#x00000D81 Beijing Hollysys Intelligent Technology Co., Ltd 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HollysysMultiAxis Multi_Axis Drives 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_1Axis HSD-Q86_ECAT_1Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_2Axis HSD-Q86_ECAT_2Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_3Axis HSD-Q86_ECAT_3Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_4Axis HSD-Q86_ECAT_4Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_5Axis HSD-Q86_ECAT_5Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_6Axis HSD-Q86_ECAT_6Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_7Axis HSD-Q86_ECAT_7Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_8Axis HSD-Q86_ECAT_8Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_9Axis HSD-Q86_ECAT_9Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 9 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_10Axis HSD-Q86_ECAT_10Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 9 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 10 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_11Axis HSD-Q86_ECAT_11Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 9 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 10 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 11 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_12Axis HSD-Q86_ECAT_12Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 9 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 10 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 11 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 12 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_13Axis HSD-Q86_ECAT_13Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 9 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 10 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 11 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 12 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 13 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_14Axis HSD-Q86_ECAT_14Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 9 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 10 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 11 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 12 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 13 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 14 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_15Axis HSD-Q86_ECAT_15Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 9 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 10 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 11 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 12 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 13 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 14 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 15 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F HSD-Q86_ECAT_16Axis HSD-Q86_ECAT_16Axis 3000 10000 5000 200 3000 5000 HollysysMultiAxis 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 STRING(4) 32 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 DT1600 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 DT1A00 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 DT1C12ARR UINT 32 1 16 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 32 1 16 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o 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 DT2000 168 0 Number of Entries USINT 8 0 ro 3 Pn002 Motor rotain direction UINT 16 0 rw RT 4 Pn003 default monitoring parameters UINT 16 0 rw RT 5 Pn004 Stop method selection while servo OFF and 1st alarm occurs UINT 16 0 rw RT 6 Pn005 Servo stop method selection when the 2nd alarm occurs UINT 16 0 rw RT 7 Pn006 Selection of over travel alarm detection UINT 16 0 rw RT 8 Pn007 Stop method selection while servo over travel UINT 16 0 rw RT 9 Pn008 Servo locking time after electromagnetic brake action UINT 16 0 rw RT 10 Pn009 Electromagnetic brake action delay UINT 16 0 rw RT 17 Pn010 Motor speed setting when electromagnetic brake is released UINT 16 0 rw RT 19 Pn012 External braking resistor powe UINT 16 0 rw RT 20 Pn013 External braking resistor value UINT 16 0 rw RT 22 Pn015 Overload warning value UINT 16 0 rw RT 23 Pn016 Base current derating setting at motor overload detection UINT 16 0 rw RT 49 Pn030 Reserved UINT 16 0 rw RT 50 Pn031 Parameter modification operation locked UINT 16 0 rw RT 58 Pn039 Upper limit value of multi rotating circles UINT 16 0 rw RT 65 Pn040 Using method of absolute encoder UINT 16 0 rw RT 66 Pn041 Absolute encoder battery undervoltage alarm / warning selection UINT 16 0 rw RT 69 Pn044 Full closed loop function switch UINT 16 0 rw RT 70 Pn045 Function selection while under voltage UINT 16 0 rw RT 71 Pn046 Torque limit while main circuit voltage drops UINT 16 0 rw RT 72 Pn047 Delay time of torque limit release while main circuit voltage drops UINT 16 0 rw RT 81 Pn050 Torque limit method setting UINT 16 0 rw RT 82 Pn051 Max torque limitation 1 UINT 16 0 rw RT 83 Pn052 Max torque limitation 2 UINT 16 0 rw RT 84 Pn053 Emergency stop torque UINT 16 0 rw RT 98 Pn061 Operator parameter display selection UINT 16 0 rw RT 99 Pn062 DB resistance power UINT 16 0 rw RT 113 Pn070 Encoder frequency-dividing pulse(32bit) UDINT 32 0 rw RT 115 Pn072 Reverse direction of frequency division output UINT 16 0 rw RT 129 Pn080 station number UINT 16 0 rw RT 140 Pn08B Encoder alarm threshold UINT 16 0 rw RT 141 Pn08C Encoder alarm detection selection UINT 16 0 rw RT 145 Pn090 svoff stop mode UINT 16 0 rw RT DT2001 168 0 Number of Entries USINT 8 0 ro 1 Pn100 Rotary inertia ratio UINT 16 0 rw RT 2 Pn101 First speed gain UINT 16 0 rw RT 3 Pn102 First speed integral time constant UINT 16 0 rw RT 4 Pn103 First position gain UINT 16 0 rw RT 5 Pn104 First torque command filter UINT 16 0 rw RT 6 Pn105 Second speed gain UINT 16 0 rw RT 7 Pn106 Second speed integral time constant UINT 16 0 rw RT 8 Pn107 Second position gain UINT 16 0 rw RT 9 Pn108 Second torque command filter UINT 16 0 rw RT 17 Pn110 The gain switching function UINT 16 0 rw RT 18 Pn111 Automatic switching condition of position control gain UINT 16 0 rw RT 19 Pn112 Gain switching transition time 1 UINT 16 0 rw RT 20 Pn113 Gain switching transition time 2 UINT 16 0 rw RT 21 Pn114 Gain switching delay time 1 UINT 16 0 rw RT 22 Pn115 Gain switching delay time 2 UINT 16 0 rw RT 34 Pn121 Speed feedforward gain UINT 16 0 rw RT 35 Pn122 Speed feedforward filter time UINT 16 0 rw RT 36 Pn123 Use V-REF as the speed feedforward selection UINT 16 0 rw RT 37 Pn124 Speed/Position control selection (T-REF distribution) UINT 16 0 rw RT 39 Pn126 Speed feedback moving average filter time constant UINT 16 0 rw RT 49 Pn130 Speed loop control method (PI/IP) UINT 16 0 rw RT 50 Pn131 The selection switch of speed loop P/PI switch condition UINT 16 0 rw RT 51 Pn132 Speed loop P/PI switching condition (torque command) UINT 16 0 rw RT 52 Pn133 Speed loop P/PI switching condition (speed command) UINT 16 0 rw RT 53 Pn134 Speed loop P/PI switching condition (acceleration speed) UINT 16 0 rw RT 54 Pn135 Speed loop P/PI switching condition (position deviation) UINT 16 0 rw RT 65 Pn140 Medium frequency vibration suppression control selection UINT 16 0 rw RT 67 Pn142 First medium frequency vibration suppression frequency UINT 16 0 rw RT 68 Pn143 First medium frequency vibration suppression attenuation gain UINT 16 0 rw RT 81 Pn150 Notch filter 1 automatic adjustment selection UINT 16 0 rw RT 82 Pn151 Notch filter 2 automatic adjustment selection UINT 16 0 rw RT 83 Pn152 Automatic notch resonance detection sensitivity UINT 16 0 rw RT 84 Pn153 Notch filter 1 frequency UINT 16 0 rw RT 85 Pn154 Notch filter 1 Q value UINT 16 0 rw RT 86 Pn155 Notch filter 1 depth UINT 16 0 rw RT 87 Pn156 Notch filter 2 frequency UINT 16 0 rw RT 88 Pn157 Notch filter 2 Q value UINT 16 0 rw RT 89 Pn158 Notch filter 2 depth UINT 16 0 rw RT 97 Pn160 Disturbance compensation function selection UINT 16 0 rw RT 98 Pn161 Disturbance observer cutoff frequency UINT 16 0 rw RT 100 Pn163 Disturbance compensation coefficient UINT 16 0 rw RT 102 Pn165 Disturbance observer inertia correction coefficient UINT 16 0 rw RT 103 Pn166 Speed observer switch UINT 16 0 rw RT 104 Pn167 Speed observer cutoff frequency UINT 16 0 rw RT 113 Pn170 Friction torque compensation cutoff speed UINT 16 0 rw RT 114 Pn171 Friction torque forward compensation coefficient UINT 16 0 rw RT 115 Pn172 Friction torque reverse compensation coefficient UINT 16 0 rw RT 118 Pn175 Robust control options UINT 16 0 rw RT 120 Pn177 Robust control tuning values UINT 16 0 rw RT 121 Pn178 Minimum load values of robust control UINT 16 0 rw RT 134 Pn185 vibration detection selection UINT 16 0 rw RT 135 Pn186 Vibration detection sensitivity UINT 16 0 rw RT 136 Pn187 Vibration detection value UINT 16 0 rw RT 147 Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning UINT 16 0 rw RT 148 Pn193 Maximum gain setting value when searching for maximum gain UINT 16 0 rw RT DT2002 168 0 Number of Entries USINT 8 0 ro 5 Pn204 Electronic gear ratio numerator UDINT 32 0 rw RT 7 Pn206 Electronic gear ratio denominato UDINT 32 0 rw RT 18 Pn211 Position command low pass filter time constant UINT 16 0 rw RT 19 Pn212 Position command slide average filter time UINT 16 0 rw RT 49 Pn230 Low frequency vibration suppression selection UINT 16 0 rw RT 50 Pn231 Low frequency vibration suppression function automatic tuning selection UINT 16 0 rw RT 51 Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed) UINT 16 0 rw RT 54 Pn235 Low frequency vibration suppression 1 frequency UINT 16 0 rw RT 55 Pn236 Low frequency vibration suppression 1 correction UINT 16 0 rw RT 56 Pn237 Low frequency vibration suppression 2 frequency UINT 16 0 rw RT 57 Pn238 Low frequency vibration suppression 2 correction UINT 16 0 rw RT 65 Pn240 Model tracking control selection UINT 16 0 rw RT 66 Pn241 Gain of model tracking control UINT 16 0 rw RT 67 Pn242 Attenuation coefficient of model tracking control UINT 16 0 rw RT 68 Pn243 Speed forwardback gain of model tracking UINT 16 0 rw RT 69 Pn244 Forward torque feedforward gain of model tracking control UINT 16 0 rw RT 70 Pn245 Speed feedforward gain of model tracking control UINT 16 0 rw RT 71 Pn246 Gain of 2nd model tracking control UINT 16 0 rw RT 72 Pn247 attenuation coefficient of model tracking control UINT 16 0 rw RT 73 Pn248 Model tracking control type selection (improved resolution) UINT 16 0 rw RT 74 Pn249 Speed feedforward (VFF) / torque feedforward selection UINT 16 0 rw RT 81 Pn250 Instructions of external encoders under full closed loop control mode UINT 16 0 rw RT 83 Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop UINT 16 0 rw RT 84 Pn253 External grating ruler resolution(32bit) UDINT 32 0 rw RT 88 Pn257 Large mixed deviation setting(32bit) UDINT 32 0 rw RT 97 Pn260 NEAR signal width(32bit) UDINT 32 0 rw RT 99 Pn262 Position arrival range(32bit) UDINT 32 0 rw RT 101 Pn264 Maximum tolerance value of position deviation(32bit) UDINT 32 0 rw RT 103 Pn266 Large position deviation alarm setting UINT 16 0 rw RT 104 Pn267 Alarm threshold of position deviation excess when servo is on (32bit) UDINT 32 0 rw RT 106 Pn269 Warning threshold of large position deviation when servo is on UINT 16 0 rw RT 113 Pn270 Speed limitation when servo on UINT 16 0 rw RT 115 Pn272 Retention pulse zero clearance mode UINT 16 0 rw RT 116 Pn273 Position deviation clearance mode selection UINT 16 0 rw RT 117 Pn274 / COIN output time UINT 16 0 rw RT DT2003 168 0 Number of Entries USINT 8 0 ro 17 Pn310 Speed command trapezoidal acceleration time UINT 16 0 rw RT 18 Pn311 Speed command trapezoidal deceleration time UINT 16 0 rw RT 19 Pn312 Speed zero-clamp mode UINT 16 0 rw RT 20 Pn313 Speed zero-clamp threshold UINT 16 0 rw RT 24 Pn317 Rotation judgment value UINT 16 0 rw RT 33 Pn320 Speed matching range UINT 16 0 rw RT DT2004 168 0 Number of Entries USINT 8 0 ro 2 Pn401 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 3 Pn402 Torque command 2nd order low pass filter Q value UINT 16 0 rw RT 18 Pn411 Speed limitation mode setting under torque control UINT 16 0 rw RT 19 Pn412 Speed limit selection UINT 16 0 rw RT 20 Pn413 speed limit under torque control UINT 16 0 rw RT 33 Pn420 Torque command 2nd order low pass filter cutoff frequency UINT 16 0 rw RT 34 Pn421 Target torque reach time window UINT 16 0 rw RT DT2005 168 0 Number of Entries USINT 8 0 ro 1 Pn500 JOG speed UINT 16 0 rw RT 3 Pn502 Program JOG running mode UINT 16 0 rw RT 4 Pn503 Program JOG moving distance UDINT 32 0 rw RT 6 Pn505 Program JOG acceleration/deceleration time UINT 16 0 rw RT 7 Pn506 Program JOG waiting time UINT 16 0 rw RT 8 Pn507 Program JOG moving times UINT 16 0 rw RT 9 Pn508 Program JOG moving speed UINT 16 0 rw RT DT2006 168 0 Number of Entries USINT 8 0 ro 1 Pn600 Switch input signal distribution mode UINT 16 0 rw RT 3 Pn602 CN1-X1 input configuration UINT 16 0 rw RT 4 Pn603 CN1-X2 input configuration UINT 16 0 rw RT 5 Pn604 CN1-X3 input configuration UINT 16 0 rw RT 6 Pn605 CN1-X4 input configuration UINT 16 0 rw RT 7 Pn606 CN1-X5 input configuration UINT 16 0 rw RT 8 Pn607 CN1-X6 input configuration UINT 16 0 rw RT 17 Pn610 Switch input internal configuration 1 UINT 16 0 rw RT 18 Pn611 Switch input internal configuration 2 UINT 16 0 rw RT 19 Pn612 Switch input internal configuration 3 UINT 16 0 rw RT 20 Pn613 CN1-Y1 output configuration UINT 16 0 rw RT 21 Pn614 CN1-Y2 output configuration UINT 16 0 rw RT 22 Pn615 CN1-Y3 output configuration UINT 16 0 rw RT 35 Pn622 Warning detection selection UINT 16 0 rw RT DT2007 168 0 Number of Entries USINT 8 0 ro 3 Pn702 Inertia identifies movable range UINT 16 0 rw RT 6 Pn705 Inertia identification initial value UINT 16 0 rw RT 7 Pn706 Inertia identification in the vibration detection level (rotation) UINT 16 0 rw RT 33 Pn720 Sweep start hertz UINT 16 0 rw RT 34 Pn721 Sweep finish hertz UINT 16 0 rw RT 35 Pn722 The lower limit of resonance frequency detection UINT 16 0 rw RT 36 Pn723 Scan torque command amplitude UINT 16 0 rw RT 37 Pn724 Relevant function switches of FFT UINT 16 0 rw RT 49 Pn730 No-motor test function selection UINT 16 0 rw RT 50 Pn731 No motor test function encoder selection UINT 16 0 rw RT 51 Pn732 No-motor test function encoder resolution selection UINT 16 0 rw RT 146 Pn791 Encoder Type UINT 16 0 rw RT 147 Pn792 Absolute encoder EEPROM operation UINT 16 0 rw RT DT2009 168 0 Number of Entries USINT 8 0 ro 1 Pn900 Communication written to 2000h function code EEPROM storage UINT 16 0 rw RT 3 Pn902 Origin location storage UINT 16 0 rw RT 4 Pn903 Straight axis ratio UINT 16 0 rw RT 5 Pn904 Output open phase protection flag UINT 16 0 rw RT 6 Pn905 Output phase loss protection time UINT 16 0 rw RT 7 Pn906 The number of synchronization losses allowed UINT 16 0 rw RT 8 Pn907 The fault code 603FH shows the category UINT 16 0 rw RT 9 Pn908 Communication alarm detection selection UINT 16 0 rw RT 10 Pn909 Warning masking selection UINT 16 0 rw RT 31 Pn91E Home position offset value (L 32 bits) UDINT 32 0 rw RT 33 Pn920 Home position offset value (H 32 bits) DINT 32 0 rw RT 36 Pn923 Multi-lap overflow times INT 16 0 rw RT 50 Pn931 Internal multi-turn values DINT 32 0 ro T 52 Pn933 EtherCAT error helper code UDINT 32 0 ro T 54 Pn935 Home bias mode UINT 16 0 rw RT 55 Pn936 Site Alias Assignment Method UINT 16 0 rw RT 56 Pn937 site alias UINT 16 0 rw RT 161 Pn9A0 0x607F units UINT 16 0 rw RT DT20F0 168 0 Number of Entries USINT 8 0 ro 1 Un000 Motor rotation speed INT 16 0 ro T 2 Un001 Speed command INT 16 0 ro T 3 Un002 Internal torque command INT 16 0 ro T 4 Un003 Rotor pulse position relative to the Z axis UDINT 32 0 ro T 5 Un004 Electrical angle UINT 16 0 ro T 6 Un005 Speed of input pulse command INT 16 0 ro T 7 Un006 Counter of input command pulse DINT 32 0 ro T 8 Un007 Counter of feedback pulse DINT 32 0 ro T 9 Un008 Counter of feedback pulse 1 DINT 32 0 ro T 10 Un009 Position deviation DINT 32 0 ro T 11 Un00A Cumulative load rate UINT 16 0 ro T 12 Un00B Regeneration load rate UINT 16 0 ro T 13 Un00C Electricity consumption of DB resistance UINT 16 0 ro T 14 Un00D Effective gain monitoring UINT 16 0 ro T 15 Un00E Total running time UDINT 32 0 ro T 16 Un00F Overload rate UINT 16 0 ro T 17 Un010 Absolute encoder sigle-turn value UDINT 32 0 ro T 18 Un011 Absolute encoder multi-turn value INT 16 0 ro T 19 Un012 Feedback pulse counter in full close loop DINT 32 0 ro T 34 Un021 Motor absolute position DINT 32 0 ro T 54 Un035 ARM software version UINT 16 0 ro T 55 Un036 FPGA software version UINT 16 0 ro T 81 Un050 Encoder Alarm UDINT 32 0 ro T 83 Un052 Multi-machine drive internal bus error flag bit UINT 16 0 ro T 84 Un053 Current axis node number of the inverter unit UINT 16 0 ro T 85 Un054 Inverter unit current axis last axis flag UINT 16 0 ro T 86 Un055 Multiple internal bus SDO receive counters UINT 16 0 ro T 87 Un056 Multiple internal bus SDO send counters UINT 16 0 ro T 88 Un057 Multiple internal bus SDO counter deviations UINT 16 0 ro T 89 Un058 Multiple internal bus PDO receive counters UINT 16 0 ro T 90 Un059 Multiple Internal Bus PDO Transmit Counter UINT 16 0 ro T 91 Un05A PDO transceiver counter difference UINT 16 0 ro T 92 Un05B Internal bus downlink data error counter UINT 16 0 ro T 93 Un05C Internal bus downlink CRC error counter UINT 16 0 ro T 94 Un05D Internal bus uplink data error counter UINT 16 0 ro T 95 Un05E Internal bus uplink CRC error counter UINT 16 0 ro T 136 Un087 Serial Encoder Communication exception count UINT 16 0 ro T 138 Un089 Heat sink temperature INT 16 0 ro T DT20F1 168 0 Number of Entries USINT 8 0 ro 1 Un100 IO port input signal monitoring UINT 16 0 ro T 2 Un101 IO port output signal monitoring UINT 16 0 ro T 3 Un102 T-REF monitoring INT 16 0 ro T 4 Un103 V-REF monitoring INT 16 0 ro T 5 Un104 Pulse command input frequency UDINT 32 0 ro T 9 Un108 External input command pulse counter DINT 32 0 ro T 17 Un110 Integrated monitoring of internal signal status UDINT 32 0 ro T 33 Un120 Integrated monitoring of internal input signal status UDINT 32 0 ro T 49 Un130 Integrated monitoring of internal output signal UDINT 32 0 ro T 65 Un140 Main circuit bus voltage UINT 16 0 ro T 66 Un141 Effective current feedback UINT 16 0 ro T 76 Un14B Command monitoring of D-axis current INT 16 0 ro T DT20F2 168 0 Number of Entries USINT 8 0 ro 33 Un220 Torque command voltag（uncrrected） INT 16 0 ro T 34 Un221 Torque command voltag（crrected） INT 16 0 ro T 35 Un222 Speed command voltag（uncrrected） INT 16 0 ro T 36 Un223 Speed command voltag（crrected） INT 16 0 ro T DT20F3 168 0 Number of Entries USINT 8 0 ro 1 Un300 Current alarm code UINT 16 0 ro T 2 Un301 Last alarm code UINT 16 0 ro T 3 Un302 Timestamp while alarm occurs UDINT 32 0 ro T 4 Un303 Motor speed while alarm occurs INT 16 0 ro T 5 Un304 Speed command while alarm occurs INT 16 0 ro T 6 Un305 Internal torque command while alarm occurs INT 16 0 ro T 7 Un306 Input command pulse speed while alarm occurs INT 16 0 ro T 8 Un307 Deviation counters (position deviation)while alarm occurs DINT 32 0 ro T 9 Un308 DC bus voltage while alarm occurs UINT 16 0 ro T 10 Un309 Effective current feedback while alarm occurs UINT 16 0 ro T 11 Un30A Cumulative load rate while alarm occurs UINT 16 0 ro T 12 Un30B Regenerative load rate while alarm occurs UINT 16 0 ro T 13 Un30C Electricity consumption of DB resistance while alarm occurs UINT 16 0 ro T 14 Un30D Maximum cumulative load rate while alarm occurs UINT 16 0 ro T 15 Un30E Rotation inertia ratio while alarm occurs UINT 16 0 ro T 16 Un30F Abnormal times of serial encoder communication while alarm occurs UINT 16 0 ro T 17 Un310 Internal signal monitoring while alarm occurs UDINT 32 0 ro T 20 Un313 Internal input signal monitoring while alarm occurs UDINT 32 0 ro T 24 Un317 Internal output signal monitoring while alarm occurs UDINT 32 0 ro T 33 Un320 Fault code history record 1 UINT 16 0 ro T 34 Un321 Fault code history record 2 UINT 16 0 ro T 35 Un322 Fault code history record 3 UINT 16 0 ro T 36 Un323 Fault code history record 4 UINT 16 0 ro T 37 Un324 Fault code history record 5 UINT 16 0 ro T 38 Un325 Fault code history record 6 UINT 16 0 ro T 39 Un326 Fault code history record 7 UINT 16 0 ro T 40 Un327 Fault code history record 8 UINT 16 0 ro T 41 Un328 Fault code history record 9 UINT 16 0 ro T 42 Un329 Fault code history record 10 UINT 16 0 ro T 49 Un330 Fault time history record 1 UDINT 32 0 ro T 50 Un331 Fault time history record 2 UDINT 32 0 ro T 51 Un332 Fault time history record 3 UDINT 32 0 ro T 52 Un333 Fault time history record 4 UDINT 32 0 ro T 53 Un334 Fault time history record 5 UDINT 32 0 ro T 54 Un335 Fault time history record 6 UDINT 32 0 ro T 55 Un336 Fault time history record 7 UDINT 32 0 ro T 56 Un337 Fault time history record 8 UDINT 32 0 ro T 57 Un338 Fault time history record 9 UDINT 32 0 ro T 58 Un339 Fault time history record 10 UDINT 32 0 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs 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 Axis 1 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 2 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 3 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 4 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 5 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 6 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 7 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 8 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 9 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 10 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 11 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 12 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 13 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 14 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 15 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 Axis 16 #x0100 #x0200 #x0300 #x0400 #x0500 #x0600 #x0700 #x0800 2048 910E830464000000000000800000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00F8FFFFFFFFFFF88FF76F27777772227FF866F7266666628FF86668826666628FF866667F6666628FF8666666F76662FFF8666668FF6662FFF86666FF866662FFF866667F226662FFF8666666F726628FF86666666882628FF8666666667F228FF76666777766F67FF88FFFFFFFFFFF8F CSP/CSV Cyclic Synchronous Position/Velocity Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x60FF 0 32 Target velocity DINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CSP Cyclic Synchronous Position Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CST Cyclic Synchronous Torque Mode #x1600 Outputs #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 0A 402 CSP/CST Cyclic Synchronous Position/Torque Mode & Touch Probe #x1600 Outputs #x6060 0 8 Modes of Operation SINT #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x1a00 Position Inputs #x603F 0 16 Error code UINT #x6061 0 8 Modes of Operation Display SINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CSP/CSV/CST Cyclic Synchronous Position/Torque/Torque Mode & Touch Pro #x1600 Position Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x607F 0 32 Max profile velocity UDINT #x60B8 0 16 Touch probe function UINT #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x60FF 0 32 Target velocity DINT #x1a00 Position Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CST (Speed Limited) Cyclic Synchronous Torque Mode + Speed Limted #x1600 Outputs #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x607F 0 20 Max profile velocity UDINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 0A 402 PP + TP Profile Position Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x607A 0 32 Target position DINT #x6081 0 32 Profile velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x60B8 0 16 Touch probe function UINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch probe pos2 pos value DINT #x60F4 0 32 Following error actual value DINT PS #x6060 0 01 402 PP/PV/PT Profile Position/Torque/Torque Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x6081 0 32 Profile velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x60B8 0 16 Touch probe function UINT #x60FF 0 32 TargetVelocity DINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 01 402