=Pr9 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub29] ParameterName=Pr10 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub2B] ParameterName=Pr10 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub2D] ParameterName=Pr11 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub2F] ParameterName=Pr11 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub31] ParameterName=Pr12 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub33] ParameterName=Pr12 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub35] ParameterName=Pr13 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub37] ParameterName=Pr13 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub39] ParameterName=Pr14 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub3B] ParameterName=Pr14 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub3D] ParameterName=Pr15 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub3F] ParameterName=Pr15 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub41] ParameterName=Pr16 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub43] ParameterName=Pr16 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub45] ParameterName=Pr17 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub47] ParameterName=Pr17 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub49] ParameterName=Pr18 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub4B] ParameterName=Pr18 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub4D] ParameterName=Pr19 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub4F] ParameterName=Pr19 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub51] ParameterName=Pr20 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub53] ParameterName=Pr20 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub55] ParameterName=Pr21 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub57] ParameterName=Pr21 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub59] ParameterName=Pr22 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub5B] ParameterName=Pr22 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub5D] ParameterName=Pr23 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub5F] ParameterName=Pr23 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub61] ParameterName=Pr24 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub63] ParameterName=Pr24 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub65] ParameterName=Pr25 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub67] ParameterName=Pr25 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub69] ParameterName=Pr26 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub6B] ParameterName=Pr26 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub6D] ParameterName=Pr27 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub6F] ParameterName=Pr27 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub71] ParameterName=Pr28 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub73] ParameterName=Pr28 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub75] ParameterName=Pr29 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub77] ParameterName=Pr29 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub79] ParameterName=Pr30 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub7B] ParameterName=Pr30 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub7D] ParameterName=Pr31 Control Word ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=1 [2008sub7F] ParameterName=Pr31 setting position ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008sub81] ParameterName=Pr Accelerate and Decelerate time 0 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=100 PDOMapping=1 [2008sub82] ParameterName=Pr Accelerate and Decelerate time 1 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=200 PDOMapping=1 [2008sub83] ParameterName=Pr Accelerate and Decelerate time 2 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=300 PDOMapping=1 [2008sub84] ParameterName=Pr Accelerate and Decelerate time 3 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=400 PDOMapping=1 [2008sub85] ParameterName=Pr Accelerate and Decelerate time 4 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=500 PDOMapping=1 [2008sub86] ParameterName=Pr Accelerate and Decelerate time 5 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=600 PDOMapping=1 [2008sub87] ParameterName=Pr Accelerate and Decelerate time 6 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=700 PDOMapping=1 [2008sub88] ParameterName=Pr Accelerate and Decelerate time 7 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 DefaultValue=800 PDOMapping=1 [2008sub89] ParameterName=Pr Profspeed select 0 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2008sub8A] ParameterName=Pr Profspeed select 1 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2008sub8B] ParameterName=Pr Profspeed select 2 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2008sub8C] ParameterName=Pr Profspeed select 3 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2008sub8D] ParameterName=Pr Profspeed select 4 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2008sub8E] ParameterName=Pr Profspeed select 5 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2008sub8F] ParameterName=Pr Profspeed select 6 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2008sub90] ParameterName=Pr Profspeed select 7 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2008sub91] ParameterName=Pr run wait time select 0 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub92] ParameterName=Pr run wait time select 1 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub93] ParameterName=Pr run wait time select 2 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub94] ParameterName=Pr run wait time select 3 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub95] ParameterName=Pr run wait time select 4 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub96] ParameterName=Pr run wait time select 5 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub97] ParameterName=Pr run wait time select 6 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub98] ParameterName=Pr run wait time select 7 ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub99] ParameterName=Pr Control and Status word ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65536 DefaultValue=20000 PDOMapping=1 [2008sub9A] ParameterName=Home method ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=35 DefaultValue=1 PDOMapping=1 [2008sub9B] ParameterName=Home search speed 1(High speed) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3000 DefaultValue=100 PDOMapping=1 [2008sub9C] ParameterName=Home search speed 2(low speed) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=3000 DefaultValue=10 PDOMapping=1 [2008sub9D] ParameterName=Homing accelerate and decelerate time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=60000 PDOMapping=1 [2008sub9E] ParameterName=Zero Position Saved in EEPROM ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2008subA0] ParameterName=Pr Jog Control ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2 DefaultValue=0 PDOMapping=0 [2E00] ParameterName=Un0 Monitor parameter ObjectType=8 SubNumber=100 [2E00sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro LowLimit=0 HighLimit=100 DefaultValue=100 PDOMapping=0 [2E00sub1] ParameterName=Moter Actual Speed ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-6000 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2E00sub2] ParameterName=Speed Command Reference ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-6000 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2E00sub3] ParameterName=Torque Command Reference ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-500 HighLimit=500 DefaultValue=0 PDOMapping=1 [2E00sub4] ParameterName=Positon to Encoder Z pulse ObjectType=7 DataType=0x0007 AccessType=ro LowLimit=0 HighLimit=16777216 DefaultValue=0 PDOMapping=1 [2E00sub5] ParameterName=Motor Phase ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=360 DefaultValue=0 PDOMapping=1 [2E00sub6] ParameterName=Input Pulse Speed ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-6000 HighLimit=6000 DefaultValue=0 PDOMapping=1 [2E00sub7] ParameterName=Input Pulse Counter ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [2E00sub8] ParameterName=Output Pulse Counter(PUU) ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=-2^31 HighLimit=2^31 PDOMapping=1 [2E00sub9] ParameterName=Output Pulse Counter(Encoder Unit) ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=-2^31 HighLimit=2^31 PDOMapping=1 [2E00subA] ParameterName=Error between Referecn and Feedback Postion ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=-2^31 HighLimit=2^31 PDOMapping=1 [2E00subB] ParameterName=Sum of the Load Rate ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-500 HighLimit=500 PDOMapping=1 [2E00subC] ParameterName=Regeneration Load Rate ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-500 HighLimit=500 PDOMapping=1 [2E00subD] ParameterName=DB Comsumer ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00subE] ParameterName=Effective Gain Monitor ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00subF] ParameterName=Amplifier Run Time ObjectType=7 DataType=0x0007 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub10] ParameterName=Over Load Rate ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub11] ParameterName=Single Feedback of Encoder (Encoder Unit) ObjectType=7 DataType=0x0007 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub12] ParameterName=Multiple Feedback of Encoder ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub22] ParameterName=Actual Motor ABS Positon(PUU) ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub36] ParameterName=ARM Software Version ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub37] ParameterName=FPGA Softwara Version ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub88] ParameterName=Encoder Communication Error Times ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub8A] ParameterName=Amplifier Temperature ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E00sub91] ParameterName=Moter Temperature ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 PDOMapping=1 [2E01] ParameterName=Un1 Monitor parameter ObjectType=8 SubNumber=100 [2E01sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x4C PDOMapping=0 [2E01sub1] ParameterName=Signal Input Monitor ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0x1FF PDOMapping=1 [2E01sub2] ParameterName=Signal Output Monitor ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=10 PDOMapping=1 [2E01sub3] ParameterName=Torque Reference Monitor ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E01sub4] ParameterName=Verlocity Reference Monitor ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E01sub5] ParameterName=Frequence of Input Pulse ObjectType=7 DataType=0x0007 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E01sub9] ParameterName=Extern Input Pulse Counter(PUU) ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E01sub11] ParameterName=Inner Status Monitor ObjectType=7 DataType=0x0007 AccessType=ro LowLimit=0 HighLimit=2^32 DefaultValue=0x00403203 PDOMapping=1 [2E01sub21] ParameterName=Inner Input Status Monitor ObjectType=7 DataType=0x0007 AccessType=ro LowLimit=0 HighLimit=2^32 DefaultValue=0x04000000 PDOMapping=1 [2E01sub31] ParameterName=Inner Output Status Monitor ObjectType=7 DataType=0x0007 AccessType=ro LowLimit=0 HighLimit=2^32 DefaultValue=0x00080292 PDOMapping=1 [2E01sub41] ParameterName=Amplifier DC Veltege ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E01sub42] ParameterName=Current Feedback(0.01A) ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E01sub4C] ParameterName=D Axis Current Command ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E02] ParameterName=Un2 Monitor parameter ObjectType=8 SubNumber=5 [2E02sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x24 PDOMapping=0 [2E02sub21] ParameterName=Torque Command Veltege before correction(mv) ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E02sub22] ParameterName=Torque Command Veltege after correction(mv) ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E02sub23] ParameterName=Speed Reference Veltege before correction(mv) ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E02sub24] ParameterName=Speed Reference Veltege after correction(mv) ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E03] ParameterName=Un3 Monitor parameter ObjectType=8 SubNumber=40 [2E03sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x21 PDOMapping=0 [2E03sub1] ParameterName=Current Alarm Code ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E03sub2] ParameterName=Last Alarm Code ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [2E03sub3] ParameterName=TimeStamp of Alarm ObjectType=7 DataType=0x0007 AccessType=ro LowLimit=0 HighLimit=2^32 DefaultValue=0 PDOMapping=0 [2E03sub4] ParameterName=Motor Speed during Alarm ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=-32768 HighLimit=32767 DefaultValue=0 PDOMapping=0 [2E03sub5] ParameterName=Speed Reference during alarm ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-32768 HighLimit=32767 DefaultValue=0 PDOMapping=0 [2E03sub6] ParameterName=TorqReference during alarm ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-32768 HighLimit=32767 DefaultValue=0 PDOMapping=0 [2E03sub7] ParameterName=Pulse frequence during alarm ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub8] ParameterName=position error during alarm ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=0 [2E03sub9] ParameterName=DC Voltage during alarm ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03subA] ParameterName=Current feedback during alarm ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-32768 HighLimit=32767 DefaultValue=o PDOMapping=0 [2E03subB] ParameterName=Cumulative load rate during alarm ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-32768 HighLimit=32767 DefaultValue=0 PDOMapping=0 [2E03subC] ParameterName=Regenerative load rate during alarm ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-32768 HighLimit=32767 DefaultValue=0 PDOMapping=0 [2E03subD] ParameterName=Db resistance comsuming during alarm ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-32768 HighLimit=32767 DefaultValue=0 PDOMapping=0 [2E03subE] ParameterName=Maximum cumulative load rate during alarm ObjectType=7 DataType=0x0003 AccessType=ro LowLimit=-32768 HighLimit=32767 DefaultValue=0 PDOMapping=0 [2E03subF] ParameterName=Inertia ratio during alarm ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub10] ParameterName=Numbers of encoder comunication errors during alarm ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub11] ParameterName=Internal monitoring signal during alarm ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub14] ParameterName=Internal monitor of input signal during alarm ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub18] ParameterName=Internal monitor of output signal during alarm ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub21] ParameterName=Fault code recode 1 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub22] ParameterName=Fault code recode 2 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub23] ParameterName=Fault code recode 3 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub24] ParameterName=Fault code recode 4 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub25] ParameterName=Fault code recode 5 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub26] ParameterName=Fault code recode 6 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub27] ParameterName=Fault code recode 7 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub28] ParameterName=Fault code recode 8 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub29] ParameterName=Fault code recode 9 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub2A] ParameterName=Fault code recode 10 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub31] ParameterName=Fault time recode 1 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub32] ParameterName=Fault time recode 2 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub33] ParameterName=Fault time recode 3 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub34] ParameterName=Fault time recode 4 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub35] ParameterName=Fault time recode 5 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub36] ParameterName=Fault time recode 6 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub37] ParameterName=Fault time recode 7 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub38] ParameterName=Fault time recode 8 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub39] ParameterName=Fault time recode 9 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [2E03sub3A] ParameterName=Fault time recode 10 ObjectType=7 DataType=0x0006 AccessType=ro LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=0 [OptionalObjects] SupportedObjects=28 1=0x1003 2=0x1005 3=0x1006 4=0x100C 5=0x100D 6=0x1010 7=0x1011 8=0x1014 9=0x1016 10=0x1017 11=0x1029 12=0x1200 13=0x1400 14=0x1401 15=0x1402 16=0x1403 17=0x1600 18=0x1601 19=0x1602 20=0x1603 21=0x1800 22=0x1801 23=0x1802 24=0x1803 25=0x1A00 26=0x1A01 27=0x1A02 28=0x1A03 [1003] ParameterName=Pre-defined Error Field ObjectType=8 SubNumber=5 [1003sub0] ParameterName=number of errors ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0x4 PDOMapping=0 [1003sub1] ParameterName=standard error field ObjectType=7 DataType=0x0007 AccessType=ro DefaultValue=0x0 PDOMapping=0 [1003sub2] ParameterName=standard error field ObjectType=7 DataType=0x0007 AccessType=ro DefaultValue=0x0 PDOMapping=0 [1003sub3] ParameterName=standard error field ObjectType=7 DataType=0x0007 AccessType=ro DefaultValue=0x0 PDOMapping=0 [1003sub4] ParameterName=standard error field ObjectType=7 DataType=0x0007 AccessType=ro DefaultValue=0x0 PDOMapping=0 [1005] ParameterName=COB-ID SYNC ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x80 PDOMapping=0 [1006] ParameterName=Communication cycle period ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [100C] ParameterName=Guard Time ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [100D] ParameterName=Life Time Factor ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1010] ParameterName=Store Parameters ObjectType=8 SubNumber=2 [1010sub0] ParameterName=largest supported Sub-Index ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x1 PDOMapping=0 [1010sub2] ParameterName=save all parameters ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1011] ParameterName=restore default parameters ObjectType=8 SubNumber=2 [1011sub0] ParameterName=largest supported Sub-Index ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x1 PDOMapping=0 [1011sub2] ParameterName=restore all default parameters ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1014] ParameterName=COB-ID Emergency message ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x80 PDOMapping=0 [1016] ParameterName=Consumer heartbeat time ObjectType=8 SubNumber=2 [1016sub0] ParameterName=Number Of Entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x1 PDOMapping=0 [1016sub1] ParameterName=Consumer Heartbeat Time #1 ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1017] ParameterName=Producer Heartbeat Time ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1029] ParameterName=Error Behavior ObjectType=8 SubNumber=2 [1029sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x1 PDOMapping=0 [1029sub1] ParameterName=Communication error ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1200] ParameterName=SDO Parameter ObjectType=8 SubNumber=3 [1200sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1200sub1] ParameterName=SDO Receive COB ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x600 PDOMapping=0 [1200sub2] ParameterName=SDO Transfer COB ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x580 PDOMapping=0 [1400] ParameterName=Receive PDO1 parameter ObjectType=9 SubNumber=3 [1400sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1400sub1] ParameterName=COB-ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID + 0x0200 PDOMapping=0 [1400sub2] ParameterName=Transmission type ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1401] ParameterName=Receive PDO2 parameter ObjectType=9 SubNumber=3 [1401sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1401sub1] ParameterName=COB-ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID + 0x80000300 PDOMapping=0 [1401sub2] ParameterName=Transmission type ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1402] ParameterName=Receive PDO3 parameter ObjectType=9 SubNumber=3 [1402sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1402sub1] ParameterName=COB-ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID + 0x80000400 PDOMapping=0 [1402sub2] ParameterName=Transmission type ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1403] ParameterName=Receive PDO4 parameter ObjectType=9 SubNumber=3 [1403sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1403sub1] ParameterName=COB-ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID + 0x80000500 PDOMapping=0 [1403sub2] ParameterName=Transmission type ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1600] ParameterName=Receive PDO1 mapping ObjectType=9 SubNumber=5 [1600sub0] ParameterName=Number of mapped objects ObjectType=7 DataType=0x0005 AccessType=rw LowLimit=0 HighLimit=4 DefaultValue=1 PDOMapping=0 [1600sub1] ParameterName=1.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1600sub2] ParameterName=2.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1600sub3] ParameterName=3.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1600sub4] ParameterName=4.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1601] ParameterName=Receive PDO2 mapping ObjectType=9 SubNumber=5 [1601sub0] ParameterName=Number of mapped objects ObjectType=7 DataType=0x0005 AccessType=rw LowLimit=0 HighLimit=4 DefaultValue=0 PDOMapping=0 [1601sub1] ParameterName=1.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1601sub2] ParameterName=2.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1601sub3] ParameterName=3.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1601sub4] ParameterName=4.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1602] ParameterName=Receive PDO3 mapping ObjectType=9 SubNumber=5 [1602sub0] ParameterName=Number of mapped objects ObjectType=7 DataType=0x0005 AccessType=rw LowLimit=0 HighLimit=4 DefaultValue=0 PDOMapping=0 [1602sub1] ParameterName=1.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1602sub2] ParameterName=2.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1602sub3] ParameterName=3.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1602sub4] ParameterName=4.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1603] ParameterName=Receive PDO4 mapping ObjectType=9 SubNumber=5 [1603sub0] ParameterName=Number of mapped objects ObjectType=7 DataType=0x0005 AccessType=rw LowLimit=0 HighLimit=4 DefaultValue=0 PDOMapping=0 [1603sub1] ParameterName=1.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1603sub2] ParameterName=2.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1603sub3] ParameterName=3.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1603sub4] ParameterName=4.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1800] ParameterName=Transmit PDO1 parameter ObjectType=9 SubNumber=5 [1800sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x5 PDOMapping=0 [1800sub1] ParameterName=COB-ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID + 0x0180 PDOMapping=0 [1800sub2] ParameterName=Transmission type ObjectType=7 DataType=0x0005 AccessType=rw LowLimit=0x0 HighLimit=0xFF DefaultValue=0xFF PDOMapping=0 [1800sub3] ParameterName=Inhibit timer ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0x0 HighLimit=0xFFFF DefaultValue=0x64 PDOMapping=0 [1800sub5] ParameterName=Even time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [1801] ParameterName=Transmit PDO2 parameter ObjectType=9 SubNumber=5 [1801sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x5 PDOMapping=0 [1801sub1] ParameterName=COB-ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID + 0x80000280 PDOMapping=0 [1801sub2] ParameterName=Transmission type ObjectType=7 DataType=0x0005 AccessType=rw LowLimit=0x0 HighLimit=0xFF DefaultValue=0xFF PDOMapping=0 [1801sub3] ParameterName=Inhibit timer ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0x0 HighLimit=0xFFFF DefaultValue=0x64 PDOMapping=0 [1801sub5] ParameterName=Event Time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [1802] ParameterName=Transmit PDO3 parameter ObjectType=9 SubNumber=5 [1802sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x5 PDOMapping=0 [1802sub1] ParameterName=COB-ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID + 0x80000380 PDOMapping=0 [1802sub2] ParameterName=Transmission type ObjectType=7 DataType=0x0005 AccessType=rw LowLimit=0x0 HighLimit=0xFF DefaultValue=0xFF PDOMapping=0 [1802sub3] ParameterName=Inhibit timer ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0x0 HighLimit=0xFFFF DefaultValue=0x64 PDOMapping=0 [1802sub5] ParameterName=Event Time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [1803] ParameterName=Transmit PDO4 parameter ObjectType=9 SubNumber=5 [1803sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x5 PDOMapping=0 [1803sub1] ParameterName=COB-ID ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID + 0x80000480 PDOMapping=0 [1803sub2] ParameterName=Transmission type ObjectType=7 DataType=0x0005 AccessType=rw LowLimit=0x0 HighLimit=0xFF DefaultValue=0xFF PDOMapping=0 [1803sub3] ParameterName=Inhibit timer ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0x0 HighLimit=0xFFFF DefaultValue=0x64 PDOMapping=0 [1803sub5] ParameterName=Event Time ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [1A00] ParameterName=Transmit PDO1 mapping ObjectType=9 SubNumber=5 [1A00sub0] ParameterName=Number of mapped objects ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0x1 PDOMapping=0 [1A00sub1] ParameterName=1.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x60410010 PDOMapping=0 [1A00sub2] ParameterName=2.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1A00sub3] ParameterName=3.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=0 [1A00sub4] ParameterName=4.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1A01] ParameterName=Transmit PDO2 mapping ObjectType=9 SubNumber=5 [1A01sub0] ParameterName=Number of mapped objects ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1A01sub1] ParameterName=1.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=0 [1A01sub2] ParameterName=2.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=0 [1A01sub3] ParameterName=3.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=0 [1A01sub4] ParameterName=4.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0 PDOMapping=0 [1A02] ParameterName=Transmit PDO3 mapping ObjectType=9 SubNumber=5 [1A02sub0] ParameterName=Number of mapped objects ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1A02sub1] ParameterName=1.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x0 PDOMapping=0 [1A02sub2] ParameterName=2.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1A02sub3] ParameterName=3.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x0 PDOMapping=0 [1A02sub4] ParameterName=4.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1A03] ParameterName=Transmit PDO4 mapping ObjectType=9 SubNumber=5 [1A03sub0] ParameterName=Number of mapped objects ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1A03sub1] ParameterName=1.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x0 PDOMapping=0 [1A03sub2] ParameterName=2.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1A03sub3] ParameterName=3.mapped object ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0x0 HighLimit=0xFFFFFFFF DefaultValue=0x0 PDOMapping=0 [1A03sub4] ParameterName=4.mapped object ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [ManufacturerObjects] SupportedObjects=60 1=0x603F 2=0x6040 3=0x6041 4=0x605B 5=0x605E 6=0x6060 7=0x6061 8=0x6062 9=0x6063 10=0x6064 11=0x6065 12=0x6067 13=0x6068 14=0x606B 15=0x606C 16=0x606D 17=0x606E 18=0x606F 19=0x6070 20=0x6071 21=0x6072 22=0x6074 23=0x6075 24=0x6076 25=0x6077 26=0x6078 27=0x607A 28=0x607C 29=0x607D 30=0x607E 31=0x607F 32=0x6080 33=0x6081 34=0x6083 35=0x6084 36=0x6085 37=0x6086 38=0x6087 39=0x6093 40=0x6094 41=0x6095 42=0x6097 43=0x6098 44=0x6099 45=0x609A 46=0x60B0 47=0x60B1 48=0x60B2 49=0x60C0 50=0x60C1 51=0x60C2 52=0x60C5 53=0x60C6 54=0x60F2 55=0x60F4 56=0x60FC 57=0x60FD 58=0x60FE 59=0x60FF 60=0x6502 [603F] ParameterName=Error Code ObjectType=7 DataType=0x0006 AccessType=ro DefaultValue=0x0 PDOMapping=1 [6040] ParameterName=control word ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=1 [6041] ParameterName=status word ObjectType=7 DataType=0x0006 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [605B] ParameterName=Shut Down Option ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=0xFFFF DefaultValue=0 PDOMapping=1 [605E] ParameterName=Fault Action ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=0xFFFF DefaultValue=0 PDOMapping=1 [6060] ParameterName=modes of operation ObjectType=7 DataType=0x0002 AccessType=rw DefaultValue=0x00 PDOMapping=1 [6061] ParameterName=modes_of_operation_dis ObjectType=7 DataType=0x0002 AccessType=ro DefaultValue=0x00 PDOMapping=1 [6062] ParameterName=Position_demand_value ObjectType=7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [6063] ParameterName=Positon INC value ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [6064] ParameterName=Position ABS Value ObjectType=7 DataType=0x0004 AccessType=ro LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [6065] ParameterName=following_error_window ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=3840000 PDOMapping=1 [6067] ParameterName=position_window ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=10 PDOMapping=1 [6068] ParameterName=Position window time ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0x00000000 PDOMapping=1 [606B] ParameterName=vel_demand_val(rpm) ObjectType=7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 [606C] ParameterName=vel_actual_val(rpm) ObjectType=7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 [606D] ParameterName=Velocity window ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=10 PDOMapping=1 [606E] ParameterName=Velocity window time ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=1 [606F] ParameterName=Zero Velocity threshold ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=10 PDOMapping=1 [6070] ParameterName=Zero Velocity threshold time ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=1 [6071] ParameterName=target torque(0.1%) ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-300 HighLimit=300 DefaultValue=0 PDOMapping=1 [6072] ParameterName=Max Torque(%) ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=500 DefaultValue=500 PDOMapping=1 [6074] ParameterName=Torque demand value(0.1%) ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-300 HighLimit=300 DefaultValue=0 PDOMapping=1 [6075] ParameterName=Motor Rated Current(peak current 0.1A) ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x00 PDOMapping=1 [6076] ParameterName=Motor Rated Torque(0.01Nm) ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x00 PDOMapping=1 [6077] ParameterName=Torque actual value(0.1%) ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-300 HighLimit=300 DefaultValue=0 PDOMapping=1 [6078] ParameterName=Current Actual Value0.01A) ObjectType=7 DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=1 [607A] ParameterName=target_position(pulse) ObjectType=7 DataType=0x0004 AccessType=rw DefaultValue=0x00000000 PDOMapping=1 [607C] ParameterName=home_offset(pulse) ObjectType=7 DataType=0x0004 AccessType=rw DefaultValue=0x00000000 PDOMapping=1 [607D] ParameterName=Software Limit Parameter ObjectType=8 SubNumber=3 [607Dsub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [607Dsub1] ParameterName=Min Software Limit(pulse) ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [607Dsub2] ParameterName=Max Software Limit(pulse) ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [607E] ParameterName=Polarity ObjectType=7 DataType=0x0002 AccessType=rw LowLimit=-128 HighLimit=127 DefaultValue=0 PDOMapping=1 [607F] ParameterName=Maximum Profile Speed(0.1rpm) ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=2^32 DefaultValue=50000 PDOMapping=1 [6080] ParameterName=Max Motor Speed ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=2^31 DefaultValue=5000 PDOMapping=1 [6081] ParameterName=profile_velocity ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=0 HighLimit=2^31 DefaultValue=0x00000000 PDOMapping=1 [6083] ParameterName=profile_acceleration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0xc8 PDOMapping=1 [6084] ParameterName=profile_deceleration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0xc8 PDOMapping=1 [6085] ParameterName=Quick Stop Deceleration ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=0 HighLimit=2^31 DefaultValue=200 PDOMapping=0 [6086] ParameterName=Motion Profile Type ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-2^15 HighLimit=2^15 DefaultValue=0 PDOMapping=1 [6087] ParameterName=Torque Slope ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=65535 DefaultValue=0 PDOMapping=1 [6093] ParameterName=Position factor ObjectType=8 SubNumber=3 [6093sub0] ParameterName=Num of Position factor ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [6093sub1] ParameterName=Numerator ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0x00000001 PDOMapping=1 [6093sub2] ParameterName=Divisor ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0x00000001 PDOMapping=1 [6094] ParameterName=Velocity Factor ObjectType=8 SubNumber=3 [6094sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [6094sub1] ParameterName=Velocity Factor Numerator ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=2^31 DefaultValue=1 PDOMapping=1 [6094sub2] ParameterName=Velocity Factor Dividor ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=2^31 DefaultValue=1 PDOMapping=1 [6095] ParameterName=Velocity Factor1 ObjectType=8 SubNumber=3 [6095sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [6095sub1] ParameterName=Velocity Factor1 Numerator ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=2^31 DefaultValue=1 PDOMapping=1 [6095sub2] ParameterName=Velocity Factor1 Dividor ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=2^31 DefaultValue=1 PDOMapping=1 [6097] ParameterName=Acceleration Factor ObjectType=8 SubNumber=3 [6097sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [6097sub1] ParameterName=Acceleration Factor Numerator ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=2^31 DefaultValue=1 PDOMapping=1 [6097sub2] ParameterName=Acceleration Factor Dividor ObjectType=7 DataType=0x0007 AccessType=rw LowLimit=1 HighLimit=2^31 DefaultValue=1 PDOMapping=1 [6098] ParameterName=homing_method ObjectType=7 DataType=0x0002 AccessType=rw DefaultValue=0x13 PDOMapping=1 [6099] ParameterName=homing_speeds ObjectType=8 SubNumber=3 [6099sub0] ParameterName=homing_speeds.nr_of_entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [6099sub1] ParameterName=homing_speeds.search_for_switch ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=100 HighLimit=2000 DefaultValue=0x0064 PDOMapping=1 [6099sub2] ParameterName=homing_speeds.search_for_zero ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=1 HighLimit=500 DefaultValue=0x000A PDOMapping=1 [609A] ParameterName=Homing acceleration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=10 HighLimit=1000 DefaultValue=0x03E8 PDOMapping=1 [60B0] ParameterName=Positon offset ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [60B1] ParameterName=Speed Offset ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [60B2] ParameterName=Torque Offset ObjectType=7 DataType=0x0003 AccessType=rw LowLimit=-2^15 HighLimit=2^15 DefaultValue=0 PDOMapping=1 [60C0] ParameterName=Interpolation Select ObjectType=7 DataType=0x0003 AccessType=rw PDOMapping=1 [60C1] ParameterName=Interpolation Data Record ObjectType=9 SubNumber=4 [60C1sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x3 PDOMapping=0 [60C1sub1] ParameterName=Position Command ObjectType=7 DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=1 [60C1sub2] ParameterName=Abs Select ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=1 [60C1sub3] ParameterName=Velocity ObjectType=7 DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=1 [60C2] ParameterName=Interpolation Time Period ObjectType=8 SubNumber=3 [60C2sub0] ParameterName=Number of entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [60C2sub1] ParameterName=Interpolation Time Units ObjectType=7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=1 [60C2sub2] ParameterName=Interpolation Time Index ObjectType=7 DataType=0x0002 AccessType=rw DefaultValue=-3 PDOMapping=1 [60C5] ParameterName=Max Acceleration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2^15 DefaultValue=200 PDOMapping=1 [60C6] ParameterName=Max Deceleration ObjectType=7 DataType=0x0006 AccessType=rw LowLimit=0 HighLimit=2^15 DefaultValue=200 PDOMapping=1 [60F2] ParameterName=Position Option Code ObjectType=7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=1 [60F4] ParameterName=Following Error Actual Value ObjectType=7 DataType=0x0004 AccessType=rw LowLimit=-2^31 HighLimit=2^31 DefaultValue=0 PDOMapping=1 [60FC] ParameterName=Potition demand value* ObjectType=7 DataType=0x0004 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 [60FD] ParameterName=digital_inputs ObjectType=7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [60FE] ParameterName=digital_outputs ObjectType=8 SubNumber=3 [60FEsub0] ParameterName=digital_outputs.nr_of_entries ObjectType=7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [60FEsub1] ParameterName=digital_outputs.physical_value ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=1 [60FEsub2] ParameterName=digital_outputs.bitmask ObjectType=7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=1 [60FF] ParameterName=target_velocity ObjectType=7 DataType=0x0003 AccessType=rw DefaultValue=0x00000000 PDOMapping=1 [6502] ParameterName=Drive Mode Support ObjectType=7 DataType=0x0006 AccessType=ro DefaultValue=0x6D PDOMapping=1