#x850104 Beijing Hollysys Intelligent Technology Co., Ltd 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F ServoDrive Servo Drives 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD_Q71_ECAT_Drive HSD_Q71_EtherCAT(CoE) Servo Drive Rev24 http://www.hollysys.com/ 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 496 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 11 Mapping entry (11) UDINT 32 336 rw 12 Mapping entry (12) UDINT 32 368 rw 13 Mapping entry (13) UDINT 32 400 rw 14 Mapping entry (14) UDINT 32 432 rw 15 Mapping entry (15) UDINT 32 464 rw DT1A0X 496 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 11 Mapping entry (11) UDINT 32 336 rw 12 Mapping entry (12) UDINT 32 368 rw 13 Mapping entry (13) UDINT 32 400 rw 14 Mapping entry (14) UDINT 32 432 rw 15 Mapping entry (15) UDINT 32 464 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 48 0 Number of assigned PDOs USINT 8 0 rw Index of assigned PDO DT1C1XARR 32 16 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 DT2000 80 0 SubIndex 000 USINT 8 0 ro 1 [Pn000] Basic Function Selections 0 UINT 16 0 rw 2 [Pn001] Basic Function Selections 1 UINT 16 0 rw 3 [Pn002] Rotation Direction Selection UINT 16 0 rw 4 [Pn003] Monitor Display at Startup UINT 16 0 rw 5 [Pn004] Motor Stopping Method for Servo OFF and Gr.1 Alarms UINT 16 0 rw 6 [Pn005] Motor Stopping Method for Gr.2 Alarms UINT 16 0 rw 7 [Pn006] Basic Function Selections 6 UINT 16 0 rw 8 [Pn007] Overtravel Stopping Method UINT 16 0 rw 9 [Pn008] Waiting Time for Brake Signal When Motor StandStill UINT 16 0 rw 10 [Pn009] Servo off - brake command waiting time UINT 16 0 rw 11 [Pn00A] Brake Reference Output Speed Level UINT 16 0 rw 12 [Pn00B] Brake command - holding brake release delay time when servo is on UINT 16 0 rw 14 [Pn00D] Basic Function Selections D UINT 16 0 rw 15 [Pn00E] Basic Function Selections E UINT 16 0 rw 19 [Pn012] Regenerative Resistor Capacity UINT 16 0 rw 20 [Pn013] Regenerative Resistance UINT 16 0 rw 22 [Pn015] Overload Warning Level UINT 16 0 rw 23 [Pn016] Base current derating setting at motor overload detection UINT 16 0 rw 49 [Pn030] Absolute Limit Maximum (Internal Soft Limit) DINT 32 0 rw 51 [Pn032] Absolute Limit Maximum (Internal Soft Limit) UINT 16 0 rw 52 [Pn033] Absolute Limit Maximum (Internal Soft Limit) DINT 32 0 rw 54 [Pn035] Absolute Limit Min (Internal Soft Limit) UINT 16 0 rw 55 [Pn036] Absolute Limit Hysteresis loop UINT 16 0 rw 58 [Pn039] Servo off Decline time UINT 16 0 rw 65 [Pn040] Encoder Usage UINT 16 0 rw 66 [Pn041] Low Battery Voltage Alarm/Warning Selection UINT 16 0 rw 70 [Pn045] Alam type of at Main Circuit Voltage Drop UINT 16 0 rw 71 [Pn046] Torque Limit at Main Circuit Voltage Drop UINT 16 0 rw 72 [Pn047] Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 0 rw 81 [Pn050] Torque limit type UINT 16 0 rw 82 [Pn051] Internal forward torque limit UINT 16 0 rw 83 [Pn052] Internal reverse torque limit UINT 16 0 rw 84 [Pn053] Emergency stop torque UINT 16 0 rw 85 [Pn054] Forward External Torque Limit UINT 16 0 rw 86 [Pn055] Reverse External Torque Limit UINT 16 0 rw 87 [Pn056] Speed detection torque threshold UINT 16 0 rw 88 [Pn057] Speed threshold for runaway detection UINT 16 0 rw 119 [Pn076] Serial encoder single turn resolution usage UINT 16 0 rw 128 [Pn07F] Absolute value encoder multi turn zeroing and fault clearing UINT 16 0 rw 131 [Pn082] EtherCat site alias UINT 16 0 rw 132 [Pn083] EtherCAT host type UINT 16 0 rw 133 [Pn084] EtherCAT Synchron Max Value UINT 16 0 rw 134 [Pn085] Data Save Eeprom UINT 16 0 rw DT2001 40 0 SubIndex 000 USINT 8 0 ro 1 [Pn100] Moment of Inertia Ratio UINT 16 0 rw 2 [Pn101] Speed Loop Gain UINT 16 0 rw 3 [Pn102] Speed Loop Integral Time Constant UINT 16 0 rw 4 [Pn103] Position Loop Gain UINT 16 0 rw 5 [Pn104] torque command filter UINT 16 0 rw 6 [Pn105] 2nd Speed Loop Gain UINT 16 0 rw 7 [Pn106] 2nd Speed Loop Integral Time Constant UINT 16 0 rw 8 [Pn107] 2nd Position Loop Gain UINT 16 0 rw 9 [Pn108] 2nd torque command filter UINT 16 0 rw 17 [Pn110] Application Function for Gain Select Switch UINT 16 0 rw 19 [Pn112] Application Function for Gain Select Switch UINT 16 0 rw 20 [Pn113] Gain Switching Time 2 UINT 16 0 rw 21 [Pn114] Gain Switching Waiting Time 1 UINT 16 0 rw 22 [Pn115] Gain Switching Waiting Time 2 UINT 16 0 rw 33 [Pn120] Position Integral Time Constant UINT 16 0 rw 34 [Pn121] Feedforward Gain(Speed) UINT 16 0 rw 35 [Pn122] Feedforward Filter Time Constant(Speed) UINT 16 0 rw 36 [Pn123] Feedforward Gain(Torque) UINT 16 0 rw 37 [Pn124] Feedforward Filter Time Constant(Torque) UINT 16 0 rw 38 [Pn125] Speed F/B filter time constant UINT 16 0 rw 49 [Pn130] Mode Switch of Speed Loop PI/P UINT 16 0 rw 51 [Pn132] Mode Switch (torque reference) UINT 16 0 rw 52 [Pn133] Mode Switch (speed reference) UINT 16 0 rw 53 [Pn134] Mode Switch (acceleration) UINT 16 0 rw 54 [Pn135] Mode Switch (position error pulse) UINT 16 0 rw 65 [Pn140] Anti-Resonance Control Related Switch UINT 16 0 rw 66 [Pn141] Anti-Resonance Gain Compensation UINT 16 0 rw 67 [Pn142] Anti-Resonance Frequency UINT 16 0 rw 68 [Pn143] Anti-Resonance Damping Gain UINT 16 0 rw 69 [Pn144] Anti-Resonance Filter Time Constant 1 Compensation UINT 16 0 rw 70 [Pn145] Anti-Resonance Filter Time Constant 2 Compensation UINT 16 0 rw 81 [Pn150] Mode Switch 1 of Notch Filter UINT 16 0 rw 82 [Pn151] Mode Switch 2 of Notch Filter UINT 16 0 rw 83 [Pn152] Sensitivity Value of Notch Filter UINT 16 0 rw 84 [Pn153] 1st Notch Filter Frequency UINT 16 0 rw 85 [Pn154] 1st Notch Filter Q Value UINT 16 0 rw 86 [Pn155] 1st Notch Filter Depth UINT 16 0 rw 87 [Pn156] 2st Notch Filter Frequency UINT 16 0 rw 88 [Pn157] 2st Notch Filter Q Value UINT 16 0 rw 89 [Pn158] 2st Notch Filter Depth UINT 16 0 rw 90 [Pn159] 3st Notch Filter Frequency UINT 16 0 rw 91 [Pn15A] 3st Notch Filter Q Value UINT 16 0 rw 92 [Pn15B] 3st Notch Filter Depth UINT 16 0 rw 93 [Pn15C] 4st Notch Filter Frequency UINT 16 0 rw 94 [Pn15D] 4st Notch Filter Q Value UINT 16 0 rw 95 [Pn15E] 4st Notch Filter Depth UINT 16 0 rw 98 [Pn161] Friction Compensation Gain UINT 16 0 rw 99 [Pn162] 2nd Gain for Friction Compensation UINT 16 0 rw 100 [Pn163] Friction Compensation Coefficient UINT 16 0 rw 101 [Pn164] Friction Compensation Frequency Correction UINT 16 0 rw 102 [Pn165] Friction Compensation Gain Correction UINT 16 0 rw 118 [Pn175] Tuning-less Function Related Switch UINT 16 0 rw 134 [Pn185] Motor Vibration Detection UINT 16 0 rw 135 [Pn186] Vibration Detection Sensibility UINT 16 0 rw 136 [Pn187] Vibration Detection Level UINT 16 0 rw DT2002 40 0 SubIndex 000 USINT 8 0 ro 5 [Pn204] Electronic gear molecule UDINT 32 0 rw 7 [Pn206] Electronic gear denominator UDINT 32 0 rw 18 [Pn211] Position command low pass filter time constant UINT 16 0 rw 19 [Pn212] Position command slide average filter time UINT 16 0 rw 51 [Pn232] Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw 52 [Pn233] Low frequency vibration suppression 1 frequency A UINT 16 0 rw 53 [Pn234] Low frequency vibration suppression 1 frequency B UINT 16 0 rw 54 [Pn235] Low frequency vibration suppression 1 frequency UINT 16 0 rw 55 [Pn236] Low frequency vibration suppression 1 correction UINT 16 0 rw 65 [Pn240] Model Following Control Related Switch UINT 16 0 rw 66 [Pn241] Model Following Control Gain UINT 16 0 rw 67 [Pn242] Model Following Control Gain Compensation UINT 16 0 rw 68 [Pn243] Model Following Control Speed Feedforward Compensation UINT 16 0 rw 69 [Pn244] Model Following Control Bias(Forward Direction) UINT 16 0 rw 70 [Pn245] Model Following Control Bias(Reverse Direction) UINT 16 0 rw 71 [Pn246] 2nd Model Following Control Gain UINT 16 0 rw 72 [Pn247] 2nd Model Following Control Gain Compensation UINT 16 0 rw 73 [Pn248] Control-Related Selections UINT 16 0 rw 104 [Pn267] Large position deviation Error setting UDINT 32 0 rw 106 [Pn269] Warning threshold of large position deviation when servo is on UINT 16 0 rw 113 [Pn270] Speed limitation when servo on UINT 16 0 rw 114 [Pn271] External pulse command multiplier selection UINT 16 0 rw 115 [Pn272] External terminal clear (CLR) position deviation signal mode UINT 16 0 rw 116 [Pn273] Position deviation clearing action UINT 16 0 rw 117 [Pn274] Positioning completion signal (/ coin) output timing UINT 16 0 rw 119 [Pn276] Upper limit of number of turns UINT 16 0 rw 120 [Pn277] Direction of Upper limit UINT 16 0 rw DT2003 40 0 SubIndex 000 USINT 8 0 ro 17 [Pn310] Speed command trapezoidal acceleration time UINT 16 0 rw 18 [Pn311] Speed command trapezoidal deceleration time UINT 16 0 rw 24 [Pn317] Rotation judgment value UINT 16 0 rw 25 [Pn318] Motor of the maximum speed UINT 16 0 rw 33 [Pn320] Speed consistent signal threshold UINT 16 0 rw DT2004 40 0 SubIndex 000 USINT 8 0 ro 2 [Pn401] Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw 3 [Pn402] Torque command 2nd order low pass filter Q value UINT 16 0 rw 5 [Pn404] torque command filter time UINT 16 0 rw 33 [Pn420] threshold of Target torque reaching UINT 16 0 rw 34 [Pn421]Target torque reaching time window UINT 16 0 rw DT2005 40 0 SubIndex 000 USINT 8 0 ro 1 [Pn500] JOG speed UINT 16 0 rw 3 [Pn502] Program jog selections UDINT 32 0 rw 4 [Pn503] Program jog Distance UDINT 32 0 rw 6 [Pn505] Program JOG acceleration/deceleration time UINT 16 0 rw 7 [Pn506] Program JOG waiting time UINT 16 0 rw 8 [Pn507] Program JOG moving times UINT 16 0 rw 9 [Pn508] Program JOG moving speed UINT 16 0 rw DT2006 40 0 SubIndex 000 USINT 8 0 ro 1 [Pn600] X filtering time UINT 16 0 rw 2 [Pn601] X1 Input Signal UINT 16 0 rw 3 [Pn602] X2 Input Signal UINT 16 0 rw 4 [Pn603] X3 Input Signal UINT 16 0 rw 5 [Pn604] X4 Input Signal UINT 16 0 rw 6 [Pn605] X5 Input Signal UINT 16 0 rw 18 [Pn611] Y1 Output Signal UINT 16 0 rw 19 [Pn612] Y2 Output Signal UINT 16 0 rw 20 [Pn613] Y3 Output Signal UINT 16 0 rw 49 [Pn630] Internal software gives input terminal (X) status UINT 16 0 rw 50 [Pn631] Internal software gives output terminal (Y) status UINT 16 0 rw 51 [Pn632] Trobe1 Filter time UINT 16 0 rw 52 [Pn633] Trobe1 Filter time UINT 16 0 rw DT200F 40 0 SubIndex 000 USINT 8 0 ro 1 [PnF00] Encoder type | Motor input voltage code UINT 16 0 ro 3 [PnF02] Motor Power UINT 16 0 ro 4 [PnF03] Encoder bit UINT 16 0 ro 6 [PnF05] Maximum speed | Rated speed UINT 16 0 ro 7 [PnF06] number of poles | OS detection leve UINT 16 0 ro 8 [PnF07] Rated torque UINT 16 0 ro 9 [PnF08] Maximum torque UINT 16 0 ro 10 [PnF09] Rated current UINT 16 0 ro 11 [PnF0A] Maximum current UINT 16 0 ro 12 [PnF0B] EMF constant UINT 16 0 ro 13 [PnF0C] rotor inertia UINT 16 0 ro 14 [PnF0D] R UINT 16 0 ro 15 [PnF0E] L UINT 16 0 ro 16 [PnF0F] Base current for motor overload detection UINT 16 0 ro 17 [PnF10]Intermediate current for motor overload detection UINT 16 0 ro 18 [PnF11] Overload detection time UINT 16 0 ro 19 [PnF12] Maximum current UINT 16 0 ro 20 [PnF13] Maximum current - Time UINT 16 0 ro 22 [PnF15] Encode ID | motor type UINT 16 0 ro 23 [PnF16] Lq UINT 16 0 ro 24 [PnF17] Ld UINT 16 0 ro 25 [PnF18] Torque coeff | Inertia coeff UINT 16 0 ro 26 [PnF19] Speed Coeff | Output coeff UINT 16 0 ro 28 [PnF1B] Encode offset UINT 16 0 ro 31 [PnF1E] Flag UINT 16 0 ro DT2010 40 0 SubIndex 000 USINT 8 0 ro 1 [Un000] Motor Speed INT 16 0 ro 2 [Un001] Speed Cmd INT 16 0 ro 3 [Un002] Torque Cmd INT 16 0 ro 5 [Un004] Electric angle INT 16 0 ro 6 [Un005] Input Reference Pulse Speed INT 16 0 ro 7 [Un006] Input Reference Pulse Counter DINT 32 0 ro 8 [Un007] Feedback Pulse Counter 1 DINT 32 0 ro 9 [Un008] Feedback Pulse Counter 2 DINT 32 0 ro 10 [Un009] Position Error Amount DINT 32 0 ro 11 [Un00A] Accumulated Load Ratio UINT 16 0 ro 12 [Un00B] Regenerative Load Ratio UINT 16 0 ro 14 [Un00D] Effective Gain Monito UINT 16 0 ro 15 [Un00E] Total Operation Time UDINT 16 0 ro 17 [Un010] Absolute Encoder Singleturn Data DINT 32 0 ro 18 [Un011] Absolute Encoder Multiturn Data INT 16 0 ro 54 [Un035] ARM Version DINT 16 0 ro 55 [Un036] FPGA Version DINT 16 0 ro DT2011 40 0 SubIndex 000 USINT 1 0 ro 1 [Un100] X Port Status UINT 16 0 ro 2 [Un101] Y Port Status UINT 16 0 ro 6 [Un105] Position turning time UINT 16 0 ro 7 [Un106] Position overshoot INT 16 0 ro 14 [Un10D] IC Temperature INT 16 0 ro DT2018 40 0 SubIndex 000 USINT 8 0 ro 1 [Un800] Error Code(New) UINT 16 0 ro 2 [Un801] Error Code(Old) UINT 16 0 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 0 rw R 2 Shaft revolutions UDINT 32 0 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 USINT 8 16 rw 2 Interpolation time index SINT 8 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 488 rw #x1601 2nd Receive PDO Mapping DT160X 488 rw #x1602 3rd Receive PDO Mapping DT160X 488 rw #x1603 4th Receive PDO Mapping DT160X 488 rw #x1A00 1st Transmit PDO Mapping DT1A0X 488 rw #x1A01 2nd Transmit PDO Mapping DT1A0X 488 rw #x1A02 3rd Transmit PDO Mapping DT1A0X 488 rw #x1A03 4th Transmit PDO Mapping DT1A0X 488 rw #x1C00 Sync manager type DT1C00 48 ro #x1C12 RxPDO assign DT1C1X 48 rw #x1C13 TxPDO assign DT1C1X 48 rw #x1c32 SM output parameter DT1C32 400 ro #x1c33 SM input parameter DT1C33 400 ro o #x603F Error Code UINT 16 ro T #x2000 Pn0XX Parameters Pn0XX 组参数 DT2000 80 SubIndex 000 133 [Pn000] 0 8817 0000 [Pn001] 0 17 0 [Pn002] 0 1 0 [Pn003] 0 4095 0 [Pn004] 0 2 2 [Pn005] 0 1 1 [Pn006] 0 16673 4097 [Pn007] 0 18 1 [Pn008] 0 2000 10 [Pn009] 100 2000 500 [Pn00A] 0 10000 100 [Pn00B] 0 2000 10 [Pn00D] 0 8465 0 [Pn00E] 0 16657 16384 [Pn012] 0 65535 0 [Pn013] 0 65535 0 [Pn015] 1 100 50 [Pn016] 10 100 100 [Pn030] -2147483648 2147483647 100 [Pn032] -32768 32767 -32768 [Pn033] -2147483648 2147483647 100 [Pn035] -32768 32767 -32768 [Pn039] 0 10000 0 [Pn040] 0 17 0 [Pn041] 0 1 0 [Pn045] 0 2 0 [Pn046] 0 100 50 [Pn047] 0 1000 100 [Pn050] 0 5 2 [Pn051] 0 500 300 [Pn052] 0 500 300 [Pn053] 0 800 800 [Pn054] 0 500 100 [Pn055] 0 500 100 [Pn056] 0 255 100 [Pn057] 0 200 20 [Pn059] 0 180 0 [Pn076] 0 81 32 [Pn07F] 0 255 0 [Pn082] 0 65535 0 [Pn083] 0 1 0 [Pn085] 0 273 0 #x2001 Pn1XX Parameters Pn1XX 组参数 DT2001 40 SubIndex 000 136 [Pn100] 0 20000 100 [Pn101] 10 20000 400 [Pn102] 15 51200 2000 [Pn103] 10 20000 400 [Pn104] 0 65535 100 [Pn105] 10 20000 400 [Pn106] 15 51200 2000 [Pn107] 10 20000 400 [Pn108] 0 65535 100 [Pn110] 0 81 0 [Pn112] 0 65535 0 [Pn113] 0 65535 0 [Pn114] 0 65535 0 [Pn115] 0 65535 0 [Pn120] 0 50000 0 [Pn121] 0 100 0 [Pn122] 0 6400 0 [Pn123] 0 500 0 [Pn124] 0 6400 200 [Pn125] 0 65535 0 [Pn130] 0 276 0 [Pn132] 0 800 200 [Pn133] 0 10000 0 [Pn134] 0 30000 0 [Pn135] 0 10000 0 [Pn150] 0 4353 0 [Pn151] 0 257 0 [Pn152] 1 200 100 [Pn153] 50 5000 5000 [Pn154] 50 1000 70 [Pn155] 0 1000 0 [Pn156] 50 5000 5000 [Pn157] 50 1000 70 [Pn158] 0 1000 0 [Pn159] 50 5000 5000 [Pn15A] 50 1000 70 [Pn15B] 0 1000 0 [Pn15C] 50 5000 5000 [Pn15D] 50 1000 70 [Pn15E] 0 1000 0 [Pn161] 10 1000 100 [Pn162] 10 1000 100 [Pn163] 0 100 0 [Pn164] 0 10000 0 [Pn165] 0 1000 100 [Pn185] 0 2 0 [Pn186] 50 500 100 [Pn187] 0 5000 50 #x2002 Pn2XX Parameters Pn2XX 组参数 DT2002 40 SubIndex 000 120 [Pn204] 1 1073741824 1 [Pn206] 1 1073741824 1 [Pn211] 0 6550 0 [Pn212] 0 10000 0 [Pn232] 1 3000 400 [Pn233] 10 2500 500 [Pn234] 10 2500 700 [Pn235] 10 2000 2000 [Pn236] 10 1000 100 [Pn240] 0 4385 256 [Pn241] 10 20000 500 [Pn242] 500 2000 1000 [Pn243] 0 10000 1000 [Pn244] 0 10000 1000 [Pn245] 0 10000 1000 [Pn246] 10 20000 500 [Pn247] 500 2000 1000 [Pn248] 0 17 1 [Pn267] 0 1073741823 5242880 [Pn269] 10 100 100 [Pn270] 0 10000 1000 [Pn271] 0 2 0 [Pn272] 0 3 0 [Pn274] 0 2 0 [Pn276] 0 30000 0 [Pn277] 0 17 0 #x2003 Pn3XX Parameters Pn3XX 组参数 DT2003 40 SubIndex 000 33 [Pn310] 0 10000 200 [Pn311] 0 10000 200 [Pn317] 1 10000 20 [Pn318] 0 10000 10000 [Pn320] 0 100 10 #x2004 Pn4XX Parameters Pn4XX 组参数 DT2004 40 SubIndex 000 34 [Pn401] 100 5000 5000 [Pn402] 50 100 50 [Pn404] 0 65535 0 [Pn420] 0 5000 100 [Pn421] 0 1000 5 #x2005 Pn5XX Parameters Pn5XX 组参数 DT2005 40 SubIndex 000 8 [Pn500] 0 3000 200 [Pn502] 0 5 2 [Pn503] 1 1073741824 60000 [Pn505] 2 10000 100 [Pn506] 0 10000 100 [Pn507] 0 1000 1 [Pn508] 1 10000 500 #x2006 Pn6XX Parameters Pn6XX 组参数 DT2006 40 SubIndex 000 52 [Pn600] 0 3000 2 [Pn601] 0 4399 1 [Pn602] 0 4399 2 [Pn603] 0 4399 3 [Pn604] 0 4399 5 [Pn605] 0 4399 4 [Pn611] 0 4383 1 [Pn612] 0 4383 2 [Pn613] 0 4383 7 [Pn630] 0 1023 0 [Pn631] 0 63 0 [Pn632] 0 32767 0 [Pn633] 0 32767 0 #x200F PnFXX Parameters PnFXX 组参数 DT200F 40 SubIndex 000 32 [PnF00] 0 65535 0 [PnF02] 0 65535 0 [PnF03] 0 65535 0 [PnF05] 0 65535 0 [PnF06] 0 65535 0 [PnF07] 0 65535 0 [PnF08] 0 65535 0 [PnF09] 0 65535 0 [PnF0A] 0 65535 0 [PnF0B] 0 65535 0 [PnF0C] 0 65535 0 [PnF0D] 0 65535 0 [PnF0E] 0 65535 0 [PnF0F] 0 65535 0 [PnF10] 0 65535 0 [PnF11] 0 65535 0 [PnF13] 0 65535 0 [PnF15] 0 65535 0 [PnF16] 0 65535 0 [PnF17] 0 65535 0 [PnF18] 0 65535 0 [PnF19] 0 65535 0 [PnF1B] 0 65535 0 [PnF1E] 0 65535 0 #x2010 Un0XX Monitor Parameters Un0XX 组参数 DT2010 40 SubIndex 000 2 [Un000] -32768 32767 0 [Un001] -32768 32767 0 #x2011 Un1XX Monitor Parameters Un1XX 组参数 DT2011 40 SubIndex 000 6 [Un104] 0 65535 0 [Un105] 0 65535 0 #x6040 Controlword UINT 16 rw RT #x6041 Statusword UINT 16 ro T #x605A Quick Stop option code INT 16 rw #x605B shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value[Encode] DINT 32 ro T #x6063 Position actual value[User] DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw RT #x6067 Position window UDINT 32 rw RT #x6068 Position window time UINT 16 rw RT #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw RT #x606E Velocity window time UINT 16 rw RT #x606F Velocity threshold UINT 16 rw RT #x6070 Velocity threshold Time UINT 16 rw RT #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand value INT 16 ro T #x6075 Motor rated current UDINT 32 ro T #x6076 Motor rated torque UDINT 32 ro T #x6077 Torque actual value INT 16 ro T #x6078 Current actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw RT #x607D Software position limit DT607D 80 ro #x607E Polarity USINT 8 rw RT #x607F Max profile velocity UDINT 32 rw RT #x6080 Max motor speed UDINT 32 ro RT #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6086 Motion profile type INT 16 rw RT #x6087 Torque slope UDINT 32 rw RT #x6091 Gear ratio DT6091 80 ro #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw RT #x60B0 Position offset DINT 32 rw RT #x60B1 Velocity offset DINT 32 rw RT #x60B2 Torque offset INT 16 rw RT #x60B8 Touch Probe Function UINT 16 rw RT #x60B9 Touch Probe Status UINT 16 ro T #x60BA Touch Probe Pos1 Pos Value DINT 32 ro T #x60BB Touch Probe Pos1 Neg Value DINT 32 ro T #x60BC Touch Probe Pos2 Pos Value DINT 32 ro T #x60BD Touch Probe Pos2 Neg Value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw RT #x60C1 Interpolation data record DT60C1 64 ro #x60C2 Interpolation time period DT60C2 48 ro #x60C5 Max acceleration UDINT 32 rw RT #x60C6 Max deceleration UDINT 32 rw RT #x60E0 Positive torque limit UINT 16 rw RT #x60E1 Negtive torque limit UINT 16 rw RT #x60F2 Positioning option code UINT 16 rw RT #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 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 #x60FF 0 32 TargetVelocity object 0x60FF:0 DINT #x6071 0 16 TargetTorque object 0x6071:0 INT #x1601 2nd RxPDO Mapping #x1600 #x1602 #x1603 #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 TargetPosition object 0x607A: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 #x606C 0 32 Velocity actual value object 0x606C:0 DINT #x6077 0 16 ActualTorque object 0x6077:0 INT #x1a01 2nd TxPDO Mapping #x1a00 #x1a02 #x1a03 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 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 DC DC-Synchron #x300 0 0 2048 910E830464000000000000800000 0010800080108000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F