#x0000029c
Novanta Drives
424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000232E0000232E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFAFBF8D1DEBEFFFFFF9BBB5BE6ECDCE0E9D5CEDCBAF8FAF5FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDEE7D1FFFFFF9FBE65E6ECDCD2DFC1B7CC94F8FAF68EB43090B538DBE5CDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFA4C06FE4ECDBD4E0C3B8CD96F8FAF68EB42DF4F7F1BFD2A289B10089B100D9E3CAFFFFFFFFFFFFFFFFFFEEF2E8E0E9D5D7E2C7B5CB92F9FAF68FB433F5F8F2BFD1A1CBD9B4EBF0E389B10089B1008EB42DF1F5ECFFFFFFFFFFFFBACE99B0C888FAFBF991B53AF3F6EFC0D2A3CBDAB5EAF0E397B94FFCFDFCA8C37889B10089B100C2D4A7FFFFFFFFFFFE8DB32989B100F1F4ECBED1A1CAD9B3ECF1E597B94FFDFDFCA7C276DEE7D1DBE5CC89B10089B10095B84AFFFFFFEFF3E989B10089B100A9C37A9DBC5F96B84DFCFDFBAAC47BDEE7D1DAE4CBADC683FCFDFB95B74889B10089B100F8FAF6EFF3E989B10089B10089B10089B10089B100DDE6D0DCE5CEAEC784FCFCFA94B746EEF3E9C8D8B089B10089B100F8FAF6FEFFFE8CB32389B10089B10089B10089B100ACC580F9FBF789B100EFF3E9C8D7B0C2D4A8F2F5ED89B10095B84AFFFFFFFFFFFFB8CD9689B10089B10089B10089B10089B10090B53789B100C3D4A9F1F5ED90B538F9FBF7B2C98BC2D4A7FFFFFFFFFFFFECF1E689B10089B10089B10089B10089B10089B10089B10090B539FAFBF8B1C98AD6E1C6E3EAD8F1F5ECFFFFFFFFFFFFFFFFFFCFDDBC89B10089B10089B10089B10089B10089B10089B100C0D2A3AAC47BA3C06DFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD4E0C38EB42C89B10089B10089B10089B10089B10089B10090B538DBE5CEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2F5EDC9D8B1A4C17189B10089B100A3C06ECBD9B5F6F8F3FFFFFFFFFFFFFFFFFFFFFFFF
Servo Drives
EtherCAT Servo Drive
424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000232E0000232E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFAFBF8D1DEBEFFFFFF9BBB5BE6ECDCE0E9D5CEDCBAF8FAF5FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDEE7D1FFFFFF9FBE65E6ECDCD2DFC1B7CC94F8FAF68EB43090B538DBE5CDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFA4C06FE4ECDBD4E0C3B8CD96F8FAF68EB42DF4F7F1BFD2A289B10089B100D9E3CAFFFFFFFFFFFFFFFFFFEEF2E8E0E9D5D7E2C7B5CB92F9FAF68FB433F5F8F2BFD1A1CBD9B4EBF0E389B10089B1008EB42DF1F5ECFFFFFFFFFFFFBACE99B0C888FAFBF991B53AF3F6EFC0D2A3CBDAB5EAF0E397B94FFCFDFCA8C37889B10089B100C2D4A7FFFFFFFFFFFE8DB32989B100F1F4ECBED1A1CAD9B3ECF1E597B94FFDFDFCA7C276DEE7D1DBE5CC89B10089B10095B84AFFFFFFEFF3E989B10089B100A9C37A9DBC5F96B84DFCFDFBAAC47BDEE7D1DAE4CBADC683FCFDFB95B74889B10089B100F8FAF6EFF3E989B10089B10089B10089B10089B100DDE6D0DCE5CEAEC784FCFCFA94B746EEF3E9C8D8B089B10089B100F8FAF6FEFFFE8CB32389B10089B10089B10089B100ACC580F9FBF789B100EFF3E9C8D7B0C2D4A8F2F5ED89B10095B84AFFFFFFFFFFFFB8CD9689B10089B10089B10089B10089B10090B53789B100C3D4A9F1F5ED90B538F9FBF7B2C98BC2D4A7FFFFFFFFFFFFECF1E689B10089B10089B10089B10089B10089B10089B10090B539FAFBF8B1C98AD6E1C6E3EAD8F1F5ECFFFFFFFFFFFFFFFFFFCFDDBC89B10089B10089B10089B10089B10089B10089B100C0D2A3AAC47BA3C06DFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD4E0C38EB42C89B10089B10089B10089B10089B10089B10090B538DBE5CEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2F5EDC9D8B1A4C17189B10089B100A3C06ECBD9B5F6F8F3FFFFFFFFFFFFFFFFFFFFFFFF
CAP-XCR-E
CAP-XCR-E
2000
9000
5000
200
100
2000
16384
8
8
Servo Drives
402
BOOL
1
SINT
8
BYTE
8
USINT
8
INT
16
UINT
16
DINT
32
UDINT
32
LINT
64
ULINT
64
REAL
32
DT1003ARR
UDINT
128
1
4
DT1003
144
0
SubIndex 000
USINT
8
0
rw
o
0
0
Elements
DT1003ARR
128
16
ro
o
STRING(9)
72
DT1010ARR
UDINT
32
1
1
DT1010
48
0
SubIndex 000
USINT
8
0
ro
o
0
0
Elements
DT1010ARR
32
16
rw
o
DT1011ARR
UDINT
32
1
1
DT1011
48
0
SubIndex 000
USINT
8
0
ro
o
0
0
Elements
DT1011ARR
32
16
rw
o
DT1018
144
0
SubIndex 000
USINT
8
0
ro
o
0
0
1
Vendor ID
UDINT
32
16
ro
o
0
0
2
Product code
UDINT
32
48
ro
o
0
0
3
Revision number
UDINT
32
80
ro
o
0
0
4
Serial number
UDINT
32
112
ro
o
0
0
DT10F1
64
0
SubIndex 000
USINT
8
0
ro
o
0
0
1
Local error reaction
UDINT
32
16
ro
o
0
0
2
Sync error counter limit
UINT
16
48
rw
o
0
0
DT1600
496
0
SubIndex 000
USINT
8
0
rw
o
0
0
1
RxPDO Map 1 Element 1
UDINT
32
16
rw
o
0
0
2
RxPDO Map 1 Element 2
UDINT
32
48
rw
o
0
0
3
RxPDO Map 1 Element 3
UDINT
32
80
rw
o
0
0
4
RxPDO Map 1 Element 4
UDINT
32
112
rw
o
0
0
5
RxPDO Map 1 Element 5
UDINT
32
144
rw
o
0
0
6
RxPDO Map 1 Element 6
UDINT
32
176
rw
o
0
0
7
RxPDO Map 1 Element 7
UDINT
32
208
rw
o
0
0
8
RxPDO Map 1 Element 8
UDINT
32
240
rw
o
0
0
9
RxPDO Map 1 Element 9
UDINT
32
272
rw
o
0
0
10
RxPDO Map 1 Element 10
UDINT
32
304
rw
o
0
0
11
RxPDO Map 1 Element 11
UDINT
32
336
rw
o
0
0
12
RxPDO Map 1 Element 12
UDINT
32
368
rw
o
0
0
13
RxPDO Map 1 Element 13
UDINT
32
400
rw
o
0
0
14
RxPDO Map 1 Element 14
UDINT
32
432
rw
o
0
0
15
RxPDO Map 1 Element 15
UDINT
32
464
rw
o
0
0
DT1601
496
0
SubIndex 000
USINT
8
0
rw
o
0
0
1
RxPDO Map 2 Element 1
UDINT
32
16
rw
o
0
0
2
RxPDO Map 2 Element 2
UDINT
32
48
rw
o
0
0
3
RxPDO Map 2 Element 3
UDINT
32
80
rw
o
0
0
4
RxPDO Map 2 Element 4
UDINT
32
112
rw
o
0
0
5
RxPDO Map 2 Element 5
UDINT
32
144
rw
o
0
0
6
RxPDO Map 2 Element 6
UDINT
32
176
rw
o
0
0
7
RxPDO Map 2 Element 7
UDINT
32
208
rw
o
0
0
8
RxPDO Map 2 Element 8
UDINT
32
240
rw
o
0
0
9
RxPDO Map 2 Element 9
UDINT
32
272
rw
o
0
0
10
RxPDO Map 2 Element 10
UDINT
32
304
rw
o
0
0
11
RxPDO Map 2 Element 11
UDINT
32
336
rw
o
0
0
12
RxPDO Map 2 Element 12
UDINT
32
368
rw
o
0
0
13
RxPDO Map 2 Element 13
UDINT
32
400
rw
o
0
0
14
RxPDO Map 2 Element 14
UDINT
32
432
rw
o
0
0
15
RxPDO Map 2 Element 15
UDINT
32
464
rw
o
0
0
DT1602
496
0
SubIndex 000
USINT
8
0
rw
o
0
0
1
RxPDO Map 3 Element 1
UDINT
32
16
rw
o
0
0
2
RxPDO Map 3 Element 2
UDINT
32
48
rw
o
0
0
3
RxPDO Map 3 Element 3
UDINT
32
80
rw
o
0
0
4
RxPDO Map 3 Element 4
UDINT
32
112
rw
o
0
0
5
RxPDO Map 3 Element 5
UDINT
32
144
rw
o
0
0
6
RxPDO Map 3 Element 6
UDINT
32
176
rw
o
0
0
7
RxPDO Map 3 Element 7
UDINT
32
208
rw
o
0
0
8
RxPDO Map 3 Element 8
UDINT
32
240
rw
o
0
0
9
RxPDO Map 3 Element 9
UDINT
32
272
rw
o
0
0
10
RxPDO Map 3 Element 10
UDINT
32
304
rw
o
0
0
11
RxPDO Map 3 Element 11
UDINT
32
336
rw
o
0
0
12
RxPDO Map 3 Element 12
UDINT
32
368
rw
o
0
0
13
RxPDO Map 3 Element 13
UDINT
32
400
rw
o
0
0
14
RxPDO Map 3 Element 14
UDINT
32
432
rw
o
0
0
15
RxPDO Map 3 Element 15
UDINT
32
464
rw
o
0
0
DT1A00
496
0
SubIndex 000
USINT
8
0
rw
o
0
0
1
TxPDO Map 1 Element 1
UDINT
32
16
rw
o
0
0
2
TxPDO Map 1 Element 2
UDINT
32
48
rw
o
0
0
3
TxPDO Map 1 Element 3
UDINT
32
80
rw
o
0
0
4
TxPDO Map 1 Element 4
UDINT
32
112
rw
o
0
0
5
TxPDO Map 1 Element 5
UDINT
32
144
rw
o
0
0
6
TxPDO Map 1 Element 6
UDINT
32
176
rw
o
0
0
7
TxPDO Map 1 Element 7
UDINT
32
208
rw
o
0
0
8
TxPDO Map 1 Element 8
UDINT
32
240
rw
o
0
0
9
TxPDO Map 1 Element 9
UDINT
32
272
rw
o
0
0
10
TxPDO Map 1 Element 10
UDINT
32
304
rw
o
0
0
11
TxPDO Map 1 Element 11
UDINT
32
336
rw
o
0
0
12
TxPDO Map 1 Element 12
UDINT
32
368
rw
o
0
0
13
TxPDO Map 1 Element 13
UDINT
32
400
rw
o
0
0
14
TxPDO Map 1 Element 14
UDINT
32
432
rw
o
0
0
15
TxPDO Map 1 Element 15
UDINT
32
464
rw
o
0
0
DT1A01
496
0
SubIndex 000
USINT
8
0
rw
o
0
0
1
TxPDO Map 2 Element 1
UDINT
32
16
rw
o
0
0
2
TxPDO Map 2 Element 2
UDINT
32
48
rw
o
0
0
3
TxPDO Map 2 Element 3
UDINT
32
80
rw
o
0
0
4
TxPDO Map 2 Element 4
UDINT
32
112
rw
o
0
0
5
TxPDO Map 2 Element 5
UDINT
32
144
rw
o
0
0
6
TxPDO Map 2 Element 6
UDINT
32
176
rw
o
0
0
7
TxPDO Map 2 Element 7
UDINT
32
208
rw
o
0
0
8
TxPDO Map 2 Element 8
UDINT
32
240
rw
o
0
0
9
TxPDO Map 2 Element 9
UDINT
32
272
rw
o
0
0
10
TxPDO Map 2 Element 10
UDINT
32
304
rw
o
0
0
11
TxPDO Map 2 Element 11
UDINT
32
336
rw
o
0
0
12
TxPDO Map 2 Element 12
UDINT
32
368
rw
o
0
0
13
TxPDO Map 2 Element 13
UDINT
32
400
rw
o
0
0
14
TxPDO Map 2 Element 14
UDINT
32
432
rw
o
0
0
15
TxPDO Map 2 Element 15
UDINT
32
464
rw
o
0
0
DT1A02
496
0
SubIndex 000
USINT
8
0
rw
o
0
0
1
TxPDO Map 3 Element 1
UDINT
32
16
rw
o
0
0
2
TxPDO Map 3 Element 2
UDINT
32
48
rw
o
0
0
3
TxPDO Map 3 Element 3
UDINT
32
80
rw
o
0
0
4
TxPDO Map 3 Element 4
UDINT
32
112
rw
o
0
0
5
TxPDO Map 3 Element 5
UDINT
32
144
rw
o
0
0
6
TxPDO Map 3 Element 6
UDINT
32
176
rw
o
0
0
7
TxPDO Map 3 Element 7
UDINT
32
208
rw
o
0
0
8
TxPDO Map 3 Element 8
UDINT
32
240
rw
o
0
0
9
TxPDO Map 3 Element 9
UDINT
32
272
rw
o
0
0
10
TxPDO Map 3 Element 10
UDINT
32
304
rw
o
0
0
11
TxPDO Map 3 Element 11
UDINT
32
336
rw
o
0
0
12
TxPDO Map 3 Element 12
UDINT
32
368
rw
o
0
0
13
TxPDO Map 3 Element 13
UDINT
32
400
rw
o
0
0
14
TxPDO Map 3 Element 14
UDINT
32
432
rw
o
0
0
15
TxPDO Map 3 Element 15
UDINT
32
464
rw
o
0
0
DT1C00ARR
USINT
32
1
4
DT1C00
48
0
SubIndex 000
USINT
8
0
ro
o
0
0
Elements
DT1C00ARR
32
16
ro
o
DT1C12ARR
UINT
48
1
3
DT1C12
64
0
SubIndex 000
USINT
8
0
rw
o
0
0
Elements
DT1C12ARR
48
16
rw
o
DT1C13ARR
UINT
48
1
3
DT1C13
64
0
SubIndex 000
USINT
8
0
rw
o
0
0
Elements
DT1C13ARR
48
16
rw
o
DT1C32
488
0
SubIndex 000
USINT
8
0
ro
o
0
0
1
Synchronization Type
UINT
16
16
rw
o
0
0
2
Cycle Time
UDINT
32
32
ro
o
0
0
3
Shift Time
UDINT
32
64
ro
o
0
0
4
Synchronization Types supported
UINT
16
96
ro
o
0
0
5
Minimum Cycle Time
UDINT
32
112
ro
o
0
0
6
Calc and Copy Time
UDINT
32
144
ro
o
0
0
7
Minimum Delay Time
UDINT
32
176
ro
o
0
0
8
Get Cycle Time
UINT
16
208
rw
o
0
0
9
Delay Time
UDINT
32
224
ro
o
0
0
10
Sync0 Cycle Time
UDINT
32
256
rw
o
0
0
11
SM-Event Missed
UINT
16
288
ro
o
0
0
12
Cycle Time Too Small
UINT
16
304
ro
o
0
0
13
Shift Time Too Short
UINT
16
320
ro
o
0
0
14
RxPDO Toggle Failed
UINT
16
336
ro
o
0
0
15
Minimum Cycle Distance
UDINT
32
352
ro
o
0
0
16
Maximum Cycle Distance
UDINT
32
384
ro
o
0
0
17
Minimum SM Sync Distance
UDINT
32
416
ro
o
0
0
18
Maximum SM Sync Distance
UDINT
32
448
ro
o
0
0
32
Sync Error
BOOL
1
480
ro
o
0
0
DT1C33
488
0
SubIndex 000
USINT
8
0
ro
o
0
0
1
Synchronization Type
UINT
16
16
rw
o
0
0
2
Cycle Time
UDINT
32
32
ro
o
0
0
3
Shift Time
UDINT
32
64
ro
o
0
0
4
Synchronization Types supported
UINT
16
96
ro
o
0
0
5
Minimum Cycle Time
UDINT
32
112
ro
o
0
0
6
Calc and Copy Time
UDINT
32
144
ro
o
0
0
7
Minimum Delay Time
UDINT
32
176
ro
o
0
0
8
Get Cycle Time
UINT
16
208
rw
o
0
0
9
Delay Time
UDINT
32
224
ro
o
0
0
10
Sync0 Cycle Time
UDINT
32
256
rw
o
0
0
11
SM-Event Missed
UINT
16
288
ro
o
0
0
12
Cycle Time Too Small
UINT
16
304
ro
o
0
0
13
Shift Time Too Short
UINT
16
320
ro
o
0
0
14
RxPDO Toggle Failed
UINT
16
336
ro
o
0
0
15
Minimum Cycle Distance
UDINT
32
352
ro
o
0
0
16
Maximum Cycle Distance
UDINT
32
384
ro
o
0
0
17
Minimum SM Sync Distance
UDINT
32
416
ro
o
0
0
18
Maximum SM Sync Distance
UDINT
32
448
ro
o
0
0
32
Sync Error
BOOL
1
480
ro
o
0
0
STRING(10)
80
ARRAY [0..511] OF BYTE
BYTE
4096
0
512
DT58B2
4112
0
SubIndex 000
USINT
8
0
ro
o
0
0
1
Monitoring data
ARRAY [0..511] OF BYTE
4096
16
ro
o
0
0
DT58B4
4112
0
SubIndex 000
USINT
8
0
ro
o
0
0
1
Disturbance data
ARRAY [0..511] OF BYTE
4096
16
wo
o
0
0
DT607BARR
DINT
64
1
2
DT607B
80
0
SubIndex 000
USINT
8
0
ro
o
0
0
Elements
DT607BARR
64
16
rw
o
r
DT607DARR
DINT
64
1
2
DT607D
80
0
SubIndex 000
USINT
8
0
ro
o
0
0
Elements
DT607DARR
64
16
rw
o
r
DT6099ARR
UDINT
64
1
2
DT6099
80
0
SubIndex 000
USINT
8
0
ro
o
0
0
Elements
DT6099ARR
64
16
rw
o
r
DT60C2
32
0
Subindex 000
USINT
8
0
ro
o
0
0
1
Interpolation time period value
USINT
8
16
rw
o
r
0
0
2
Interpolation time index
SINT
8
24
rw
o
r
0
0
DT60E3ARR
SINT
64
1
8
DT60E3
80
0
SubIndex 000
USINT
8
0
ro
o
0
0
Elements
DT60E3ARR
64
16
ro
o
#x1000
Device Type
UDINT
32
04000000
ro
m
0
0
#x1001
Error register
USINT
8
00
ro
o
0
0
#x1003
Pre-defined error field
DT1003
144
SubIndex 000
00
SubIndex 000
SubIndex 001
00000000
Standard error field 1
SubIndex 002
00000000
Standard error field 2
SubIndex 003
00000000
Standard error field 3
SubIndex 004
00000000
Standard error field 4
#x1008
Manufacturer Device Name
STRING(9)
72
4341502d5843522d45
ro
o
0
0
#x1010
Ecat Store
DT1010
48
SubIndex 000
01
SubIndex 000
SubIndex 001
00000000
Ecat Store all
#x1011
Ecat Restore
DT1011
48
SubIndex 000
01
SubIndex 000
SubIndex 001
00000000
Ecat Restore all
#x1018
Identity Object
DT1018
144
SubIndex 000
04
Vendor ID
9c020000
Product code
32000000
Revision number
00000000
Serial number
34120000
#x10f1
Error settings
DT10F1
64
SubIndex 000
02
Local error reaction
01000000
Sync error counter limit
0400
#x10f8
Timestamp object
ULINT
64
0000000000000000
ro
o
t
0
0
#x1600
RxPDO Map 1
DT1600
496
SubIndex 000
04
RxPDO Map 1 Element 1
10004060
RxPDO Map 1 Element 2
20007a60
RxPDO Map 1 Element 3
2000ff60
RxPDO Map 1 Element 4
08006060
RxPDO Map 1 Element 5
00000000
RxPDO Map 1 Element 6
00000000
RxPDO Map 1 Element 7
00000000
RxPDO Map 1 Element 8
00000000
RxPDO Map 1 Element 9
00000000
RxPDO Map 1 Element 10
00000000
RxPDO Map 1 Element 11
00000000
RxPDO Map 1 Element 12
00000000
RxPDO Map 1 Element 13
00000000
RxPDO Map 1 Element 14
00000000
RxPDO Map 1 Element 15
00000000
#x1601
RxPDO Map 2
DT1601
496
SubIndex 000
02
RxPDO Map 2 Element 1
10004060
RxPDO Map 2 Element 2
20007a60
RxPDO Map 2 Element 3
00000000
RxPDO Map 2 Element 4
00000000
RxPDO Map 2 Element 5
00000000
RxPDO Map 2 Element 6
00000000
RxPDO Map 2 Element 7
00000000
RxPDO Map 2 Element 8
00000000
RxPDO Map 2 Element 9
00000000
RxPDO Map 2 Element 10
00000000
RxPDO Map 2 Element 11
00000000
RxPDO Map 2 Element 12
00000000
RxPDO Map 2 Element 13
00000000
RxPDO Map 2 Element 14
00000000
RxPDO Map 2 Element 15
00000000
#x1602
RxPDO Map 3
DT1602
496
SubIndex 000
02
RxPDO Map 3 Element 1
10004060
RxPDO Map 3 Element 2
2000ff60
RxPDO Map 3 Element 3
00000000
RxPDO Map 3 Element 4
00000000
RxPDO Map 3 Element 5
00000000
RxPDO Map 3 Element 6
00000000
RxPDO Map 3 Element 7
00000000
RxPDO Map 3 Element 8
00000000
RxPDO Map 3 Element 9
00000000
RxPDO Map 3 Element 10
00000000
RxPDO Map 3 Element 11
00000000
RxPDO Map 3 Element 12
00000000
RxPDO Map 3 Element 13
00000000
RxPDO Map 3 Element 14
00000000
RxPDO Map 3 Element 15
00000000
#x1a00
TxPDO Map 1
DT1A00
496
SubIndex 000
04
TxPDO Map 1 Element 1
10004160
TxPDO Map 1 Element 2
20006460
TxPDO Map 1 Element 3
20006c60
TxPDO Map 1 Element 4
08006160
TxPDO Map 1 Element 5
00000000
TxPDO Map 1 Element 6
00000000
TxPDO Map 1 Element 7
00000000
TxPDO Map 1 Element 8
00000000
TxPDO Map 1 Element 9
00000000
TxPDO Map 1 Element 10
00000000
TxPDO Map 1 Element 11
00000000
TxPDO Map 1 Element 12
00000000
TxPDO Map 1 Element 13
00000000
TxPDO Map 1 Element 14
00000000
TxPDO Map 1 Element 15
00000000
#x1a01
TxPDO Map 2
DT1A01
496
SubIndex 000
02
TxPDO Map 2 Element 1
10004160
TxPDO Map 2 Element 2
20006460
TxPDO Map 2 Element 3
00000000
TxPDO Map 2 Element 4
00000000
TxPDO Map 2 Element 5
00000000
TxPDO Map 2 Element 6
00000000
TxPDO Map 2 Element 7
00000000
TxPDO Map 2 Element 8
00000000
TxPDO Map 2 Element 9
00000000
TxPDO Map 2 Element 10
00000000
TxPDO Map 2 Element 11
00000000
TxPDO Map 2 Element 12
00000000
TxPDO Map 2 Element 13
00000000
TxPDO Map 2 Element 14
00000000
TxPDO Map 2 Element 15
00000000
#x1a02
TxPDO Map 3
DT1A02
496
SubIndex 000
02
TxPDO Map 3 Element 1
10004160
TxPDO Map 3 Element 2
20006c60
TxPDO Map 3 Element 3
00000000
TxPDO Map 3 Element 4
00000000
TxPDO Map 3 Element 5
00000000
TxPDO Map 3 Element 6
00000000
TxPDO Map 3 Element 7
00000000
TxPDO Map 3 Element 8
00000000
TxPDO Map 3 Element 9
00000000
TxPDO Map 3 Element 10
00000000
TxPDO Map 3 Element 11
00000000
TxPDO Map 3 Element 12
00000000
TxPDO Map 3 Element 13
00000000
TxPDO Map 3 Element 14
00000000
TxPDO Map 3 Element 15
00000000
#x1c00
Sync manager type
DT1C00
48
SubIndex 000
04
SubIndex 000
SubIndex 001
01
SubIndex 001
SubIndex 002
02
SubIndex 002
SubIndex 003
03
SubIndex 003
SubIndex 004
04
SubIndex 004
#x1c12
RxPDO assign
DT1C12
64
SubIndex 000
01
SubIndex 000
SubIndex 001
0016
RxPDO assign Element 1
SubIndex 002
0000
RxPDO assign Element 2
SubIndex 003
0000
RxPDO assign Element 3
#x1c13
TxPDO assign
DT1C13
64
SubIndex 000
01
SubIndex 000
SubIndex 001
001a
TxPDO assign Element 1
SubIndex 002
0000
TxPDO assign Element 2
SubIndex 003
0000
TxPDO assign Element 3
#x1c32
SM output parameter
DT1C32
488
SubIndex 000
20
Synchronization Type
0000
Cycle Time
00000000
Shift Time
00000000
Synchronization Types supported
1f40
Minimum Cycle Time
a0860100
Calc and Copy Time
00000000
Minimum Delay Time
00000000
Get Cycle Time
0000
Delay Time
00000000
Sync0 Cycle Time
00000000
SM-Event Missed
0000
Cycle Time Too Small
0000
Shift Time Too Short
0000
RxPDO Toggle Failed
0000
Minimum Cycle Distance
00000000
Maximum Cycle Distance
00000000
Minimum SM Sync Distance
00000000
Maximum SM Sync Distance
00000000
Sync Error
00
#x1c33
SM Input parameter
DT1C33
488
SubIndex 000
20
Synchronization Type
0000
Cycle Time
00000000
Shift Time
00000000
Synchronization Types supported
1f40
Minimum Cycle Time
a0860100
Calc and Copy Time
00000000
Minimum Delay Time
00000000
Get Cycle Time
0000
Delay Time
00000000
Sync0 Cycle Time
00000000
SM-Event Missed
0000
Cycle Time Too Small
0000
Shift Time Too Short
0000
RxPDO Toggle Failed
0000
Minimum Cycle Distance
00000000
Maximum Cycle Distance
00000000
Minimum SM Sync Distance
00000000
Maximum SM Sync Distance
00000000
Sync Error
00
#x200f
Last error
DINT
32
00000000
ro
o
t
0
0
#x2010
Control word
UINT
16
0000
rw
o
r
0
0
#x2011
Status word
UINT
16
0000
ro
o
t
0
0
#x2014
Modes of operation
UINT
16
0000
rw
o
r
0
0
#x2015
Modes of operation display
UINT
16
0000
ro
o
t
0
0
#x2018
Voltage quadrature set-point
REAL
32
00000000
rw
o
r
0
0
#x2019
Voltage direct set-point
REAL
32
00000000
rw
o
r
0
0
#x201a
Current quadrature set-point
REAL
32
00000000
rw
o
r
0
0
#x201b
Current direct set-point
REAL
32
00000000
rw
o
r
0
0
#x201c
Current A set-point
REAL
32
00000000
rw
o
r
0
0
#x201d
Current B set-point
REAL
32
00000000
rw
o
r
0
0
#x2020
Position set-point
DINT
32
00000000
rw
o
r
0
0
#x2021
Target velocity
REAL
32
00000000
rw
o
r
0
0
#x2022
Torque set-point
REAL
32
00000000
rw
o
r
0
0
#x2024
Position option code
UINT
16
0000
rw
o
r
0
0
#x2025
Profiler max. velocity
REAL
32
0000a041
rw
o
r
0
0
#x2026
Profiler max. acceleration
REAL
32
0000a041
rw
o
r
0
0
#x2027
Profiler max. deceleration
REAL
32
0000a041
rw
o
r
0
0
#x2028
Profiler end velocity
REAL
32
00000000
rw
o
r
0
0
#x2029
Actual torque
REAL
32
00000000
ro
o
t
0
0
#x2030
Position actual value
DINT
32
00000000
ro
o
t
0
0
#x2031
Velocity actual value
REAL
32
00000000
ro
o
t
0
0
#x2033
Auxiliary feedback value
UDINT
32
00000000
ro
o
t
0
0
#x2037
Bus voltage current counts
UINT
16
0000
ro
o
t
0
0
#x2038
Current A value
REAL
32
00000000
ro
o
t
0
0
#x2039
Current B value
REAL
32
00000000
ro
o
t
0
0
#x203a
Current C value
REAL
32
00000000
ro
o
t
0
0
#x203b
Current quadrature value
REAL
32
00000000
ro
o
t
0
0
#x203c
Current direct value
REAL
32
00000000
ro
o
t
0
0
#x203d
Current A counts
UINT
16
0000
ro
o
t
0
0
#x203e
Current B counts
UINT
16
0000
ro
o
t
0
0
#x203f
Current C counts
UINT
16
0000
ro
o
t
0
0
#x2040
Commutation angle value
REAL
32
00000000
ro
o
t
0
0
#x2041
Reference angle value
REAL
32
00000000
ro
o
t
0
0
#x2042
User commutation angle offset
REAL
32
00000000
rw
o
r
0
0
#x204a
Primary Absolute Slave 1 - Position
DINT
32
00000000
ro
o
t
0
0
#x204b
Primary Absolute Slave 1 - Full frame
UDINT
32
00000000
ro
o
t
0
0
#x204c
Primary Absolute Slave 1 - Compensated position
UDINT
32
00000000
ro
o
t
0
0
#x2050
Generator value
REAL
32
00000000
ro
o
t
0
0
#x2051
Secondary Absolute Slave 1 - Position
DINT
32
00000000
ro
o
t
0
0
#x2052
Primary Absolute Slave 2 - Position
DINT
32
00000000
ro
o
t
0
0
#x2053
Torque demand
REAL
32
00000000
ro
o
t
0
0
#x2054
Secondary Absolute Slave 1 - Full frame
UDINT
32
00000000
ro
o
t
0
0
#x2055
Primary Absolute Slave 2 - Full frame
UDINT
32
00000000
ro
o
t
0
0
#x2056
Secondary Absolute Slave 1 - Compensated position
DINT
32
00000000
ro
o
t
0
0
#x205d
Power stage temperature 3 value
REAL
32
00000000
ro
o
t
0
0
#x205e
Power stage temperature 3 counts
UINT
16
0000
ro
o
t
0
0
#x205f
Bus voltage counts
UINT
16
0000
ro
o
t
0
0
#x2060
Bus voltage value
REAL
32
00000000
ro
o
t
0
0
#x2061
Power stage temperature 1 value
REAL
32
00000000
ro
o
t
0
0
#x2062
Power stage temperature 1 counts
UINT
16
0000
ro
o
t
0
0
#x2063
Motor temperature value
REAL
32
00000000
ro
o
t
0
0
#x2064
Power stage temperature 2 value
REAL
32
00000000
ro
o
t
0
0
#x2066
Power stage temperature 2 counts
UINT
16
0000
ro
o
t
0
0
#x2067
Power stage max. actual temperature
REAL
32
00000000
ro
o
t
0
0
#x2068
Voltage phase A
REAL
32
00000000
ro
o
t
0
0
#x2069
Voltage phase B
REAL
32
00000000
ro
o
t
0
0
#x206a
Voltage phase C
REAL
32
00000000
ro
o
t
0
0
#x206e
Voltage direct command
REAL
32
00000000
ro
o
t
0
0
#x206f
Voltage quadrature command
REAL
32
00000000
ro
o
t
0
0
#x2070
Voltage quadrature demand
REAL
32
00000000
ro
o
t
0
0
#x2071
Voltage direct demand
REAL
32
00000000
ro
o
t
0
0
#x2072
Current quadrature demand
REAL
32
00000000
ro
o
t
0
0
#x2073
Current direct demand
REAL
32
00000000
ro
o
t
0
0
#x2074
Current A demand
REAL
32
00000000
ro
o
t
0
0
#x2075
Current B demand
REAL
32
00000000
ro
o
t
0
0
#x2076
Current actual value
REAL
32
00000000
ro
o
t
0
0
#x2077
Current command value
REAL
32
00000000
ro
o
t
0
0
#x2078
Position demand
DINT
32
00000000
ro
o
t
0
0
#x2079
Velocity demand
REAL
32
00000000
ro
o
t
0
0
#x207a
Acceleration demand
REAL
32
00000000
ro
o
t
0
0
#x207b
Velocity loop input offset
REAL
32
00000000
rw
o
r
0
0
#x207c
Current quadrature loop input offset
REAL
32
00000000
rw
o
r
0
0
#x207d
Current direct loop input offset
REAL
32
00000000
rw
o
r
0
0
#x2080
Torque loop input offset
REAL
32
00000000
rw
o
r
0
0
#x2081
Analog input 1 - Counts
UINT
16
0000
ro
o
t
0
0
#x2082
Analog input 1 - Value
REAL
32
00000000
ro
o
t
0
0
#x2096
Position loop control command
REAL
32
00000000
ro
o
t
0
0
#x2097
Velocity loop control command
REAL
32
00000000
ro
o
t
0
0
#x2098
Current quadrature / A control loop command
REAL
32
00000000
ro
o
t
0
0
#x2099
Current direct / B control loop command
REAL
32
00000000
ro
o
t
0
0
#x209a
Motor rated torque
REAL
32
0000803f
rw
o
r
0
0
#x209b
Torque control loop command
REAL
32
00000000
ro
o
t
0
0
#x2100
Motor rated current
REAL
32
00002041
rw
o
r
0
0
#x2101
Peak current
REAL
32
0000a041
rw
o
0
0
#x2102
Peak current time
UDINT
32
f4010000
rw
o
0
0
#x2103
User I2t value
REAL
32
00000000
ro
o
0
0
#x2106
Motor pole pairs
INT
16
0200
rw
o
0
0
#x2109
Motor temp. protection threshold
REAL
32
0000c842
rw
o
0
0
#x210a
Motor temp. sensor type
UINT
16
0600
rw
o
0
0
#x210b
Motor temp. sensor resistance
UDINT
32
00000000
rw
o
0
0
#x210c
Motor temp. sensor Beta (25-85)
UINT
16
0000
rw
o
0
0
#x210d
Motor temp. sensor external resistance
UDINT
32
72060000
rw
o
0
0
#x210e
Motor temp. sensor gain
REAL
32
00000000
rw
o
0
0
#x210f
Motor temp. sensor offset
REAL
32
00000000
rw
o
0
0
#x2110
Motor temperature sensor voltage reference
REAL
32
0000a040
rw
o
0
0
#x2111
Motor temperature sensor Temperature 0
REAL
32
00000000
rw
o
0
0
#x2112
Motor temperature sensor Resistance 0
REAL
32
00000000
rw
o
0
0
#x2113
Motor temperature sensor Temperature 1
REAL
32
00000000
rw
o
0
0
#x2114
Motor temperature sensor Resistance 1
REAL
32
00000000
rw
o
0
0
#x2120
Internal shunt enable voltage
REAL
32
00007042
rw
o
0
0
#x2121
Internal shunt disable voltage
REAL
32
00006842
rw
o
0
0
#x2122
External shunt enable voltage
REAL
32
00007042
rw
o
0
0
#x2123
External shunt disable voltage
REAL
32
00006842
rw
o
0
0
#x2124
Brake activation voltage percentage
UINT
16
6400
rw
o
0
0
#x2125
Brake holding voltage percentage
UINT
16
6400
rw
o
0
0
#x2126
Delay before release brake
UDINT
32
00000000
rw
o
0
0
#x2127
Delay after enable brake
UDINT
32
00000000
rw
o
0
0
#x2128
Activation brake time
UDINT
32
00000000
rw
o
0
0
#x2129
Brake override
UINT
16
0000
rw
o
0
0
#x212a
Brake activation current
REAL
32
00000040
rw
o
0
0
#x212b
Brake holding current
REAL
32
00000040
rw
o
0
0
#x212c
Brake current control Kp
REAL
32
0000803f
rw
o
0
0
#x212d
Brake current control Ki
REAL
32
00000000
rw
o
0
0
#x212e
Brake control mode
UINT
16
0000
rw
o
0
0
#x212f
Brake current error window
REAL
32
0000c842
rw
o
0
0
#x2130
Brake current error timeout
UDINT
32
e8030000
rw
o
0
0
#x2131
Brake max current
REAL
32
0000c842
rw
o
0
0
#x2133
Brake current actual value
REAL
32
00000000
ro
o
t
0
0
#x2134
Brake current feedback source
UINT
16
0000
rw
o
0
0
#x213d
Angle integrity check 1 angle deviation
REAL
32
00000000
ro
o
t
0
0
#x213e
Angle integrity check 1 calibration angle
REAL
32
00000000
ro
o
t
0
0
#x213f
Angle integrity check 1 commutation calibration angle
REAL
32
00000000
ro
o
t
0
0
#x2140
Angle integrity check 1 latched commutation angle
REAL
32
00000000
ro
o
t
0
0
#x2141
Brake current command
REAL
32
00000000
ro
o
t
0
0
#x214f
Control mode
UINT
16
0000
rw
o
0
0
#x2150
Commutation angle offset
REAL
32
00000000
rw
o
0
0
#x2151
Commutation feedback sensor
UINT
16
0400
rw
o
0
0
#x2152
Reference angle offset
REAL
32
00000000
rw
o
0
0
#x2153
Reference feedback sensor
UINT
16
0400
rw
o
0
0
#x2154
Phasing mode
UINT
16
0000
rw
o
0
0
#x2155
Max. current on phasing sequence
REAL
32
0000c03f
rw
o
0
0
#x2156
Phasing timeout
UINT
16
e803
rw
o
0
0
#x2157
Phasing accuracy
UINT
16
100e
rw
o
0
0
#x2160
Angle integrity check 1 threshold
REAL
32
0000803f
rw
o
0
0
#x2161
Angle integrity check 2 threshold
REAL
32
0000803f
rw
o
0
0
#x217b
Restart all feedbacks
UINT
16
0000
wo
o
0
0
#x217c
Set feedback power supply status
UINT
16
0100
rw
o
0
0
#x2181
Interpolation data record - Position input
DINT
32
00000000
rw
o
r
0
0
#x2182
Interpolation data record - Velocity input
REAL
32
00000000
rw
o
r
0
0
#x2183
Interpolation data record - Time input
UINT
16
0000
rw
o
r
0
0
#x2184
Interpolation data record - Integrity check
UINT
16
0000
rw
o
r
0
0
#x2185
Interpolation data record - Status
UINT
16
0000
ro
o
t
0
0
#x21c0
Power stage maximum duty cycle
REAL
32
0000c842
rw
o
0
0
#x21c8
Profiler latching mode
UINT
16
4000
rw
o
0
0
#x21d6
Velocity threshold
REAL
32
0000803f
rw
o
r
0
0
#x21d7
Velocity threshold time
UDINT
32
00000000
rw
o
r
0
0
#x21dc
Velocity following error window
REAL
32
0000803f
rw
o
r
0
0
#x21dd
Velocity following error timeout
UDINT
32
00000000
rw
o
r
0
0
#x21de
Min position range limit
DINT
32
00000000
rw
o
r
0
0
#x21df
Max position range limit
DINT
32
00000000
rw
o
r
0
0
#x21e0
Max current
REAL
32
00002041
rw
o
r
0
0
#x21e2
Position control loop error
DINT
32
00000000
ro
o
t
0
0
#x21e3
Velocity control loop error
REAL
32
00000000
ro
o
t
0
0
#x21e4
Torque control loop error
REAL
32
00000000
ro
o
t
0
0
#x21e5
Current direct control loop error
REAL
32
00000000
ro
o
t
0
0
#x21e6
Current quadrature control loop error
REAL
32
00000000
ro
o
t
0
0
#x21e8
Max. velocity
REAL
32
00004843
rw
o
0
0
#x21ea
Min position
DINT
32
00000000
rw
o
r
0
0
#x21eb
Max position
DINT
32
00000000
rw
o
r
0
0
#x21ec
Position following error window
REAL
32
0000c842
rw
o
r
0
0
#x21ed
Following error time out
UDINT
32
00000000
rw
o
r
0
0
#x21ee
Following error
REAL
32
00000000
ro
o
t
0
0
#x21ef
Interpolation time mantissa
REAL
32
0000803f
rw
o
r
0
0
#x21f0
Interpolation time exponent
REAL
32
6f12833a
rw
o
r
0
0
#x21f1
Position window
UDINT
32
00000000
rw
o
0
0
#x21f2
Position window time
UDINT
32
00000000
rw
o
0
0
#x21f3
Velocity window
REAL
32
00000000
rw
o
0
0
#x21f4
Velocity window time
UDINT
32
00000000
rw
o
0
0
#x21f5
Quick stop deceleration
REAL
32
0000803f
rw
o
0
0
#x21f6
Interpolation data record - Force clear
UINT
16
0000
wo
o
0
0
#x21f7
Interpolation buffer size
UINT
16
1000
rw
o
0
0
#x21f8
Interpolation buffer number of elements
UINT
16
0000
ro
o
0
0
#x21f9
Interpolation buffer maximum size
UINT
16
1000
ro
o
0
0
#x22e0
Command source 1
UINT
16
0000
ro
o
0
0
#x22e1
Command source 2
UINT
16
0000
ro
o
0
0
#x22e8
Analog input 1 - Gain
REAL
32
0000803f
rw
o
0
0
#x22e9
Analog input 1 - Offset
REAL
32
00000000
rw
o
0
0
#x2300
Abs feedback 1 compensation table enable
UINT
16
0000
rw
o
0
0
#x2301
Abs feedback 1 compensation table index
INT
16
ffff
rw
o
0
0
#x2302
Abs feedback 1 compensation table value
DINT
32
00000000
rw
o
0
0
#x2303
Abs feedback 2 compensation table enable
UINT
16
0000
rw
o
0
0
#x2304
Abs feedback 2 compensation table index
INT
16
ffff
rw
o
0
0
#x2305
Abs feedback 2 compensation table value
DINT
32
00000000
rw
o
0
0
#x2306
Cogging compensation table enable
UINT
16
0000
rw
o
0
0
#x2307
Cogging compensation table index
INT
16
ffff
rw
o
0
0
#x2308
Cogging compensation table value
REAL
32
00000000
rw
o
0
0
#x2320
Power limit
REAL
32
00000000
rw
o
0
0
#x2321
Peak power limit
REAL
32
00004843
rw
o
0
0
#x2322
Peak power time
UINT
16
e803
rw
o
0
0
#x2323
Power limiter Kp
REAL
32
cdcc4c3e
rw
o
r
0
0
#x2324
Power limiter Ki
REAL
32
00004040
rw
o
r
0
0
#x2325
Output power value
REAL
32
00000000
ro
o
t
0
0
#x235f
Enabled feedbacks mask
UDINT
32
00000000
ro
o
0
0
#x2360
Velocity feedback sensor
UINT
16
0400
rw
o
0
0
#x2361
Position feedback sensor
UINT
16
0400
rw
o
0
0
#x2362
Auxiliary feedback sensor
UINT
16
0400
rw
o
0
0
#x2364
Position to velocity sensor ratio
REAL
32
0000803f
rw
o
0
0
#x236f
Primary Absolute Slave 1 - Protocol
UINT
16
0000
rw
o
0
0
#x2370
Primary Absolute Slave 1 - Frame size
UINT
16
1c00
rw
o
0
0
#x2371
Primary Absolute Slave 1 - Error tolerance
UINT
16
0500
rw
o
0
0
#x2373
Primary Absolute Slave 1 - Polarity
UINT
16
0000
rw
o
0
0
#x2374
Primary Absolute Slave 1 - Frame type
UINT
16
0000
rw
o
0
0
#x2375
Primary Absolute Slave 1 - Position bits
UINT
16
1600
rw
o
0
0
#x2376
Primary Absolute Slave 1 - Single-turn bits
UINT
16
1600
rw
o
0
0
#x2377
Primary Absolute Slave 1 - Position start bit
UINT
16
0000
rw
o
0
0
#x2378
Secondary Absolute Slave 1 - Frame size
UINT
16
1800
rw
o
0
0
#x2379
Secondary Absolute Slave 1 - Error tolerance
UINT
16
0500
rw
o
0
0
#x237b
Secondary Absolute Slave 1 - Polarity
UINT
16
0000
rw
o
0
0
#x237c
Secondary Absolute Slave 1 - Frame type
UINT
16
0000
rw
o
0
0
#x237d
Secondary Absolute Slave 1 - Position bits
UINT
16
1600
rw
o
0
0
#x237e
Secondary Absolute Slave 1 - Single-turn bits
UINT
16
1600
rw
o
0
0
#x237f
Secondary Absolute Slave 1 - Position start bit
UINT
16
0000
rw
o
0
0
#x2380
Generator mode
UINT
16
0000
rw
o
0
0
#x2381
Generator frequency
REAL
32
0000803f
rw
o
0
0
#x2382
Generator gain
REAL
32
0000803f
rw
o
r
0
0
#x2383
Generator offset
REAL
32
00000000
rw
o
r
0
0
#x2384
Generator cycle number
UDINT
32
00000000
rw
o
0
0
#x2385
Generator rearm
UINT
16
0000
wo
o
0
0
#x2386
Primary Absolute Slave 1 - Baudrate
UDINT
32
88130000
rw
o
0
0
#x2387
Secondary Absolute Slave 1 - Baudrate
UDINT
32
e8030000
rw
o
0
0
#x2388
Incremental encoder 1 - Resolution
UDINT
32
d0070000
rw
o
0
0
#x2389
Incremental encoder 1 - Polarity
UINT
16
0000
rw
o
0
0
#x238a
Incremental encoder 1 - Filter
UINT
16
0000
rw
o
0
0
#x238b
Incremental encoder 1 - Value
DINT
32
00000000
ro
o
t
0
0
#x2390
Dig. hall polarity
UINT
16
0000
rw
o
0
0
#x2391
Dig. hall filter
UINT
16
0000
rw
o
0
0
#x2392
Dig. hall pole pairs
UINT
16
0200
rw
o
0
0
#x2393
Dig. hall value
UINT
16
0000
ro
o
t
0
0
#x2394
Feedback runaway source
UINT
16
0400
rw
o
0
0
#x2395
Primary Absolute Feedback - Topology
UINT
16
0100
rw
o
0
0
#x2398
Primary Absolute - Maximum refresh rate
UDINT
32
a8610000
rw
o
0
0
#x2399
Secondary Absolute - Maximum refresh rate
UDINT
32
a8610000
rw
o
0
0
#x239a
Primary Absolute - Actual refresh rate
UDINT
32
00000000
ro
o
0
0
#x239b
Secondary Absolute - Actual refresh rate
UDINT
32
00000000
ro
o
0
0
#x239c
Digital halls offset compensation enable
UINT
16
0000
rw
o
0
0
#x239d
Digital halls offset compensation index
INT
16
ffff
rw
o
0
0
#x239e
Digital halls offset compensation value
REAL
32
00000000
rw
o
0
0
#x239f
Digital halls Last transition angle
REAL
32
00000000
ro
o
0
0
#x2400
Primary Absolute Slave 2 - Frame size
UINT
16
1800
rw
o
0
0
#x2401
Primary Absolute Slave 2 - Error tolerance
UINT
16
0500
rw
o
0
0
#x2403
Primary Absolute Slave 2 - Polarity
UINT
16
0000
rw
o
0
0
#x2404
Primary Absolute Slave 2 - Frame type
UINT
16
0000
rw
o
0
0
#x2405
Primary Absolute Slave 2 - Position bits
UINT
16
1600
rw
o
0
0
#x2406
Primary Absolute Slave 2 - Single-turn bits
UINT
16
1600
rw
o
0
0
#x2407
Primary Absolute Slave 2 - Position start bit
UINT
16
0000
rw
o
0
0
#x2408
Primary Absolute Slave 1 - CRC polynomial
UINT
16
0000
ro
o
0
0
#x2409
Primary Absolute Slave 1 - CRC number of bits
UINT
16
0000
ro
o
0
0
#x240a
Primary Absolute Slave 2 - CRC polynomial
UINT
16
4300
ro
o
0
0
#x240b
Primary Absolute Slave 2 - CRC number of bits
UINT
16
0600
ro
o
0
0
#x240c
Primary Absolute Slave 1 - CRC seed
UINT
16
0000
ro
o
0
0
#x240d
Primary Absolute Slave 2 - CRC seed
UINT
16
0000
ro
o
0
0
#x2438
Primary Absolute Slave 1 - Position offset
DINT
32
00000000
rw
o
0
0
#x2439
Primary Absolute Slave 2 - Position offset
DINT
32
00000000
rw
o
0
0
#x243a
Secondary Absolute Slave 1 - Position offset
DINT
32
00000000
rw
o
0
0
#x243b
Torque constant
REAL
32
0000803f
rw
o
0
0
#x243c
Secondary Absolute Slave 1 - Protocol
UINT
16
0000
rw
o
0
0
#x243d
Secondary Absolute Slave 1 - CRC polynomial
UINT
16
0000
ro
o
0
0
#x243e
Secondary Absolute Slave 1 - CRC seed
UINT
16
0000
ro
o
0
0
#x243f
Secondary Absolute Slave 1 - CRC number of bits
UINT
16
0000
ro
o
0
0
#x2440
Primary absolute interface - Register address
UINT
16
0000
rw
o
0
0
#x2441
Primary absolute interface - Register data
UINT
16
0000
rw
o
0
0
#x2442
Primary absolute interface - Operation status
UINT
16
0000
ro
o
0
0
#x2443
Primary absolute interface - Control
UINT
16
0000
rw
o
0
0
#x2444
Secondary absolute interface - Register address
UINT
16
0000
rw
o
0
0
#x2445
Secondary absolute interface - Register data
UINT
16
0000
rw
o
0
0
#x2446
Secondary absolute interface - Operation status
UINT
16
0000
ro
o
0
0
#x2447
Secondary absolute interface - Control
UINT
16
0000
rw
o
0
0
#x2449
Homing supported methods mask
UINT
16
0000
ro
o
0
0
#x2450
Homing mode
UINT
16
0000
rw
o
r
0
0
#x2451
Homing offset
DINT
32
00000000
rw
o
r
0
0
#x2452
Homing timeout
UDINT
32
60ea0000
rw
o
0
0
#x2453
Homing limit search speed
REAL
32
00000000
rw
o
r
0
0
#x2454
Homing zero search speed
REAL
32
00000000
rw
o
r
0
0
#x2455
Positive homing switch
UINT
16
0000
rw
o
0
0
#x2456
Negative homing switch
UINT
16
0000
rw
o
0
0
#x2457
Homing index pulse source
UINT
16
0000
rw
o
0
0
#x2458
Current loop rate
UDINT
32
204e0000
ro
o
0
0
#x24ff
Current scaling gain factor
UINT
16
0000
rw
o
0
0
#x2500
Current quadrature loop Kp
REAL
32
0000803f
rw
o
0
0
#x2501
Current quadrature loop Ki
REAL
32
00004842
rw
o
0
0
#x2502
Current quadrature loop max. out
REAL
32
00004042
rw
o
0
0
#x2503
Current quadrature loop min. out
REAL
32
000040c2
rw
o
0
0
#x2505
Current direct loop Kp
REAL
32
0000803f
rw
o
0
0
#x2506
Current direct loop Ki
REAL
32
00004842
rw
o
0
0
#x2507
Current direct loop max. out
REAL
32
00004042
rw
o
0
0
#x2508
Current direct loop min. out
REAL
32
000040c2
rw
o
0
0
#x250a
Velocity loop Kp
REAL
32
0000803f
rw
o
r
0
0
#x250b
Velocity loop Ki
REAL
32
00002041
rw
o
r
0
0
#x250c
Velocity loop Kd
REAL
32
00000000
rw
o
r
0
0
#x250d
Velocity loop Kd filter
REAL
32
00000000
rw
o
r
0
0
#x250e
Velocity loop max. output
REAL
32
00007042
rw
o
r
0
0
#x250f
Velocity loop min. output
REAL
32
000070c2
rw
o
r
0
0
#x2510
Control loops feedback options
UINT
16
1b00
rw
o
0
0
#x2511
Position loop Kp
REAL
32
acc52737
rw
o
r
0
0
#x2512
Position loop Ki
REAL
32
00000000
rw
o
r
0
0
#x2513
Position loop Kd
REAL
32
00000000
rw
o
r
0
0
#x2514
Position loop Kd filter
REAL
32
00000000
rw
o
r
0
0
#x2515
Position loop max. output
REAL
32
0000fa43
rw
o
r
0
0
#x2516
Position loop min. output
REAL
32
0000fac3
rw
o
r
0
0
#x2517
Current loop status
UDINT
32
00000000
ro
o
t
0
0
#x2518
Velocity loop status
UDINT
32
00000000
ro
o
t
0
0
#x2519
Position loop status
UDINT
32
00000000
ro
o
t
0
0
#x251a
STO status
UINT
16
0000
ro
o
t
0
0
#x251b
Velocity loop integral reset
UINT
16
0000
wo
o
0
0
#x251c
Position loop integral reset
UINT
16
0000
wo
o
0
0
#x251d
Velocity loop integral value
REAL
32
00000000
ro
o
t
0
0
#x251e
Position loop integral value
REAL
32
00000000
ro
o
t
0
0
#x251f
Maximum voltage bus utilization
REAL
32
00000000
ro
o
0
0
#x2520
Position & velocity loop rate
UDINT
32
a8610000
ro
o
t
0
0
#x2521
Power stage frequency
UINT
16
0100
rw
o
0
0
#x2522
Control loops option code
UDINT
32
00000000
rw
o
0
0
#x2523
Torque loop Kp
REAL
32
0000803f
rw
o
r
0
0
#x2524
Torque loop Ki
REAL
32
00000000
rw
o
r
0
0
#x2527
Torque loop max. output
REAL
32
0000a041
rw
o
r
0
0
#x2528
Torque loop min. output
REAL
32
0000a0c1
rw
o
r
0
0
#x2530
Position feedback filter 1 type
UINT
16
0000
rw
o
0
0
#x2531
Position feedback filter 1 frequency
UDINT
32
64000000
rw
o
0
0
#x2532
Position feedback filter 1 Q-factor
REAL
32
8104353f
rw
o
0
0
#x2533
Position feedback filter 1 gain
REAL
32
00000000
rw
o
0
0
#x2538
Position feedback filter 2 type
UINT
16
0000
rw
o
0
0
#x2539
Position feedback filter 2 frequency
UDINT
32
64000000
rw
o
0
0
#x253a
Position feedback filter 2 Q-factor
REAL
32
8104353f
rw
o
0
0
#x253b
Position feedback filter 2 gain
REAL
32
00000000
rw
o
0
0
#x2540
Position reference filter 1 type
UINT
16
0000
rw
o
0
0
#x2541
Position reference filter 1 frequency
UDINT
32
64000000
rw
o
0
0
#x2542
Position reference filter 1 Q-factor
REAL
32
8104353f
rw
o
0
0
#x2543
Position reference filter 1 gain
REAL
32
00000000
rw
o
0
0
#x2548
Position reference filter 2 type
UINT
16
0000
rw
o
0
0
#x2549
Position reference filter 2 frequency
UDINT
32
64000000
rw
o
0
0
#x254a
Position reference filter 2 Q-factor
REAL
32
8104353f
rw
o
0
0
#x254b
Position reference filter 2 gain
REAL
32
00000000
rw
o
0
0
#x2550
Velocity feedback filter 1 type
UINT
16
0100
rw
o
0
0
#x2551
Velocity feedback filter 1 frequency
UDINT
32
64000000
rw
o
0
0
#x2552
Velocity feedback filter 1 Q-factor
REAL
32
8104353f
rw
o
0
0
#x2553
Velocity feedback filter 1 gain
REAL
32
00000000
rw
o
0
0
#x2558
Velocity feedback filter 2 type
UINT
16
0000
rw
o
0
0
#x2559
Velocity feedback filter 2 frequency
UDINT
32
64000000
rw
o
0
0
#x255a
Velocity feedback filter 2 Q-factor
REAL
32
8104353f
rw
o
0
0
#x255b
Velocity feedback filter 2 gain
REAL
32
00000000
rw
o
0
0
#x2560
Velocity reference filter 1 type
UINT
16
0000
rw
o
0
0
#x2561
Velocity reference filter 1 frequency
UDINT
32
64000000
rw
o
0
0
#x2562
Velocity reference filter 1 Q-factor
REAL
32
8104353f
rw
o
0
0
#x2563
Velocity reference filter 1 gain
REAL
32
00000000
rw
o
0
0
#x2568
Velocity reference filter 2 type
UINT
16
0000
rw
o
0
0
#x2569
Velocity reference filter 2 frequency
UDINT
32
64000000
rw
o
0
0
#x256a
Velocity reference filter 2 Q-factor
REAL
32
8104353f
rw
o
0
0
#x256b
Velocity reference filter 2 gain
REAL
32
00000000
rw
o
0
0
#x2570
Current feedback filter 1 type
UINT
16
0000
rw
o
0
0
#x2571
Current feedback filter 1 frequency
UDINT
32
64000000
rw
o
0
0
#x2572
Current feedback filter 1 Q-factor
REAL
32
8104353f
rw
o
0
0
#x2573
Current feedback filter 1 gain
REAL
32
00000000
rw
o
0
0
#x2578
Current feedback filter 2 type
UINT
16
0000
rw
o
0
0
#x2579
Current feedback filter 2 frequency
UDINT
32
64000000
rw
o
0
0
#x257a
Current feedback filter 2 Q-factor
REAL
32
8104353f
rw
o
0
0
#x257b
Current feedback filter 2 gain
REAL
32
00000000
rw
o
0
0
#x2580
Current reference filter 1 type
UINT
16
0000
rw
o
0
0
#x2581
Current reference filter 1 frequency
UDINT
32
64000000
rw
o
0
0
#x2582
Current reference filter 1 Q-factor
REAL
32
8104353f
rw
o
0
0
#x2583
Current reference filter 1 gain
REAL
32
00000000
rw
o
0
0
#x2588
Current reference filter 2 type
UINT
16
0000
rw
o
0
0
#x2589
Current reference filter 2 frequency
UDINT
32
64000000
rw
o
0
0
#x258a
Current reference filter 2 Q-factor
REAL
32
8104353f
rw
o
0
0
#x258b
Current reference filter 2 gain
REAL
32
00000000
rw
o
0
0
#x2590
Velocity loop Kffa
REAL
32
00000000
rw
o
r
0
0
#x2591
Position loop Kffv
REAL
32
00000000
rw
o
r
0
0
#x2592
Position loop Kffa
REAL
32
00000000
rw
o
r
0
0
#x2593
Velocity loop integral limit
REAL
32
00000000
rw
o
0
0
#x2594
Position loop integral limit
REAL
32
00000000
rw
o
0
0
#x25fc
Map output 1
UINT
16
0000
rw
o
0
0
#x25fd
Map output 2
UINT
16
0000
rw
o
0
0
#x25fe
Map output 3
UINT
16
0000
rw
o
0
0
#x25ff
Map output 4
UINT
16
0000
rw
o
0
0
#x2600
Digital inputs value
UDINT
32
00000000
ro
o
t
0
0
#x2601
Digital outputs value
UDINT
32
00000000
ro
o
t
0
0
#x2602
Digital outputs set value
UDINT
32
00000000
rw
o
r
0
0
#x2603
Digital outputs polarity
UDINT
32
00000000
rw
o
0
0
#x2604
Digital inputs polarity
UDINT
32
00000000
rw
o
0
0
#x2608
Positive switch limit
UINT
16
0000
rw
o
0
0
#x2609
Negative switch limit
UINT
16
0000
rw
o
0
0
#x260a
Quick stop input
UINT
16
0000
rw
o
0
0
#x260b
Quick stop option code
INT
16
0500
rw
o
0
0
#x260f
User I2T error option code
UINT
16
0000
rw
o
0
0
#x2610
Position feedback out of limits error option code
UINT
16
0000
rw
o
0
0
#x2611
Velocity feedback out of limits error option code
UINT
16
0000
rw
o
0
0
#x2612
Position following error option code
UINT
16
0000
rw
o
0
0
#x2613
Power stage user over-temperature error option code
UINT
16
0000
rw
o
0
0
#x2614
Motor over-temperature error option code
UINT
16
0000
rw
o
0
0
#x2615
Power stage user under-temperature error option code
UINT
16
0000
rw
o
0
0
#x2616
Power stage user over voltage error option code
UINT
16
0000
rw
o
0
0
#x2617
Power stage user under voltage error option code
UINT
16
0000
rw
o
0
0
#x2619
Halls sequence error option code
UINT
16
0000
rw
o
0
0
#x261a
Feedback runaway error option code
UINT
16
0000
rw
o
0
0
#x261b
Over current without current control error option code
UINT
16
0000
rw
o
0
0
#x261d
Velocity following error option code
UINT
16
0000
rw
o
0
0
#x261e
Angle integrity check 1 error option code
UINT
16
0000
rw
o
0
0
#x261f
Angle integrity check 2 error option code
UINT
16
0000
rw
o
0
0
#x2620
Halt option code
INT
16
0000
rw
o
0
0
#x2621
Halt input
UINT
16
0000
rw
o
0
0
#x2624
Fault reset input
UINT
16
0000
rw
o
0
0
#x2625
Digital input 1, 2 and 3 glitch filter
UINT
16
0000
rw
o
0
0
#x2628
Digital input 4 glitch filter
UINT
16
0000
rw
o
0
0
#x262b
Fault reaction timeout
UDINT
32
10270000
rw
o
0
0
#x262e
Dynamic brake option code
INT
16
0000
rw
o
0
0
#x262f
Over-voltage sensitivity
UINT
16
0000
rw
o
0
0
#x2630
User over voltage level
REAL
32
00007042
rw
o
0
0
#x2631
User under voltage level
REAL
32
00002041
rw
o
0
0
#x2632
User over temperature level
REAL
32
0000dc42
rw
o
0
0
#x2633
User under temperature level
REAL
32
0000a0c1
rw
o
0
0
#x2634
User over temperature warning level
REAL
32
0000b442
rw
o
0
0
#x2635
User under temperature warning level
REAL
32
000020c1
rw
o
0
0
#x263b
STO error option code
UINT
16
0000
rw
o
0
0
#x2641
Sync. signal configuration
UINT
16
0000
rw
o
0
0
#x2643
Sync. signal frequency
UDINT
32
e8030000
rw
o
0
0
#x2644
Sync. signal PLL filter cutoff frequency
UDINT
32
64000000
rw
o
0
0
#x2645
Sync. signal PLL phase
REAL
32
0000803e
rw
o
0
0
#x2646
Sync. signal PLL Kp
REAL
32
0ad7233c
rw
o
0
0
#x264d
Error total number
UINT
16
0000
ro
o
0
0
#x264e
Error list index request
UINT
16
0000
rw
o
0
0
#x264f
Error list requested code
DINT
32
00000000
ro
o
0
0
#x26db
Store all
UDINT
32
01000000
rw
o
0
0
#x26dc
Restore all
UDINT
32
01000000
rw
o
0
0
#x26dd
Store status
UINT
16
0000
ro
o
0
0
#x26df
System reset
UDINT
32
00000000
wo
o
0
0
#x26e0
Vendor ID
UDINT
32
9c020000
ro
o
0
0
#x26e1
Product code
UDINT
32
01107303
ro
o
0
0
#x26e2
Revision number
UDINT
32
39000500
ro
o
0
0
#x26e4
Software version
STRING(10)
80
322e31312e302e303030
ro
o
0
0
#x26e6
Serial number
UDINT
32
00000000
ro
o
0
0
#x2700
Power stage frequency 1
UDINT
32
204e0000
ro
o
0
0
#x2701
Power stage frequency 2
UDINT
32
50c30000
ro
o
0
0
#x2702
Power stage frequency 3
UDINT
32
a0860100
ro
o
0
0
#x2703
Power stage frequency 4
UDINT
32
400d0300
ro
o
0
0
#x2704
Power stage dead-time (ns)
UDINT
32
37000000
ro
o
0
0
#x2706
Min. low side on time (ns)
UDINT
32
7d000000
ro
o
0
0
#x2707
Min. high side on time (ns)
UDINT
32
19000000
ro
o
0
0
#x2709
Current saturation counts from ADC ceiling
UINT
16
d007
ro
o
0
0
#x270a
Current saturation counts from ADC floor
UINT
16
d007
ro
o
0
0
#x270c
Current calibration offset tolerance
REAL
32
0000c03f
ro
o
0
0
#x2710
Over-temperature level
REAL
32
0000e642
ro
o
0
0
#x2711
Under-temperature level
REAL
32
0000a0c1
ro
o
0
0
#x2712
Over-voltage level
REAL
32
00008242
ro
o
0
0
#x2713
Under-voltage level
REAL
32
00000041
ro
o
0
0
#x271d
Maximum drive current
REAL
32
00002041
ro
o
0
0
#x271e
Maximum drive peak current time
UDINT
32
e8030000
ro
o
0
0
#x271f
Maximum drive peak current
REAL
32
0000a041
ro
o
0
0
#x2720
Current measuring range 1
REAL
32
9a9904c2
ro
o
0
0
#x2721
Current measuring range 2
REAL
32
9a9904c2
ro
o
0
0
#x2722
Current measuring range 3
REAL
32
9a9904c2
ro
o
0
0
#x2723
Current measuring range 4
REAL
32
9a9904c2
ro
o
0
0
#x2728
Current sensors used mask
UINT
16
0700
ro
o
0
0
#x2729
Current acquisition time (ns)
UINT
16
4501
ro
o
0
0
#x272a
Current acquisition advance time (ns)
UINT
16
c800
ro
o
0
0
#x272b
Min. low side on time 2 (ns)
UDINT
32
5f000000
ro
o
0
0
#x272c
Min. low side on time 3 (ns)
UDINT
32
50000000
ro
o
0
0
#x272d
Min. low side on time 4 (ns)
UDINT
32
4b000000
ro
o
0
0
#x272e
Min. charge bootstrap time (us)
UDINT
32
0a000000
ro
o
0
0
#x2732
Bus voltage measuring range
REAL
32
0000a542
ro
o
0
0
#x2733
Bus voltage reading offset
REAL
32
00000000
ro
o
0
0
#x2734
Power stage temp. sensor 1 type
UINT
16
0000
ro
o
0
0
#x2735
Power stage temp. sensor 1 resistance
UDINT
32
10270000
ro
o
0
0
#x2736
Power stage temp. sensor 1 Beta
UINT
16
6b0d
ro
o
0
0
#x2737
Power stage temp. sensor 1 ext. resistance
UDINT
32
b80b0000
ro
o
0
0
#x2738
Power stage temp. sensor 1 gain
REAL
32
0000803f
ro
o
0
0
#x2739
Power stage temp. sensor 1 offset
REAL
32
00000000
ro
o
0
0
#x2740
STO configuration
UDINT
32
0d000000
ro
o
0
0
#x2741
Brake configuration
UDINT
32
07000000
ro
o
0
0
#x2742
Brake max. frequency
UDINT
32
409c0000
ro
o
0
0
#x2743
Brake frequency
UDINT
32
204e0000
rw
o
0
0
#x2746
Power stage temp. sensor 2 type
UINT
16
0000
ro
o
0
0
#x2747
Power stage temp. sensor 2 resistance
UDINT
32
10270000
ro
o
0
0
#x2748
Power stage temp. sensor 2 Beta
UINT
16
6b0d
ro
o
0
0
#x2749
Power stage temp. sensor 2 ext. resistance
UDINT
32
b80b0000
ro
o
0
0
#x274a
Power stage temp. sensor 2 gain
REAL
32
0000803f
ro
o
0
0
#x274b
Power stage temp. sensor 2 offset
REAL
32
00000000
ro
o
0
0
#x2750
Derating constant
REAL
32
0000c03f
ro
o
0
0
#x2751
Frequency 1 derating constant
REAL
32
00000000
ro
o
0
0
#x2752
Frequency 2 derating constant
REAL
32
00000000
ro
o
0
0
#x2753
Frequency 3 derating constant
REAL
32
00000000
ro
o
0
0
#x2754
Frequency 4 derating constant
REAL
32
00000000
ro
o
0
0
#x275a
Power stage derating temperature threshold 1
REAL
32
00002543
ro
o
0
0
#x275b
Power stage derating temperature threshold 2
REAL
32
00002543
ro
o
0
0
#x275c
Power stage derating temperature threshold 3
REAL
32
00002543
ro
o
0
0
#x275d
Power stage derating temperature threshold 4
REAL
32
00002543
ro
o
0
0
#x2760
Power stage temp. sensor 3 type
UINT
16
0000
ro
o
0
0
#x2761
Power stage temp. sensor 3 resistance
UDINT
32
10270000
ro
o
0
0
#x2762
Power stage temp. sensor 3 Beta
UINT
16
6b0d
ro
o
0
0
#x2763
Power stage temp. sensor 3 ext. resistance
UDINT
32
b80b0000
ro
o
0
0
#x2764
Power stage temp. sensor 3 gain
REAL
32
0000803f
ro
o
0
0
#x2765
Power stage temp. sensor 3 offset
REAL
32
00000000
ro
o
0
0
#x580f
Last error
DINT
32
00000000
ro
o
t
0
0
#x5890
Disturbance mapped register 0
UDINT
32
00000000
rw
o
0
0
#x5891
Disturbance mapped register 1
UDINT
32
00000000
rw
o
0
0
#x5892
Disturbance mapped register 2
UDINT
32
00000000
rw
o
0
0
#x5893
Disturbance mapped register 3
UDINT
32
00000000
rw
o
0
0
#x5894
Disturbance mapped register 4
UDINT
32
00000000
rw
o
0
0
#x5895
Disturbance mapped register 5
UDINT
32
00000000
rw
o
0
0
#x5896
Disturbance mapped register 6
UDINT
32
00000000
rw
o
0
0
#x5897
Disturbance mapped register 7
UDINT
32
00000000
rw
o
0
0
#x5898
Disturbance mapped register 8
UDINT
32
00000000
rw
o
0
0
#x5899
Disturbance mapped register 9
UDINT
32
00000000
rw
o
0
0
#x589a
Disturbance mapped register 10
UDINT
32
00000000
rw
o
0
0
#x589b
Disturbance mapped register 11
UDINT
32
00000000
rw
o
0
0
#x589c
Disturbance mapped register 12
UDINT
32
00000000
rw
o
0
0
#x589d
Disturbance mapped register 13
UDINT
32
00000000
rw
o
0
0
#x589e
Disturbance mapped register 14
UDINT
32
00000000
rw
o
0
0
#x589f
Disturbance mapped register 15
UDINT
32
00000000
rw
o
0
0
#x58a0
Number of axes
UINT
16
0100
ro
o
0
0
#x58a1
IP address
UDINT
32
1602a8c0
ro
o
0
0
#x58a2
Netmask
UDINT
32
00ffffff
ro
o
0
0
#x58a3
Gateway address
UDINT
32
0102a8c0
ro
o
0
0
#x58a4
MAC address
ULINT
64
010203474e490000
ro
o
0
0
#x58aa
Bootloader version
STRING(9)
72
312e302e302e303030
ro
o
0
0
#x58b0
Monitoring status
UDINT
32
00000000
ro
o
0
0
#x58b1
Actual number of monitoring samples
UDINT
32
00000000
ro
o
0
0
#x58b2
Monitoring data
DT58B2
4112
SubIndex 000
01
Monitoring data
Monitoring data
#x58b3
Actual number of disturbance samples
UDINT
32
00000000
ro
o
0
0
#x58b4
Disturbance data
DT58B4
4112
SubIndex 000
01
Disturbance data
Disturbance data
#x58b5
Monitoring maximum size
UDINT
32
00200000
ro
o
0
0
#x58b6
Disturbance maximum size
UDINT
32
00200000
ro
o
0
0
#x58b7
Actual number of monitoring bytes
UDINT
32
00000000
ro
o
0
0
#x58b8
Disturbance current number of bytes
UDINT
32
00000000
ro
o
0
0
#x58ba
Monitoring disturbance version
UDINT
32
00000000
ro
o
0
0
#x58bc
Monitoring lifeguard time
UDINT
32
00000000
rw
o
0
0
#x58bd
Disturbance lifeguard time
UDINT
32
00000000
rw
o
0
0
#x58bf
Disturbance status
UDINT
32
00000000
ro
o
0
0
#x58c0
Enable monitoring
UINT
16
0000
rw
o
0
0
#x58c1
Monitoring frequency divider
UINT
16
0100
rw
o
0
0
#x58c2
Monitoring delay
UDINT
32
00000000
rw
o
0
0
#x58c3
Monitoring buffer size
UDINT
32
00040000
rw
o
0
0
#x58c4
Disturbance buffer size
UDINT
32
00040000
rw
o
0
0
#x58c5
Disturbance frequency divider
UINT
16
0100
rw
o
0
0
#x58c7
Enable disturbance
UINT
16
0000
rw
o
0
0
#x58d0
Monitoring mapped register 0
UDINT
32
00000000
rw
o
0
0
#x58d1
Monitoring mapped register 1
UDINT
32
00000000
rw
o
0
0
#x58d2
Monitoring mapped register 2
UDINT
32
00000000
rw
o
0
0
#x58d3
Monitoring mapped register 3
UDINT
32
00000000
rw
o
0
0
#x58d4
Monitoring mapped register 4
UDINT
32
00000000
rw
o
0
0
#x58d5
Monitoring mapped register 5
UDINT
32
00000000
rw
o
0
0
#x58d6
Monitoring mapped register 6
UDINT
32
00000000
rw
o
0
0
#x58d7
Monitoring mapped register 7
UDINT
32
00000000
rw
o
0
0
#x58d8
Monitoring mapped register 8
UDINT
32
00000000
rw
o
0
0
#x58d9
Monitoring mapped register 9
UDINT
32
00000000
rw
o
0
0
#x58da
Monitoring mapped register 10
UDINT
32
00000000
rw
o
0
0
#x58db
Monitoring mapped register 11
UDINT
32
00000000
rw
o
0
0
#x58dc
Monitoring mapped register 12
UDINT
32
00000000
rw
o
0
0
#x58dd
Monitoring mapped register 13
UDINT
32
00000000
rw
o
0
0
#x58de
Monitoring mapped register 14
UDINT
32
00000000
rw
o
0
0
#x58df
Monitoring mapped register 15
UDINT
32
00000000
rw
o
0
0
#x58e3
Monitoring number mapped registers
UINT
16
0000
rw
o
0
0
#x58e4
Monitoring number of bytes per sample
UINT
16
0000
ro
o
0
0
#x58e8
Disturbance number mapped registers
UINT
16
0000
rw
o
0
0
#x58e9
Disturbance number of bytes per sample
UINT
16
0000
ro
o
0
0
#x58ea
Monitoring remove data
UINT
16
0000
wo
o
0
0
#x58eb
Disturbance remove data
UINT
16
0000
wo
o
0
0
#x58f0
Monitoring trigger type
UINT
16
0000
rw
o
0
0
#x58f1
Monitoring trigger config
UINT
16
0000
rw
o
0
0
#x58f3
Monitoring force trigger
UINT
16
0000
wo
o
0
0
#x58f4
Monitoring trigger threshold
UDINT
32
00000000
rw
o
0
0
#x58f5
Monitoring trigger source
UINT
16
0000
rw
o
0
0
#x58f7
Monitoring rearm
UINT
16
0000
wo
o
0
0
#x5940
User memory address pointer
INT
16
ffff
rw
o
0
0
#x5941
User memory data
UDINT
32
00000000
rw
o
0
0
#x5e49
System last error
DINT
32
00000000
ro
o
t
0
0
#x5e4a
System error total number
UINT
16
0000
ro
o
0
0
#x5e4b
System error list index request
UINT
16
0000
rw
o
0
0
#x5e4c
System error list requested code
DINT
32
00000000
ro
o
0
0
#x5e4d
Error total number
UINT
16
0000
ro
o
0
0
#x5e4e
Error list index request
UINT
16
0000
rw
o
0
0
#x5e4f
Error list requested code
DINT
32
00000000
ro
o
0
0
#x5e50
Abort connection option code
INT
16
0100
rw
o
0
0
#x5ed1
CRC output communication core
UINT
16
0000
ro
o
0
0
#x5edb
Store all
UDINT
32
01000000
rw
o
0
0
#x5edc
Restore all
UDINT
32
01000000
rw
o
0
0
#x5edd
Store status
UINT
16
0000
ro
o
0
0
#x5ede
Boot mode
UDINT
32
00000000
wo
o
0
0
#x5edf
System reset
UDINT
32
00000000
wo
o
0
0
#x5ee0
Vendor ID
UDINT
32
9c020000
ro
o
0
0
#x5ee1
Product code
UDINT
32
01107303
ro
o
0
0
#x5ee2
Revision number
UDINT
32
39000500
ro
o
0
0
#x5ee4
Software Version
STRING(10)
80
322e31312e302e303030
ro
o
0
0
#x5ee6
Serial number
UDINT
32
34120000
ro
o
0
0
#x6007
Abort connection option code
INT
16
0100
rw
o
0
0
#x603f
Error code
UINT
16
0000
ro
o
t
0
0
#x6040
Control Word
UINT
16
0000
rw
o
r
0
0
#x6041
Status Word
UINT
16
0000
ro
o
t
0
0
#x605a
Quick stop option code
INT
16
0500
rw
o
0
0
#x605d
Halt option code
INT
16
0000
rw
o
0
0
#x6060
Modes of operation
SINT
8
ff
rw
o
r
0
0
#x6061
Modes of operation display
SINT
8
ff
ro
o
t
0
0
#x6062
Position demand value
DINT
32
00000000
ro
o
t
0
0
#x6064
Position actual value
DINT
32
00000000
ro
o
t
0
0
#x6065
Position following error window
UDINT
32
64000000
rw
o
r
0
0
#x6066
Following error time out
UINT
16
0000
rw
o
r
0
0
#x606c
Velocity actual value
DINT
32
00000000
ro
o
t
0
0
#x606f
Velocity threshold
UINT
16
e803
rw
o
r
0
0
#x6070
Velocity threshold time
UINT
16
0000
rw
o
r
0
0
#x6071
Target torque
INT
16
0000
rw
o
r
0
0
#x6073
Max current
UINT
16
c05d
rw
o
r
0
0
#x6074
Torque demand
INT
16
0000
ro
o
t
0
0
#x6075
Motor rated current
UDINT
32
10270000
rw
o
0
0
#x6076
Motor rated torque
UDINT
32
e8030000
rw
o
0
0
#x6077
Torque actual value
INT
16
0000
ro
o
t
0
0
#x6078
Current actual value
INT
16
0000
ro
o
t
0
0
#x607a
Target position
DINT
32
00000000
rw
o
r
0
0
#x607b
Position range limit
DT607B
80
SubIndex 000
02
SubIndex 000
SubIndex 001
00000000
Min position range limit
SubIndex 002
00000000
Max position range limit
#x607c
Home offset
DINT
32
00000000
rw
o
r
0
0
#x607d
Software position limit
DT607D
80
SubIndex 000
02
SubIndex 000
SubIndex 001
00000000
Min position
SubIndex 002
00000000
Max position
#x6081
Profile velocity
UDINT
32
204e0000
rw
o
r
0
0
#x6082
Profile end velocity
UDINT
32
00000000
rw
o
r
0
0
#x6083
Profile acceleration
UDINT
32
204e0000
rw
o
r
0
0
#x6084
Profile deceleration
UDINT
32
204e0000
rw
o
r
0
0
#x6098
Homing method
SINT
8
25
rw
o
r
0
0
#x6099
Homing speed
DT6099
80
SubIndex 000
02
SubIndex 000
SubIndex 001
00000000
Homing search velocity
SubIndex 002
00000000
Homing zero velocity
#x60b1
Velocity offset
DINT
32
00000000
rw
o
r
0
0
#x60b2
Torque offset
INT
16
0000
rw
o
r
0
0
#x60c2
Interpolation time period
DT60C2
32
Subindex 000
02
Interpolation time period value
01
Interpolation time index
fd
#x60e3
Supported homing methods
DT60E3
80
SubIndex 000
08
SubIndex 000
SubIndex 001
01
No homing operation
SubIndex 002
01
Homing on the negative limit switch and index pulse
SubIndex 003
01
Homing on the positive limit switch and index pulse
SubIndex 004
01
Homing on the negative limit switch
SubIndex 005
01
Homing on the positive limit switch
SubIndex 006
01
Homing on the negative index pulse
SubIndex 007
01
Homing on the positive index pulse
SubIndex 008
01
Homing on current position
#x60f2
Position option code
UINT
16
0000
rw
o
r
0
0
#x60f4
Following error actual value
DINT
32
00000000
ro
o
t
0
0
#x60ff
Target velocity
DINT
32
00000000
rw
o
r
0
0
#x6502
Supported drive modes
UDINT
32
e5030f00
ro
o
t
0
0
Outputs
Inputs
MBoxState
MBoxOut
MBoxIn
Outputs
Inputs
#x1600
RPDO 1 mapping parameter
#x1601
#x1602
#x6040
0
16
Control Word
object 0x6040:0
UINT
#x607a
0
32
Target position
object 0x607a:0
DINT
#x60ff
0
32
Target velocity
object 0x60ff:0
DINT
#x6060
0
8
Modes of operation
object 0x6060:0
SINT
#x1601
RPDO 2 mapping parameter
#x1600
#x1602
#x6040
0
16
Control Word
object 0x6040:0
UINT
#x607a
0
32
Target position
object 0x607a:0
DINT
#x1602
RPDO 3 mapping parameter
#x1600
#x1601
#x6040
0
16
Control Word
object 0x6040:0
UINT
#x60ff
0
32
Target velocity
object 0x60ff:0
DINT
#x1a00
TPDO 1 mapping parameter
#x1a01
#x1a02
#x6041
0
16
Status Word
object 0x6041:0
UINT
#x6064
0
32
Position actual value
object 0x6064:0
DINT
#x606c
0
32
Velocity actual value
object 0x606c:0
DINT
#x6061
0
8
Modes of operation display
object 0x6061:0
SINT
#x1a01
TPDO 2 mapping parameter
#x1a00
#x1a02
#x6041
0
16
Status Word
object 0x6041:0
UINT
#x6064
0
32
Position actual value
object 0x6064:0
DINT
#x1a02
TPDO 3 mapping parameter
#x1a00
#x1a01
#x6041
0
16
Status Word
object 0x6041:0
UINT
#x606c
0
32
Velocity actual value
object 0x606c:0
DINT
Synchron
SM-Synchron
#x0
0
0
0
0
DCSync
DC-Synchron
#x300
0
0
0
0
16384
080E02EE409C0000000000000000
0010800000148000
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