#x850104 Beijing Hollysys Intelligent Technology Co., Ltd 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F ServoDrive Servo Drives 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD_Q70_ECAT Drive HSD_Q70_ECAT_V1.4_G 3000 10000 5000 200 100 2000 ServoDrive 402 BIT2 2 BOOL 1 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(8) 64 STRING(3) 24 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT160X 336 0 Number of Objects USINT 8 0 rw 1 Mapping entry (1) UDINT 32 16 rw 2 Mapping entry (2) UDINT 32 48 rw 3 Mapping entry (3) UDINT 32 80 rw 4 Mapping entry (4) UDINT 32 112 rw 5 Mapping entry (5) UDINT 32 144 rw 6 Mapping entry (6) UDINT 32 176 rw 7 Mapping entry (7) UDINT 32 208 rw 8 Mapping entry (8) UDINT 32 240 rw 9 Mapping entry (9) UDINT 32 272 rw 10 Mapping entry (10) UDINT 32 304 rw DT1A0X 336 0 Number of Objects USINT 8 0 rw 1 Mapping entry (1) UDINT 32 16 rw 2 Mapping entry (2) UDINT 32 48 rw 3 Mapping entry (3) UDINT 32 80 rw 4 Mapping entry (4) UDINT 32 112 rw 5 Mapping entry (5) UDINT 32 144 rw 6 Mapping entry (6) UDINT 32 176 rw 7 Mapping entry (7) UDINT 32 208 rw 8 Mapping entry (8) UDINT 32 240 rw 9 Mapping entry (9) UDINT 32 272 rw 10 Mapping entry (10) UDINT 32 304 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of SyncManager channels USINT 8 0 ro SyncManager type DT1C00ARR 32 16 ro DT1C1XARR UINT 32 1 1 DT1C1X 112 0 Number of assigned PDOs USINT 8 0 rw 1 Index of assigned PDO 1 DT1C1XARR 32 16 rw 2 Index of assigned PDO 2 DT1C1XARR 32 48 rw 3 Index of assigned PDO 3 DT1C1XARR 32 80 rw 4 Index of assigned PDO 4 DT1C1XARR 32 112 rw DT1C32 400 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UDINT 32 288 ro 12 Cycle Time Too Small UDINT 32 320 ro 32 Sync Error BOOL 1 384 ro DT1C33 400 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UDINT 32 288 ro 12 Cycle Time Too Small UDINT 32 320 ro 32 Sync Error BOOL 1 384 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw RT 2 Max position limit DINT 32 48 rw RT DT6091 80 0 SubIndex 000 USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw R 2 Shaft revolutions UDINT 32 48 rw R DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60C1 64 0 Number of Entries USINT 8 0 ro 1 Position Command DINT 32 16 rw RT 2 Symmetrical Diff UINT 16 48 rw RT DT60C2 48 0 Number of Entries USINT 8 0 ro 1 Interpolation time period UINT 16 16 rw 2 Interpolation time index INT 16 32 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw #x1000 Device type UDINT 32 92010000 ro #x1001 Error register USINT 8 ro #x1008 Device name STRING(3) 24 ro #x100A Software version STRING(3) 24 ro #x1018 Identity DT1018 144 ro #x1600 1st Receive PDO Mapping DT160X 336 rw #x1601 2nd Receive PDO Mapping DT160X 272 rw #x1602 3rd Receive PDO Mapping DT160X 272 rw #x1603 4th Receive PDO Mapping DT160X 272 rw #x1A00 1st Transmit PDO Mapping DT1A0X 336 rw #x1A01 2nd Transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd Transmit PDO Mapping DT1A0X 272 rw #x1A03 4th Transmit PDO Mapping DT1A0X 272 rw #x1C00 Sync manager type DT1C00 48 ro #x1C12 RxPDO assign DT1C1X 112 rw #x1C13 TxPDO assign DT1C1X 112 rw #x1c32 SM output parameter DT1C32 400 ro #x1c33 SM input parameter DT1C33 400 ro o #x2000 Pn000 Control Mode UINT 16 ro #x2002 Pn002 Motor rotation direction UINT 16 0 1 0 rw #x2003 Pn003 Default monitoring parameters UINT 16 0 4095 rw #x2004 Pn004 Stop Methods of Servo OFF or 1st Error UINT 16 0 2 rw #x2005 Pn005 Stop Methods of 2nd Error UINT 16 0 1 0 rw #x2006 Pn006 Over Distance Warning or Not UINT 16 0 1 rw #x2007 Pn007 Stop Methods of Over Distance UINT 16 0 2 rw #x2008 Pn008 Lock Time after Electromagnetic Brake(10ms) UINT 16 0 50 0 rw #x2009 Pn009 Electromagnetic brake delay(10ms) UINT 16 10 100 0 rw #x2010 Pn010 Electromagnetic brake delay unhaloed speed(rpm) UINT 16 0 10000 100 rw #x2012 Pn012 External braking resistor powe(10w) UINT 16 0 65535 0 rw #x2013 Pn013 External braking resistor value(0.01Ω) UINT 16 0 65535 0 rw #x2015 Pn015 Overload warning value(1%) UINT 16 1 100 20 rw #x2016 Pn016 Base current derating setting at motor overload detection(1%) UINT 16 10 100 100 rw #x2039 Pn039 Upper limit value of multi rotating circles(Rev) UINT 16 0 65535 65535 rw #x2040 Pn040 Application method of Absolute Encoder UINT 16 0 1 rw #x2041 Pn041 Low voltage Warning or Error UINT 16 0 1 0 rw #x2044 Pn044 switche of fully closed-loop application UINT 16 0 51 1 rw #x2045 Pn045 Function selection while under voltage UINT 16 0 2 0 rw #x2046 Pn046 Torque limit while main circuit voltage drops(1%) UINT 16 0 100 50 rw #x2047 Pn047 Delay time of torque limit release while main circuit voltage drops(ms) UINT 16 0 1000 100 rw #x2050 Pn050 Torque limit method setting UINT 16 0 3 1 rw #x2051 Pn051 Max torque limitation 1(1%) UINT 16 0 500 500 rw #x2052 Pn052 Max torque limitation 2(1%) UINT 16 0 500 500 rw #x2053 Pn053 Emergency stop torque(1%) UINT 16 0 800 800 rw #x2070 Pn070 Encoder frequency-dividing pulse UDINT 32 16 4194304 2048 rw #x2072 Pn072 Reverse direction of frequency division output UINT 16 0 1 0 rw #x2080 Pn080 Site Alias UINT 16 1 65535 1 ro #x2100 Pn100 Ratio of moments of inertia(1%) UINT 16 0 20000 100 rw #x2101 Pn101 1st speed gain(0.1Hz) UINT 16 10 20000 400 rw #x2102 Pn102 1st Velocity-time integral(0.01ms) UINT 16 15 51200 2000 rw #x2103 Pn103 1st position gain(0.1/s) UINT 16 10 20000 400 rw #x2104 Pn104 1st Torque command filtering(0.01ms) UINT 16 0 65535 100 rw #x2105 Pn105 2nd speed gain(0.1Hz) UINT 16 10 20000 400 rw #x2106 Pn106 2nd Velocity-time integral(0.01ms) UINT 16 15 51200 2000 rw #x2107 Pn107 2nd position gain(0.1/s) UINT 16 10 20000 400 rw #x2108 Pn108 2nd Torque command filtering(0.01ms) UINT 16 0 65535 100 rw #x2110 Pn110 The gain switching function UINT 16 0 1 0 rw #x2111 Pn111 Automatic switching condition of position control gain UINT 16 0 5 0 rw #x2112 Pn112 Gain switching transition time 1(ms) UINT 16 0 65535 0 rw #x2113 Pn113 Gain switching transition time 2(ms) UINT 16 0 65535 0 rw #x2114 Pn114 Gain switching delay time 1(ms) UINT 16 0 65535 0 rw #x2115 Pn115 Gain switching delay time 2(ms) UINT 16 0 65535 0 rw #x2121 Pn121 Speed feedforward gain(1%) UINT 16 0 100 0 rw #x2122 Pn122 Speed feedforward filter time(0.01ms) UINT 16 0 6400 0 rw #x2123 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 1 0 rw #x2124 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 1 0 rw #x2125 Pn125 Time constant of speed feedback filtering(0.01ms) UINT 16 0 65535 0 rw #x2126 Pn126 Time constant of speed feedback moving average filtering(125us) UINT 16 0 20 0 rw #x2130 Pn130 Speed loop control method (PI/IP) UINT 16 0 1 0 rw #x2131 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 4 0 rw #x2132 Pn132 Speed loop P/PI switching condition (torque command)(1%) UINT 16 0 800 200 rw #x2133 Pn133 Speed loop P/PI switching condition (speed command)(rpm) UINT 16 0 10000 0 rw #x2134 Pn134 Speed loop P/PI switching condition (acceleration speed)(rpm/s) UINT 16 0 30000 0 rw #x2135 Pn135 Speed loop P/PI switching condition (position deviation)(Command unit) UINT 16 0 10000 0 rw #x2140 Pn140 Medium frequency vibration suppression control selection UINT 16 0 17 16 rw #x2141 Pn141 Inertial modification of intermediate frequency vibration suppression(1%) UINT 16 1 1000 100 rw #x2142 Pn142 First medium frequency vibration suppression frequency(0.1Hz) UINT 16 10 30000 1000 rw #x2143 Pn143 First medium frequency vibration suppression attenuation gain(1%) UINT 16 0 300 0 rw #x2150 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 1 1 rw #x2151 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 1 1 rw #x2152 Pn152 Automatic notch resonance detection sensitivity(1%) UINT 16 1 200 100 rw #x2153 Pn153 Notch filter 1 frequency(Hz) UINT 16 50 5000 5000 rw #x2154 Pn154 Notch filter 1 Q value(0.01) UINT 16 50 1000 70 rw #x2155 Pn155 Notch filter 1 depth(0.001) UINT 16 0 1000 0 rw #x2156 Pn156 Notch filter 2 frequency(Hz) UINT 16 50 5000 5000 rw #x2157 Pn157 Notch filter 2 Q value(0.01) UINT 16 50 1000 70 rw #x2158 Pn158 Notch filter 2 depth(0.001) UINT 16 0 1000 0 rw #x2160 Pn160 Disturbance compensation function selection UINT 16 0 1 0 rw #x2161 Pn161 Disturbance observer cutoff frequency(0.1Hz) UINT 16 10 10000 1500 rw #x2163 Pn163 Disturbance compensation coefficient(1%) UINT 16 0 100 0 rw #x2165 Pn165 Disturbance observer inertia correction coefficient(1%) UINT 16 1 1000 100 rw #x2166 Pn166 Speed observer switch UINT 16 0 1 0 rw #x2167 Pn167 Speed observer cutoff frequency(Hz) UINT 16 1 500 80 rw #x2168 Pn168 Inertial correction coefficient in speed observer(1%) UINT 16 0 1000 100 rw #x2169 Pn169 Fliter time correction in speed observer(0.01ms) UINT 16 0 65535 10 rw #x2170 Pn170 Friction torque compensation cutoff speed(rpm) UINT 16 0 1000 20 rw #x2171 Pn171 Friction torque forward compensation coefficient(1%/100rpm) UINT 16 0 100 0 rw #x2172 Pn172 Friction torque reverse compensation coefficient(1%/100rpm) UINT 16 0 100 0 rw #x2175 Pn175 Robust control options UINT 16 0 1 0 rw #x2177 Pn177 Robust control tuning values(0.1Hz) UINT 16 100 800 400 rw #x2178 Pn178 Minimum load values of robust control(1%) UINT 16 0 500 0 rw #x2185 Pn185 vibration detection selection UINT 16 0 2 0 rw #x2186 Pn186 Vibration detection sensitivity(1%) UINT 16 50 500 100 rw #x2187 Pn187 Vibration detection value(rpm) UINT 16 0 5000 50 rw #x2192 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning(1%) UINT 16 0 100 100 rw #x2193 Pn193 Maximum gain setting value when searching for maximum gain(0.1Hz) UINT 16 10 4000 3000 rw #x2203 Pn203 Command pulse input rate UINT 16 1 100 1 rw #x2204 Pn204 Electronic gear ratio numerator UDINT 32 0 1073741824 1 rw #x2206 Pn206 Electronic gear ratio denominator UDINT 32 1 1073741824 1 rw #x2211 Pn211 position command low-pass filtering time(0.1ms) UINT 16 0 6550 0 rw #x2212 Pn212 position command slide filtering time(0.1ms) UINT 16 0 10000 0 rw #x2230 Pn230 Low frequency vibration suppression selection UINT 16 0 2 0 rw #x2231 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 1 1 rw #x2232 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed)(0.1%) UINT 16 1 3000 400 rw #x2235 Pn235 Low frequency vibration suppression 1 frequency(0.1Hz) UINT 16 10 2000 2000 rw #x2236 Pn236 Low frequency vibration suppression 1 correction(1%) UINT 16 10 1000 100 rw #x2237 Pn237 Low frequency vibration suppression 2 frequency(0.1Hz) UINT 16 10 2000 2000 rw #x2238 Pn238 Low frequency vibration suppression 2 correction(1%) UINT 16 10 1000 100 rw #x2240 Pn240 Model tracking control selection UINT 16 0 1 0 rw #x2241 Pn241 Gain of model tracking control(0.1/s) UINT 16 10 20000 500 rw #x2242 Pn242 Attenuation coefficient of model tracking control(0.1%) UINT 16 500 2000 1000 rw #x2243 Pn243 Speed forwardback gain of model tracking(0.1%) UINT 16 0 10000 1000 rw #x2244 Pn244 Forward torque feedforward gain of model tracking control(0.1%) UINT 16 0 10000 1000 rw #x2245 Pn245 Speed feedforward gain of model tracking control(0.1%) UINT 16 0 10000 1000 rw #x2246 Pn246 Gain of 2nd model tracking control(0.1/s) UINT 16 10 20000 100 rw #x2247 Pn247 attenuation coefficient of model tracking control(0.1%) UINT 16 500 2000 1000 rw #x2248 Pn248 Model tracking control type selection UINT 16 0 1 1 rw #x2249 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 1 0 rw #x2250 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 3 0 rw #x2252 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop(1%) UINT 16 0 100 20 rw #x2253 Pn253 External grating ruler resolution(P/Rev) UDINT 32 4 1048576 32768 rw #x2257 Pn257 Large mixed deviation setting UDINT 32 0 1073741824 1000 rw #x2260 Pn260 NEAR signal width UDINT 32 1 1073741824 1073741824 rw #x2262 Pn262 Position arrival range UDINT 32 0 1073741824 7 rw #x2264 Pn264 Maximum tolerance value of position deviation UDINT 32 1 1073741823 25165824 rw #x2266 Pn266 Large position deviation alarm setting(1%) UINT 16 10 100 100 rw #x2267 Pn267 Alarm threshold of position deviation excess when servo is on UDINT 32 1 1073741823 25165824 rw #x2269 Pn269 Warning threshold of large position deviation when servo is on(1%) UINT 16 10 100 100 rw #x2270 Pn270 Speed limitation when servo on(rpm) UINT 16 0 10000 10000 rw #x2274 Pn274 / COIN output time UINT 16 0 2 0 rw #x2310 Pn310 speed command acceleration time(ms) UINT 16 0 10000 0 rw #x2311 Pn311 speed command deceleration time(ms) UINT 16 0 10000 0 rw #x2312 Pn312 Zero-speed clamping mode UINT 16 0 3 3 rw #x2313 Pn313 Zero-speed clamping Speed threshold(rpm) UINT 16 0 10000 10 rw #x2317 Pn317 Rotation judgment value(rpm) UINT 16 1 10000 20 rw #x2320 Pn320 Speed matching range(rpm) UINT 16 0 100 10 rw #x2401 Pn401 Torque command LP limiting frequency(Hz) UINT 16 100 5000 5000 rw #x2402 Pn402 Torque command LP Q(0.01) UINT 16 50 100 50 rw #x2411 Pn411 Torque Cotrl speed limit method UINT 16 0 1 1 rw #x2412 Pn412 speed limit selection UINT 16 0 1 0 rw #x2413 Pn413 Torque Cotrl speed limit(rpm) UINT 16 0 10000 1000 rw #x2600 Pn600 on-off input allocation model UINT 16 0 1 1 rw #x2601 Pn601 CN1-40 input configuration UINT 16 0 511 1 rw #x2602 Pn602 CN1-42 input configuration UINT 16 0 511 258 rw #x2603 Pn603 CN1-43 input configuration UINT 16 0 511 259 rw #x2604 Pn604 CN1-41 input configuration UINT 16 0 511 29 rw #x2605 Pn605 CN1-44 input configuration UINT 16 0 511 19 rw #x2606 Pn606 CN1-45 input configuration UINT 16 0 511 20 rw #x2607 Pn607 CN1-46 input configuration UINT 16 0 511 7 rw #x2610 Pn610 on-off input Interior Options 1 UINT 16 0 255 0 rw #x2611 Pn611 on-off input Interior Options 2 UINT 16 0 255 0 rw #x2612 Pn612 on-off input Interior Options 3 UINT 16 0 255 0 rw #x2613 Pn613 CN1-25,26 output configuration1 UINT 16 0 265 6 rw #x2614 Pn614 CN1-27,28 output configuration2 UINT 16 0 265 1 rw #x2615 Pn615 CN1-29,30 output configuration3 UINT 16 0 265 2 rw #x2622 Pn622 Warning or Not UINT 16 0 1 0 rw #x2791 Pn791 Encoder type UINT 16 1 18 10 ro #x2792 Pn792 Clear absolute encoder operation UINT 16 0 3 0 rw #x2900 Pn900 Store Para or Not UINT 16 0 1 1 rw RT #x2901 Pn901 Prevent overflow function UINT 16 0 1 0 rw RT #x2902 Pn902 Set PosAc 0 UINT 16 0 1 0 rw RT #x2903 Pn903 Multi cycle upper limit(Rev) UINT 16 1 65535 65535 rw #x2907 Pn907 0x603F display type UINT 16 0 1 0 rw #x2908 Pn908 Loss of synchronization Al or Err UINT 16 0 1 0 rw #x2909 Pn909 shield Al or not UINT 16 0 1 0 rw #x291E Pn91E Origin position LL(Comm/s) UINT 16 0 65535 1 ro #x291F Pn91F Origin position LH(Comm/s) UINT 16 0 65535 1 ro #x2920 Pn920 Origin position HL(Comm/s) UINT 16 0 65535 1 ro #x2921 Pn921 Origin position HH(Comm/s) UINT 16 0 65535 1 ro #x2923 Pn923 Times of multi circle overflow(Rev) UINT 16 0 65535 0 rw #x2991 Pn991 User Setting Parameter01 UINT 16 0 65535 0 rw #x2992 Pn992 User Setting Parameter02 UINT 16 0 65535 0 rw #x2993 Pn993 User Setting Parameter03 UINT 16 0 65535 0 rw #x2994 Pn994 User Setting Parameter04 UINT 16 0 65535 0 rw #x2995 Pn992 User Setting Parameter05 UINT 16 0 65535 0 rw #x2996 Pn996 User Setting Parameter06 UDINT 32 0 4294967295 0 rw #x2998 Pn996 User Setting Parameter07 UDINT 32 0 4294967295 0 rw #x299A Pn99A User Setting Parameter08 UDINT 32 0 4294967295 0 rw #x299C Pn99C User Setting Parameter09 UDINT 32 0 4294967295 0 rw #x299E Pn99E User Setting Parameter10 UDINT 32 0 4294967295 0 rw #x2F02 PnF02 Rated power UINT 16 0 65535 0 ro #x2F05 PnF05 max spee and rated speed UINT 16 0 65535 0 ro #x2F07 PnF07 Rated torque UINT 16 0 65535 0 ro #x2F08 PnF08 Max torque UINT 16 0 65535 0 ro #x2F09 PnF09 Rated current UINT 16 0 65535 0 ro #x2F0A PnF0A Instantaneous current UINT 16 0 65535 0 ro #x2F0C PnF0C rotor inertia UINT 16 0 65535 0 ro #x3000 Un000 INT 16 0 ro T #x3001 Un001 INT 16 0 ro T #x3002 Un002 INT 16 0 ro T #x3003 Un003 UDINT 32 0 ro T #x3004 Un004 UINT 16 0 ro T #x3005 Un005 UINT 16 0 ro T #x3006 Un006 DINT 32 0 ro T #x3007 Un007 DINT 32 0 ro T #x3008 Un008 DINT 32 0 ro T #x3009 Un009 DINT 32 0 ro T #x300A Un00A UINT 16 0 ro T #x300B Un00B UINT 16 0 ro T #x300C Un00C UINT 16 0 ro T #x300D Un00D UINT 16 0 ro T #x300E Un00E UDINT 32 0 ro T #x300F Un00F UINT 16 0 ro T #x3010 Un010 UDINT 32 0 ro T #x3011 Un011 UINT 16 0 ro T #x3012 Un012 DINT 32 0 ro T #x3021 Un021 DINT 32 0 ro T #x3035 Un035 UINT 16 0 ro T #x3036 Un036 UINT 16 0 ro T #x3050 Un050 UDINT 32 0 ro T #x3087 Un087 UINT 16 0 ro T #x3089 Un089 INT 16 0 ro T #x3091 Un091 INT 16 0 ro T #x3100 Un100 UINT 16 0 ro T #x3101 Un101 UINT 16 0 ro T #x3102 Un102 INT 16 0 ro T #x3103 Un103 INT 16 0 ro T #x3104 Un104 DINT 32 0 ro T #x3108 Un108 DINT 32 0 ro T #x3110 Un110 UDINT 32 0 ro T #x3120 Un120 UDINT 32 0 ro T #x3130 Un130 UDINT 32 0 ro T #x3140 Un140 UINT 16 0 ro T #x3141 Un141 UINT 16 0 ro T #x314B Un14B INT 16 0 ro T #x3220 Un220 INT 16 0 ro T #x3221 Un221 INT 16 0 ro T #x3222 Un222 INT 16 0 ro T #x3223 Un223 INT 16 0 ro T #x603F Error Code UINT 16 0 ro T #x6040 Controlword UINT 16 0 rw RT #x6041 Statusword UINT 16 0 ro T #x605A Quick stop option code INT 16 0 rw #x605B Shutdown option code INT 16 0 rw RT #x605D Halt option code INT 16 1 rw #x605E Fault reaction option code INT 16 0 rw RT #x6060 Modes of operation SINT 8 8 rw RT #x6061 Modes of operation display SINT 8 0 ro T #x6062 Position demand value DINT 32 0 ro T #x6063 Position actual value* DINT 32 0 ro T #x6064 Position actual value DINT 32 0 ro T #x6065 Following error window UDINT 32 0 rw RT #x6067 Position window UDINT 32 100 rw RT #x6068 Position window time UINT 16 0 rw RT #x606B Velocity demand value DINT 32 0 ro T #x606C Velocity actual value DINT 32 0 ro T #x606D Velocity window UINT 16 100 rw RT #x606E Velocity window time UINT 16 0 rw RT #x606F Velocity threshold UINT 16 10 rw RT #x6070 Velocity threshold Time UINT 16 0 rw RT #x6071 Target torque INT 16 0 rw RT #x6072 Max torque UINT 16 3000 rw RT #x6074 Torque demand value INT 16 0 ro T #x6075 Motor rated current UDINT 32 2800 ro T #x6076 Motor rated torque UDINT 32 0 ro T #x6077 Torque actual value INT 16 0 ro T #x6078 Current actual value INT 16 0 ro T #x607A Target position DINT 32 0 rw RT #x607C Home offset DINT 32 0 rw RT #x607D Software position limit DT607D 80 Min position limit -2147483648 Max position limit 2147483647 ro #x607E Polarity USINT 8 0 rw RT #x607F Max profile velocity UDINT 32 50000 rw RT #x6080 Max motor speed UDINT 32 6000 ro RT #x6081 Profile velocity UDINT 32 10000000 rw RT #x6083 Profile acceleration UDINT 32 139810133 rw RT #x6084 Profile deceleration UDINT 32 139810133 rw RT #x6085 Quick stop deceleration UDINT 32 139810133 rw RT #x6086 Motion profile type INT 16 0 rw RT #x6087 Torque slope UDINT 32 0 rw RT #x6091 Gear ratio DT6091 80 Motor revolutions 1 Shaft revolutions 1 ro #x6098 Homing method SINT 8 1 rw RT #x6099 Homing speeds DT6099 80 Speed during search for switch 27962026 Speed during search for zero 5592405 ro #x609A Homing acceleration UDINT 32 16000 rw RT #x60B0 Position offset DINT 32 0 rw RT #x60B1 Velocity offset DINT 32 0 rw RT #x60B2 Torque offset INT 16 0 rw RT #x60B8 Touch Probe Function UINT 16 0 rw RT #x60B9 Touch Probe Status UINT 16 0 ro T #x60BA Touch Probe Pos1 Pos Value DINT 32 0 ro T #x60BB Touch Probe Pos1 Neg Value DINT 32 0 ro T #x60BC Touch Probe Pos2 Pos Value DINT 32 0 ro T #x60BD Touch Probe Pos2 Neg Value DINT 32 0 ro T #x60C0 Interpolation sub mode select INT 16 0 rw RT #x60C1 Interpolation data record DT60C1 64 Position Command 0 Symmetrical Diff 0 ro #x60C2 Interpolation time period DT60C2 48 Interpolation time period 1 Interpolation time index -3 ro #x60C5 Max acceleration UDINT 32 200 rw RT #x60C6 Max deceleration UDINT 32 200 rw RT #x60E0 Positive torque limit UINT 16 3000 rw RT #x60E1 Negtive torque limit UINT 16 3000 rw RT #x60F2 Positioning option code UINT 16 0 rw RT #x60F4 Following error actual value DINT 32 0 ro T #x60FC Position demand internal value DINT 32 0 ro T #x60FD Digital inputs UDINT 32 0 ro T #x60FE Digital outputs DT60FE 80 Physical outputs 0 Bit mask 0 ro #x60FF Target velocity DINT 32 0 rw RT #x6502 Supported drive modes UDINT 32 1005 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st RxPDO Mapping #x1601 #x1602 #x1603 #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 TargetPosition object 0x607A:0 DINT #x6060 0 8 Modes of operation object 0x6060:0 SINT #x60B8 0 16 Touch Probe Function object 0x60B8:0 UINT #x1601 2nd RxPDO Mapping #x1600 #x1602 #x1603 #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 TargetPosition object 0x607A:0 DINT #x60FF 0 32 TargetVelocity object 0x60FF:0 DINT #x1602 3rd RxPDO Mapping #x1600 #x1601 #x1603 #x6040 0 16 Control Word object 0x6040:0 UINT #x60FF 0 32 TargetVelocity object 0x60FF:0 DINT #x1603 4th RxPDO Mapping #x1600 #x1601 #x1602 #x6040 0 16 Control Word object 0x6040:0 UINT #x6071 0 16 TargetTorque object 0x6071:0 INT #x1a00 1st TxPDO Mapping #x1a01 #x1a02 #x1a03 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x60B9 0 16 Touch Probe Status object 0x60B9:0 UINT #x60BA 0 32 Touch Probe Pos1 Pos Value object 0x60BA:0 DINT #x60FD 0 32 Digital inputs object 0x60FD:0 UDINT #x1a01 2nd TxPDO Mapping #x1a00 #x1a02 #x1a03 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x606C 0 32 Velocity actual value object 0x606C:0 DINT #x1a02 3rd TxPDO Mapping #x1a00 #x1a01 #x1a03 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x606C 0 32 Velocity actual value object 0x606C:0 DINT #x1a03 4th TxPDO Mapping #x1a00 #x1a01 #x1a02 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x6077 0 16 ActualTorque object 0x6077:0 INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC DC-Synchron #x300 0 0 2048 080E0004640000000000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F