Servo drive config and first movement

TimP
Offline
Senior Member

04 Dec 2023 22:02 - 06 Dec 2023 09:40 #287222 by TimP

Servo drive config and first movement was created by TimP

I'm trying to make first movement of an axis.
Driver is in operational mode. I toggle machine power on (F2), drivers switches from `ready` to `running` and motor starts to make some high pitch noise, not loud just audible and after i try to move joint it fails with an error "joint 0 following error X". It's actually not even need to be driven it just fails by it self in few seconds.
I think it is bad configuration but i don't know what exactly could lead to such behaviour. I have tried to change PID and ferrors but it didn't helped.

Driver doesn't show any errors.
Driver user manual is not really helpful since some of the values doesn't match with reality so i cannot verify is the data in driver set correctly or it is just showing wrong memory block.
Something like
in manual it says that 2006 subIdx 07 is "Positioning completion threshold unit setting" in fact this is not true and according to SlaveSDO it will be
2003 subIdx 14. Same story if i try to look into data from driver physical display.

I have tried to run it without PID config and with it same result.
I have used rodw-au config files as template for my config

ini

Warning: Spoiler!

[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = EtherCAT Machine
DEBUG = 1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit

#PYVCP = pyvcp_panel.xml

# places the pyvcp panel at the bottom of the Axis window
PYVCP_POSITION = RIGHT

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100

# Path to help file
HELP_FILE = doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.2

# Prefix to be used
PROGRAM_PREFIX = /home/demo/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
nc = /usr/bin/axis

[RS274NGC]

PARAMETER_FILE = linuxcnc.var

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALFILE = cia402.hal
SHUTDOWN = shutdown.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = pyvcp_panel.hal
HALUI = halui

[HALUI]

[TRAJ]
HOME = 0 0 0
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_ACCELERATION = 50
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 50
DEFAULT_ANGULAR_VELOCITY = 360
MAX_ANGULAR_VELOCITY = 720
POSITION_FILE = position.txt

[EMCIO]

# Name of IO controller program, e.g., iov2 has tool changer stuff
EMCIO = iov2

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = tool.tbl
TOOL_CHANGE_POSITION = 0 0 50.8
#RANDOM_TOOLCHANGER = 1

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[AXIS_X]
MIN_LIMIT = -1
MAX_LIMIT = 500

[JOINT_0]
MIN_LIMIT = -1
MAX_LIMIT = 500
MAX_VELOCITY = 20
MAX_ACCELERATION = 150
TYPE = LINEAR

P = 10
I = 0
D = 0
BIAS = 0
FF0 = 0
FF1 = 0
FF2 = 0
DEADBAND = 1.0
MAX_OUTPUT = 0
#~ 131072*0.2 = 26214 (5mm rev)
SCALE = 26214
ENCODER_SCALE = 26214
OUTPUT_SCALE = 1
FERROR = 10
MIN_FERROR = 0.001

HOME = 0
HOME_OFFSET = 0
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = 15.625
HOME_LATCH_VEL = 15.625
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = YES
HOME_ABSOLUTE_ENCODER = 2

hal

Warning: Spoiler!

###########################################################
#
# CIA 402 example snippet Hal
#
###########################################################

###########################################################
# Setup
###########################################################

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=1
#loadrt pid names=s-pid,0-pid,1-pid,2-pid
loadrt pid names=0-pid

###########################################################
# Functions servo-thread
###########################################################

addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
#addf cia402.1.read-all servo-thread
#addf cia402.2.read-all servo-thread

addf motion-command-handler servo-thread
addf motion-controller servo-thread
#addf s-pid.do-pid-calcs servo-thread
addf 0-pid.do-pid-calcs servo-thread
#addf 1-pid.do-pid-calcs servo-thread
#addf 2-pid.do-pid-calcs servo-thread

addf cia402.0.write-all servo-thread
#addf cia402.1.write-all servo-thread
#addf cia402.2.write-all servo-thread
addf lcec.write-all servo-thread

#########################################
#nets
#########################################
net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1

#config

#
# Joint 0
#
# set PID loop output limits to +/-1.00
setp 0-pid.maxoutput [JOINT_0]MAX_VELOCITY

# set PID loop gains from INI file
setp 0-pid.Pgain [JOINT_0]P
setp 0-pid.Igain [JOINT_0]I
setp 0-pid.Dgain [JOINT_0]D
setp 0-pid.bias [JOINT_0]BIAS
setp 0-pid.FF0 [JOINT_0]FF0
setp 0-pid.FF1 [JOINT_0]FF1
setp 0-pid.FF2 [JOINT_0]FF2
# deadband should be just over 1 count
setp 0-pid.deadband [JOINT_0]DEADBAND

setp cia402.0.csp-mode 1
setp cia402.0.pos-scale [JOINT_0]SCALE

#from servo(ethercat) to cia402
net 0-statusword lcec.0.0.cia-statusword => cia402.0.statusword
net 0-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display
net 0-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position

#from motion to cia

net 0-home-index <= joint.0.index-enable => cia402.0.home
net 0-enable <= joint.0.amp-enable-out => cia402.0.enable
net 0-amp-fault => joint.0.amp-fault-in <= cia402.0.drv-fault
net 0-pos-cmd <= joint.0.motor-pos-cmd => cia402.0.pos-cmd
net 0-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos-fb
net 0-home lcec.0.0.in-5 => joint.0.home-sw-in

#from cia402 to servo(ethercat)
net 0-controlword cia402.0.controlword => lcec.0.0.cia-controlword
net 0-modes-of-operation cia402.0.opmode => lcec.0.0.opmode
net 0-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position

driver is RSE400E from Rtelligent EtherCAT servo, they have promised new updated user manual for v4.0, but i don't know when they finish with it.

From which parameters i should start that it would start to spin and not trip into the error in 1 sec.
Thank you in advance.

Last edit: 06 Dec 2023 09:40 by TimP.

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jjdege
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06 Dec 2023 06:50 - 06 Dec 2023 06:52 #287331 by jjdege

Replied by jjdege on topic Servo drive config and first movement

HI
try in the .ini file, with FF1 = 1
HI

Last edit: 06 Dec 2023 06:52 by jjdege.

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TimP
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06 Dec 2023 09:13 #287341 by TimP

Replied by TimP on topic Servo drive config and first movement

setting FF1 to 1 didn't help.

After messing around a bit. have gotten to ` joint 0 amplifier fault`.

Also have noticed that it starts make noise when it moves a bit out off alignment for example

lcec.0.0.actual-position
lcec.0.0.actual-position-encoder
lcec.0.0.target-position

have same value(in encoder units)
but
lcec.0.0.comand-position
is absolutely different but i would think that those 3 should try to fallow lcec.0.0.comand-position, but seems like they cannot, when i try to move by 0.1mm it is able to move for 0.3 at max, and noise get lauder and than it trips into an error (either join fault or amplifier fault)

also i have tried to use in drive gear settings, and it is ok except i loose precision in sense it reports only mm and none of decimals, if i use gearing 1:1 and than use scale in linuxCNC, it is ok and reported back motor feedback with decimals. Is it ok? is it how it should be?

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TimP
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07 Dec 2023 12:09 #287436 by TimP

Replied by TimP on topic Servo drive config and first movement

And this is what i get in scope

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tommylight
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07 Dec 2023 14:27 #287447 by tommylight

Replied by tommylight on topic Servo drive config and first movement

Seems like there is no feedback to LinuxCNC at all.
If you turn the motors by hand, does the position on screen/DRO change?

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TimP
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07 Dec 2023 22:17 #287487 by TimP

Replied by TimP on topic Servo drive config and first movement

yep, feedback it there, actual position is getting back to linuxCNC

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tommylight
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07 Dec 2023 22:26 #287490 by tommylight

Replied by tommylight on topic Servo drive config and first movement

OK, then PID is not tuned, most probably.

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TimP
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08 Dec 2023 12:41 #287525 by TimP

Replied by TimP on topic Servo drive config and first movement

Changing PID doesn't change much only motor starts to heat, i think there is something in driver settings it self.

Could it be?

position deviation excess Threshold
position reach threshold
position arrival time window
position loop gain

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tommylight
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08 Dec 2023 17:04 #287556 by tommylight

Replied by tommylight on topic Servo drive config and first movement

Are the drives in "position" or "Velocity" or "Torque" mode?
Assuming this behaves like a normal servo system, so changing PID settings at random gets you nowhere.
There are two ways of servo tuning in LinuxCNC:
1. If you already know the technical specs of the drives/motors and scale the output accordingly, makes it easy to tune.
2. specs not known so a procedure must be followed to test and tune PID and FF values

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TimP
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08 Dec 2023 17:24 - 08 Dec 2023 21:06 #287560 by TimP

Replied by TimP on topic Servo drive config and first movement

forgot to mention this, Cyclic Synchronous Position Mode (CSP)
this is what i know about driver- motor

Motor
Torque 1.27NM
Rotor inertia 0.26X10^(-4)
Rated voltage 220V
Rated power 400W
Rated speed 3000rpm
Maximum speed 5000rpm
Winding resistance 7.2
Encoder 17 bit Magnetic encoder

Driver
RSE 400W AC Servo Driver
Continuous current 2.8A
Max current 8.4A

SDOs

Warning: Spoiler!

SDO 0x1000, "Device type"
0x1000:00, r-r-r-, uint32, 32 bit, "Device type"
SDO 0x1001, "Error register"
0x1001:00, r-r-r-, uint8, 8 bit, "Error register"
SDO 0x1008, "Device name"
0x1008:00, r-r-r-, string, 48 bit, "Device name"
SDO 0x1009, "Hardware version"
0x1009:00, r-r-r-, string, 24 bit, "Hardware version"
SDO 0x100a, "Software version"
0x100a:00, r-r-r-, string, 24 bit, "Software version"
SDO 0x1010, "Store parameters"
0x1010:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1010:01, rwrwrw, uint32, 32 bit, "Save all parameters"
SDO 0x1011, "Restore default parameters"
0x1011:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1011:01, rwrwrw, uint32, 32 bit, "Restore all default parameters"
SDO 0x1018, "Identity"
0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID"
0x1018:02, r-r-r-, uint32, 32 bit, "Product code"
0x1018:03, r-r-r-, uint32, 32 bit, "Revision"
0x1018:04, r-r-r-, uint32, 32 bit, "Serial number"
SDO 0x10f1, "Error Settings"
0x10f1:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x10f1:01, rwrwrw, uint32, 32 bit, "Local Error Reaction"
0x10f1:02, rwrwrw, uint16, 16 bit, "Sync Error Counter Limit"
SDO 0x10f8, "Timestamp Object"
0x10f8:00, rwrwrw, uint64, 64 bit, "Timestamp Object"
SDO 0x1600, "RXPDO 1 Mapping Parameter"
0x1600:00, rwrwrw, uint8, 8 bit, "SubIndex 000"
0x1600:01, rwrwrw, uint32, 32 bit, "SubIndex 001"
0x1600:02, rwrwrw, uint32, 32 bit, "SubIndex 002"
0x1600:03, rwrwrw, uint32, 32 bit, "SubIndex 003"
0x1600:04, rwrwrw, uint32, 32 bit, "SubIndex 004"
0x1600:05, rwrwrw, uint32, 32 bit, "SubIndex 005"
0x1600:06, rwrwrw, uint32, 32 bit, "SubIndex 006"
0x1600:07, rwrwrw, uint32, 32 bit, "SubIndex 007"
0x1600:08, rwrwrw, uint32, 32 bit, "SubIndex 008"
0x1600:09, rwrwrw, uint32, 32 bit, "SubIndex 009"
0x1600:0a, rwrwrw, uint32, 32 bit, "SubIndex 010"
0x1600:0b, rwrwrw, uint32, 32 bit, "SubIndex 011"
0x1600:0c, rwrwrw, uint32, 32 bit, "SubIndex 012"
SDO 0x1601, "RXPDO 2 Mapping Parameter "
0x1601:00, rwrwrw, uint8, 8 bit, "SubIndex 000"
0x1601:01, rwrwrw, uint32, 32 bit, "SubIndex 001"
0x1601:02, rwrwrw, uint32, 32 bit, "SubIndex 002"
0x1601:03, rwrwrw, uint32, 32 bit, "SubIndex 003"
0x1601:04, rwrwrw, uint32, 32 bit, "SubIndex 004"
0x1601:05, rwrwrw, uint32, 32 bit, "SubIndex 005"
0x1601:06, rwrwrw, uint32, 32 bit, "SubIndex 006"
0x1601:07, rwrwrw, uint32, 32 bit, "SubIndex 007"
0x1601:08, rwrwrw, uint32, 32 bit, "SubIndex 008"
0x1601:09, rwrwrw, uint32, 32 bit, "SubIndex 009"
0x1601:0a, rwrwrw, uint32, 32 bit, "SubIndex 010"
0x1601:0b, rwrwrw, uint32, 32 bit, "SubIndex 011"
0x1601:0c, rwrwrw, uint32, 32 bit, "SubIndex 012"
SDO 0x1602, "RXPDO 3 Mapping Parameter "
0x1602:00, rwrwrw, uint8, 8 bit, "SubIndex 000"
0x1602:01, rwrwrw, uint32, 32 bit, "SubIndex 001"
0x1602:02, rwrwrw, uint32, 32 bit, "SubIndex 002"
0x1602:03, rwrwrw, uint32, 32 bit, "SubIndex 003"
0x1602:04, rwrwrw, uint32, 32 bit, "SubIndex 004"
0x1602:05, rwrwrw, uint32, 32 bit, "SubIndex 005"
0x1602:06, rwrwrw, uint32, 32 bit, "SubIndex 006"
0x1602:07, rwrwrw, uint32, 32 bit, "SubIndex 007"
0x1602:08, rwrwrw, uint32, 32 bit, "SubIndex 008"
0x1602:09, rwrwrw, uint32, 32 bit, "SubIndex 009"
0x1602:0a, rwrwrw, uint32, 32 bit, "SubIndex 010"
0x1602:0b, rwrwrw, uint32, 32 bit, "SubIndex 011"
0x1602:0c, rwrwrw, uint32, 32 bit, "SubIndex 012"
SDO 0x1a00, "TXPDO 1 Mapping Parameter "
0x1a00:00, rwrwrw, uint8, 8 bit, "SubIndex 000"
0x1a00:01, rwrwrw, uint32, 32 bit, "SubIndex 001"
0x1a00:02, rwrwrw, uint32, 32 bit, "SubIndex 002"
0x1a00:03, rwrwrw, uint32, 32 bit, "SubIndex 003"
0x1a00:04, rwrwrw, uint32, 32 bit, "SubIndex 004"
0x1a00:05, rwrwrw, uint32, 32 bit, "SubIndex 005"
0x1a00:06, rwrwrw, uint32, 32 bit, "SubIndex 006"
0x1a00:07, rwrwrw, uint32, 32 bit, "SubIndex 007"
0x1a00:08, rwrwrw, uint32, 32 bit, "SubIndex 008"
0x1a00:09, rwrwrw, uint32, 32 bit, "SubIndex 009"
0x1a00:0a, rwrwrw, uint32, 32 bit, "SubIndex 010"
0x1a00:0b, rwrwrw, uint32, 32 bit, "SubIndex 011"
0x1a00:0c, rwrwrw, uint32, 32 bit, "SubIndex 012"
SDO 0x1a01, "TXPDO 2 Mapping Parameter "
0x1a01:00, rwrwrw, uint8, 8 bit, "SubIndex 000"
0x1a01:01, rwrwrw, uint32, 32 bit, "SubIndex 001"
0x1a01:02, rwrwrw, uint32, 32 bit, "SubIndex 002"
0x1a01:03, rwrwrw, uint32, 32 bit, "SubIndex 003"
0x1a01:04, rwrwrw, uint32, 32 bit, "SubIndex 004"
0x1a01:05, rwrwrw, uint32, 32 bit, "SubIndex 005"
0x1a01:06, rwrwrw, uint32, 32 bit, "SubIndex 006"
0x1a01:07, rwrwrw, uint32, 32 bit, "SubIndex 007"
0x1a01:08, rwrwrw, uint32, 32 bit, "SubIndex 008"
0x1a01:09, rwrwrw, uint32, 32 bit, "SubIndex 009"
0x1a01:0a, rwrwrw, uint32, 32 bit, "SubIndex 010"
0x1a01:0b, rwrwrw, uint32, 32 bit, "SubIndex 011"
0x1a01:0c, rwrwrw, uint32, 32 bit, "SubIndex 012"
SDO 0x1a02, "TXPDO 3 Mapping Parameter "
0x1a02:00, rwrwrw, uint8, 8 bit, "SubIndex 000"
0x1a02:01, rwrwrw, uint32, 32 bit, "SubIndex 001"
0x1a02:02, rwrwrw, uint32, 32 bit, "SubIndex 002"
0x1a02:03, rwrwrw, uint32, 32 bit, "SubIndex 003"
0x1a02:04, rwrwrw, uint32, 32 bit, "SubIndex 004"
0x1a02:05, rwrwrw, uint32, 32 bit, "SubIndex 005"
0x1a02:06, rwrwrw, uint32, 32 bit, "SubIndex 006"
0x1a02:07, rwrwrw, uint32, 32 bit, "SubIndex 007"
0x1a02:08, rwrwrw, uint32, 32 bit, "SubIndex 008"
0x1a02:09, rwrwrw, uint32, 32 bit, "SubIndex 009"
0x1a02:0a, rwrwrw, uint32, 32 bit, "SubIndex 010"
0x1a02:0b, rwrwrw, uint32, 32 bit, "SubIndex 011"
0x1a02:0c, rwrwrw, uint32, 32 bit, "SubIndex 012"
SDO 0x1c00, "Sync manager type"
0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001"
0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002"
0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003"
0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004"
SDO 0x1c12, "RxPDO assign"
0x1c12:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
0x1c12:01, rwr-r-, uint16, 16 bit, "SubIndex 001"
0x1c12:02, rwr-r-, uint16, 16 bit, "SubIndex 002"
0x1c12:03, rwr-r-, uint16, 16 bit, "SubIndex 003"
SDO 0x1c13, "TxPDO assign"
0x1c13:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
0x1c13:01, rwr-r-, uint16, 16 bit, "SubIndex 001"
0x1c13:02, rwr-r-, uint16, 16 bit, "SubIndex 002"
0x1c13:03, rwr-r-, uint16, 16 bit, "SubIndex 003"
SDO 0x1c32, "SM output parameter"
0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1c32:01, rwr-r-, uint16, 16 bit, "Synchronization Type"
0x1c32:02, r-r-r-, uint32, 32 bit, "Cycle Time"
0x1c32:03,

, type 0000, 32 bit, "SubIndex 003"
0x1c32:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported"
0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time"
0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time"
0x1c32:07,

, type 0000, 32 bit, "SubIndex 007"
0x1c32:08, rwrwrw, uint16, 16 bit, "Get Cycle Time"
0x1c32:09, r-r-r-, uint32, 32 bit, "Delay Time"
0x1c32:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time"
0x1c32:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed"
0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small"
0x1c32:0d,

, type 0000, 16 bit, "SubIndex 013"
0x1c32:0e,

, type 0000, 16 bit, "SubIndex 014"
0x1c32:0f,

, type 0000, 32 bit, "SubIndex 015"
0x1c32:10,

, type 0000, 32 bit, "SubIndex 016"
0x1c32:11,

, type 0000, 32 bit, "SubIndex 017"
0x1c32:12,

, type 0000, 32 bit, "SubIndex 018"
0x1c32:13,

, type 0000, 0 bit, "SubIndex 019"
0x1c32:14,

, type 0000, 0 bit, "SubIndex 020"
0x1c32:15,

, type 0000, 0 bit, "SubIndex 021"
0x1c32:16,

, type 0000, 0 bit, "SubIndex 022"
0x1c32:17,

, type 0000, 0 bit, "SubIndex 023"
0x1c32:18,

, type 0000, 0 bit, "SubIndex 024"
0x1c32:19,

, type 0000, 0 bit, "SubIndex 025"
0x1c32:1a,

, type 0000, 0 bit, "SubIndex 026"
0x1c32:1b,

, type 0000, 0 bit, "SubIndex 027"
0x1c32:1c,

, type 0000, 0 bit, "SubIndex 028"
0x1c32:1d,

, type 0000, 0 bit, "SubIndex 029"
0x1c32:1e,

, type 0000, 0 bit, "SubIndex 030"
0x1c32:1f,

, type 0000, 0 bit, "SubIndex 031"
0x1c32:20, r-r-r-, bool, 1 bit, "Sync Error"
SDO 0x1c33, "SM input parameter"
0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1c33:01, rwr-r-, uint16, 16 bit, "Synchronization Type"
0x1c33:02, r-r-r-, uint32, 32 bit, "Cycle Time"
0x1c33:03,

, type 0000, 32 bit, "SubIndex 003"
0x1c33:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported"
0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time"
0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time"
0x1c33:07,

, type 0000, 32 bit, "SubIndex 007"
0x1c33:08, rwrwrw, uint16, 16 bit, "Get Cycle Time"
0x1c33:09, r-r-r-, uint32, 32 bit, "Delay Time"
0x1c33:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time"
0x1c33:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed"
0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small"
0x1c33:0d,

, type 0000, 16 bit, "SubIndex 013"
0x1c33:0e,

, type 0000, 16 bit, "SubIndex 014"
0x1c33:0f,

, type 0000, 32 bit, "SubIndex 015"
0x1c33:10,

, type 0000, 32 bit, "SubIndex 016"
0x1c33:11,

, type 0000, 32 bit, "SubIndex 017"
0x1c33:12,

, type 0000, 32 bit, "SubIndex 018"
0x1c33:13,

, type 0000, 0 bit, "SubIndex 019"
0x1c33:14,

, type 0000, 0 bit, "SubIndex 020"
0x1c33:15,

, type 0000, 0 bit, "SubIndex 021"
0x1c33:16,

, type 0000, 0 bit, "SubIndex 022"
0x1c33:17,

, type 0000, 0 bit, "SubIndex 023"
0x1c33:18,

, type 0000, 0 bit, "SubIndex 024"
0x1c33:19,

, type 0000, 0 bit, "SubIndex 025"
0x1c33:1a,

, type 0000, 0 bit, "SubIndex 026"
0x1c33:1b,

, type 0000, 0 bit, "SubIndex 027"
0x1c33:1c,

, type 0000, 0 bit, "SubIndex 028"
0x1c33:1d,

, type 0000, 0 bit, "SubIndex 029"
0x1c33:1e,

, type 0000, 0 bit, "SubIndex 030"
0x1c33:1f,

, type 0000, 0 bit, "SubIndex 031"
0x1c33:20, r-r-r-, bool, 1 bit, "Sync Error"
SDO 0x2000, "Servo parameters"
0x2000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2000:01, rwrwrw, uint16, 16 bit, "Motor model"
0x2000:02, rwrwrw, uint16, 16 bit, "Driver model"
0x2000:03, r-r-r-, uint16, 16 bit, "MCU software version"
0x2000:04,

, type 0000, 16 bit, "SubIndex 004"
0x2000:05,

, type 0000, 16 bit, "SubIndex 005"
0x2000:06, r-r-r-, uint16, 16 bit, "Driver hardware version"
0x2000:07,

, type 0000, 16 bit, "SubIndex 007"
0x2000:08, r-r-r-, uint32, 32 bit, "Nonstandard model"
0x2000:09,

, type 0000, 16 bit, "SubIndex 009"
0x2000:0a,

, type 0000, 16 bit, "SubIndex 010"
0x2000:0b,

, type 0000, 16 bit, "SubIndex 011"
0x2000:0c,

, type 0000, 32 bit, "SubIndex 012"
0x2000:0d,

, type 0000, 16 bit, "SubIndex 013"
0x2000:0e,

, type 0000, 16 bit, "SubIndex 014"
0x2000:0f,

, type 0000, 16 bit, "SubIndex 015"
0x2000:10,

, type 0000, 16 bit, "SubIndex 016"
0x2000:11, rwrwrw, type 0000, 16 bit, "SubIndex 017"
0x2000:12, rwrwrw, uint16, 16 bit, "Motor rate power"
0x2000:13, rwrwrw, uint16, 16 bit, "Motor rate voltage"
0x2000:14, rwrwrw, uint16, 16 bit, "Motor rate current"
0x2000:15, rwrwrw, uint16, 16 bit, "Motor rate speed"
0x2000:16, rwrwrw, uint16, 16 bit, "Motor rate max speed"
0x2000:17, rwrwrw, uint16, 16 bit, "Motor rate torque"
0x2000:18, rwrwrw, uint16, 16 bit, "Motor max torque"
0x2000:19, rwrwrw, uint16, 16 bit, "Motor inertia"
0x2000:1a, rwrwrw, uint16, 16 bit, "Motor pole-pairs"
0x2000:1b, rwrwrw, uint16, 16 bit, "Motor resistance"
0x2000:1c, rwrwrw, uint16, 16 bit, "Motor inductance axis_q"
0x2000:1d, rwrwrw, uint16, 16 bit, "Motor inductance axis_d"
0x2000:1e, rwrwrw, uint16, 16 bit, "Motor BEMF"
0x2000:1f, rwrwrw, uint16, 16 bit, "Motor Kt"
0x2000:20, rwrwrw, uint16, 16 bit, "Motor Te"
0x2000:21, rwrwrw, uint16, 16 bit, "Motor Tm"
0x2000:22,

, type 0000, 16 bit, "SubIndex 034"
0x2000:23, rwrwrw, uint16, 16 bit, "Encoder type"
0x2000:24, rwrwrw, uint32, 32 bit, "Encoder offset"
0x2000:25,

, type 0000, 32 bit, "SubIndex 037"
0x2000:26, rwrwrw, uint16, 16 bit, "Encoder resolution(bits)"
0x2000:27,

, type 0000, 16 bit, "SubIndex 039"
0x2000:28,

, type 0000, 16 bit, "SubIndex 040"
0x2000:29,

, type 0000, 16 bit, "SubIndex 041"
0x2000:2a,

, type 0000, 16 bit, "SubIndex 042"
0x2000:2b,

, type 0000, 16 bit, "SubIndex 043"
0x2000:2c,

, type 0000, 16 bit, "SubIndex 044"
0x2000:2d,

, type 0000, 16 bit, "SubIndex 045"
0x2000:2e,

, type 0000, 16 bit, "SubIndex 046"
0x2000:2f,

, type 0000, 16 bit, "SubIndex 047"
0x2000:30,

, type 0000, 16 bit, "SubIndex 048"
0x2000:31,

, type 0000, 16 bit, "SubIndex 049"
0x2000:32,

, type 0000, 16 bit, "SubIndex 050"
0x2000:33,

, type 0000, 16 bit, "SubIndex 051"
0x2000:34,

, type 0000, 16 bit, "SubIndex 052"
0x2000:35,

, type 0000, 16 bit, "SubIndex 053"
0x2000:36,

, type 0000, 16 bit, "SubIndex 054"
0x2000:37,

, type 0000, 16 bit, "SubIndex 055"
0x2000:38, rwrwrw, uint16, 16 bit, "Encoder version"
0x2000:39,

, type 0000, 16 bit, "SubIndex 057"
0x2000:3a,

, type 0000, 16 bit, "SubIndex 058"
0x2000:3b,

, type 0000, 16 bit, "SubIndex 059"
0x2000:3c,

, type 0000, 16 bit, "SubIndex 060"
0x2000:3d, rwrwrw, uint16, 16 bit, "SubIndex 061"
0x2000:3e, rwrwrw, uint16, 16 bit, "SubIndex 062"
SDO 0x2001, "Basic control parameters"
0x2001:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2001:01, rwrwrw, uint16, 16 bit, "Control mode selection"
0x2001:02, rwrwrw, uint16, 16 bit, "Rotating direction"
0x2001:03,

, type 0000, 16 bit, "SubIndex 003"
0x2001:04, rwrwrw, uint16, 16 bit, "Absolute position mode select"
0x2001:05, rwrwrw, uint16, 16 bit, "Brake off delay at servo off"
0x2001:06, rwrwrw, uint16, 16 bit, "Speed limit of brake off"
0x2001:07, rwrwrw, uint16, 16 bit, "Stop mode at servo disable"
0x2001:08, rwrwrw, uint16, 16 bit, "Stop mode at over limit"
0x2001:09, rwrwrw, uint16, 16 bit, "Stop mode at fault No.2"
0x2001:0a, rwrwrw, uint16, 16 bit, "Stop mode at fault No.1"
0x2001:0b,

, type 0000, 16 bit, "SubIndex 011"
0x2001:0c, rwrwrw, uint16, 16 bit, "Brake on delay at servo on"
0x2001:0d, rwrwrw, uint16, 16 bit, "Receive command delay at brake on"
0x2001:0e, rwrwrw, uint16, 16 bit, "Servo off delay at brake off"
0x2001:0f,

, type 0000, 16 bit, "SubIndex 015"
0x2001:10,

, type 0000, 16 bit, "SubIndex 016"
0x2001:11,

, type 0000, 16 bit, "SubIndex 017"
0x2001:12, rwrwrw, uint16, 16 bit, "Warning display select"
0x2001:13,

, type 0000, 16 bit, "SubIndex 019"
0x2001:14,

, type 0000, 16 bit, "SubIndex 020"
0x2001:15, r-r-r-, uint16, 16 bit, "Allowed minimum braking resistance"
0x2001:16,

, type 0000, 16 bit, "SubIndex 022"
0x2001:17,

, type 0000, 16 bit, "SubIndex 023"
0x2001:18, rwrwrw, uint16, 16 bit, "Heat dissipation coeff of braking resistor"
0x2001:19, rwrwrw, uint16, 16 bit, "Braking resistor select"
0x2001:1a, rwrwrw, uint16, 16 bit, "Power of external braking resistor"
0x2001:1b, rwrwrw, uint16, 16 bit, "Resistance of external braking resistor"
0x2001:1c, rwrwrw, uint16, 16 bit, "Braking voltage"
0x2001:1d,

, type 0000, 16 bit, "SubIndex 029"
0x2001:1e,

, type 0000, 16 bit, "SubIndex 030"
0x2001:1f,

, type 0000, 16 bit, "SubIndex 031"
0x2001:20,

, type 0000, 16 bit, "SubIndex 032"
0x2001:21,

, type 0000, 16 bit, "SubIndex 033"
0x2001:22,

, type 0000, 16 bit, "SubIndex 034"
0x2001:23,

, type 0000, 16 bit, "SubIndex 035"
0x2001:24, rwrwrw, uint16, 16 bit, "Default monitoring object of led panel"
0x2001:25,

, type 0000, 16 bit, "SubIndex 037"
0x2001:26,

, type 0000, 16 bit, "SubIndex 038"
0x2001:27,

, type 0000, 16 bit, "SubIndex 039"
0x2001:28, rwrwrw, uint16, 16 bit, "Password"
0x2001:29,

, type 0000, 16 bit, "SubIndex 041"
0x2001:2a,

, type 0000, 16 bit, "SubIndex 042"
0x2001:2b,

, type 0000, 16 bit, "SubIndex 043"
0x2001:2c,

, type 0000, 16 bit, "SubIndex 044"
0x2001:2d,

, type 0000, 16 bit, "SubIndex 045"
0x2001:2e,

, type 0000, 16 bit, "SubIndex 046"
0x2001:2f,

, type 0000, 16 bit, "SubIndex 047"
0x2001:30,

, type 0000, 16 bit, "SubIndex 048"
0x2001:31, rwrwrw, uint16, 16 bit, "Over voltage alarm threshold"
0x2001:32, rwrwrw, uint16, 16 bit, "Under voltage alarm threshold"
0x2001:33, rwrwrw, uint16, 16 bit, "Disable encoder eeprom"
0x2001:34, rwrwrw, uint16, 16 bit, "Disable encoder multi-turn overflow alarm"
0x2001:35, rwrwrw, uint16, 16 bit, "Enable parameters save at power off"
0x2001:36, rwrwrw, uint16, 16 bit, "Soft limit select"
0x2001:37,

, type 0000, 16 bit, "SubIndex 055"
0x2001:38, rwrwrw, uint16, 16 bit, "Over speed setting"
0x2001:39, rwrwrw, uint16, 16 bit, "Enable runaway protection"
0x2001:3a, rwrwrw, uint16, 16 bit, "Detection time of locked rotor overheat"
0x2001:3b, rwrwrw, uint16, 16 bit, "Enable locked rotor overheat alarm"
0x2001:3c, rwrwrw, uint16, 16 bit, "Motor overload protection gain"
0x2001:3d,

, type 0000, 16 bit, "SubIndex 061"
0x2001:3e, rwrwrw, uint16, 16 bit, "Disable motor overload alarm"
0x2001:3f,

, type 0000, 16 bit, "SubIndex 063"
0x2001:40,

, type 0000, 16 bit, "SubIndex 064"
0x2001:41,

, type 0000, 16 bit, "SubIndex 065"
0x2001:42,

, type 0000, 16 bit, "SubIndex 066"
0x2001:43,

, type 0000, 16 bit, "SubIndex 067"
0x2001:44,

, type 0000, 16 bit, "SubIndex 068"
0x2001:45,

, type 0000, 16 bit, "SubIndex 069"
0x2001:46,

, type 0000, 16 bit, "SubIndex 070"
0x2001:47,

, type 0000, 16 bit, "SubIndex 071"
0x2001:48,

, type 0000, 16 bit, "SubIndex 072"
0x2001:49,

, type 0000, 16 bit, "SubIndex 073"
0x2001:4a,

, type 0000, 16 bit, "SubIndex 074"
0x2001:4b,

, type 0000, 16 bit, "SubIndex 075"
0x2001:4c,

, type 0000, 16 bit, "SubIndex 076"
0x2001:4d,

, type 0000, 16 bit, "SubIndex 077"
0x2001:4e,

, type 0000, 16 bit, "SubIndex 078"
0x2001:4f, rwrwrw, uint16, 16 bit, "Disable pwm overtime alarm"
0x2001:50, rwrwrw, uint16, 16 bit, "ECAT limit warning locked"
SDO 0x2002, "Input/Output terminal parameters"
0x2002:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2002:01, rwrwrw, uint16, 16 bit, "IN1 function selection"
0x2002:02, rwrwrw, uint16, 16 bit, "IN1 logic selection"
0x2002:03, rwrwrw, uint16, 16 bit, "IN2 function selection"
0x2002:04, rwrwrw, uint16, 16 bit, "IN2 logic selection"
0x2002:05, rwrwrw, uint16, 16 bit, "IN3 function selection"
0x2002:06, rwrwrw, uint16, 16 bit, "IN3 logic selection"
0x2002:07, rwrwrw, uint16, 16 bit, "IN4 function selection"
0x2002:08, rwrwrw, uint16, 16 bit, "IN4 logic selection"
0x2002:09, rwrwrw, uint16, 16 bit, "IN5 function selection"
0x2002:0a, rwrwrw, uint16, 16 bit, "IN5 logic selection"
0x2002:0b, rwrwrw, uint16, 16 bit, "IN6 function selection"
0x2002:0c, rwrwrw, uint16, 16 bit, "IN6 logic selection"
0x2002:0d, rwrwrw, uint16, 16 bit, "IN7 function selection"
0x2002:0e, rwrwrw, uint16, 16 bit, "IN7 logic selection"
0x2002:0f, rwrwrw, uint16, 16 bit, "IN8 function selection"
0x2002:10, rwrwrw, uint16, 16 bit, "IN8 logic selection"
0x2002:11, rwrwrw, uint16, 16 bit, "IN9 function selection"
0x2002:12, rwrwrw, uint16, 16 bit, "IN9 logic selection"
0x2002:13,

, type 0000, 16 bit, "SubIndex 019"
0x2002:14,

, type 0000, 16 bit, "SubIndex 020"
0x2002:15,

, type 0000, 16 bit, "SubIndex 021"
0x2002:16,

, type 0000, 16 bit, "SubIndex 022"
0x2002:17,

, type 0000, 16 bit, "SubIndex 023"
0x2002:18,

, type 0000, 16 bit, "SubIndex 024"
0x2002:19,

, type 0000, 16 bit, "SubIndex 025"
0x2002:1a,

, type 0000, 16 bit, "SubIndex 026"
0x2002:1b,

, type 0000, 16 bit, "SubIndex 027"
0x2002:1c,

, type 0000, 16 bit, "SubIndex 028"
0x2002:1d,

, type 0000, 16 bit, "SubIndex 029"
0x2002:1e,

, type 0000, 16 bit, "SubIndex 030"
0x2002:1f,

, type 0000, 16 bit, "SubIndex 031"
0x2002:20,

, type 0000, 16 bit, "SubIndex 032"
0x2002:21, rwrwrw, uint16, 16 bit, "OUT1 function selection"
0x2002:22, rwrwrw, uint16, 16 bit, "OUT1 logic selection"
0x2002:23, rwrwrw, uint16, 16 bit, "OUT2 function selection"
0x2002:24, rwrwrw, uint16, 16 bit, "OUT2 logic selection"
0x2002:25, rwrwrw, uint16, 16 bit, "OUT3 function selection"
0x2002:26, rwrwrw, uint16, 16 bit, "OUT3 logic selection"
0x2002:27, rwrwrw, uint16, 16 bit, "OUT4 function selection"
0x2002:28, rwrwrw, uint16, 16 bit, "OUT4 logic selection"
0x2002:29,

, type 0000, 16 bit, "SubIndex 041"
0x2002:2a,

, type 0000, 16 bit, "SubIndex 042"
0x2002:2b,

, type 0000, 16 bit, "SubIndex 043"
0x2002:2c,

, type 0000, 16 bit, "SubIndex 044"
0x2002:2d,

, type 0000, 16 bit, "SubIndex 045"
0x2002:2e,

, type 0000, 16 bit, "SubIndex 046"
0x2002:2f,

, type 0000, 16 bit, "SubIndex 047"
0x2002:30,

, type 0000, 16 bit, "SubIndex 048"
0x2002:31,

, type 0000, 16 bit, "SubIndex 049"
0x2002:32,

, type 0000, 16 bit, "SubIndex 050"
0x2002:33,

, type 0000, 16 bit, "SubIndex 051"
0x2002:34,

, type 0000, 16 bit, "SubIndex 052"
0x2002:35,

, type 0000, 16 bit, "SubIndex 053"
0x2002:36,

, type 0000, 16 bit, "SubIndex 054"
0x2002:37, rwrwrw, uint16, 16 bit, "Reserve 1"
0x2002:38, rwrwrw, uint16, 16 bit, "Reserve 2"
0x2002:39, rwrwrw, uint16, 16 bit, "Reserve 3"
0x2002:3a, rwrwrw, uint16, 16 bit, "Reserve 4"
0x2002:3b, rwrwrw, uint16, 16 bit, "Reserve 5"
SDO 0x2003, "Position control parameters"
0x2003:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2003:01,

, type 0000, 16 bit, "SubIndex 001"
0x2003:02,

, type 0000, 16 bit, "SubIndex 002"
0x2003:03,

, type 0000, 16 bit, "SubIndex 003"
0x2003:04,

, type 0000, 16 bit, "SubIndex 004"
0x2003:05,

, type 0000, 16 bit, "SubIndex 005"
0x2003:06,

, type 0000, 16 bit, "SubIndex 006"
0x2003:07,

, type 0000, 16 bit, "SubIndex 007"
0x2003:08,

, type 0000, 16 bit, "SubIndex 008"
0x2003:09,

, type 0000, 16 bit, "SubIndex 009"
0x2003:0a,

, type 0000, 16 bit, "SubIndex 010"
0x2003:0b,

, type 0000, 16 bit, "SubIndex 011"
0x2003:0c,

, type 0000, 16 bit, "SubIndex 012"
0x2003:0d,

, type 0000, 16 bit, "SubIndex 013"
0x2003:0e,

, type 0000, 16 bit, "SubIndex 014"
0x2003:0f,

, type 0000, 16 bit, "SubIndex 015"
0x2003:10,

, type 0000, 16 bit, "SubIndex 016"
0x2003:11,

, type 0000, 16 bit, "SubIndex 017"
0x2003:12,

, type 0000, 16 bit, "SubIndex 018"
0x2003:13, rwrwrw, uint16, 16 bit, "Position reach hold time"
0x2003:14, rwrwrw, uint16, 16 bit, "Position reach window unit select"
0x2003:15,

, type 0000, 16 bit, "SubIndex 021"
0x2003:16,

, type 0000, 16 bit, "SubIndex 022"
0x2003:17,

, type 0000, 16 bit, "SubIndex 023"
0x2003:18, rwrwrw, uint16, 16 bit, "Follow error clear mode"
0x2003:19,

, type 0000, 16 bit, "SubIndex 025"
0x2003:1a,

, type 0000, 16 bit, "SubIndex 026"
0x2003:1b,

, type 0000, 16 bit, "SubIndex 027"
0x2003:1c,

, type 0000, 16 bit, "SubIndex 028"
0x2003:1d,

, type 0000, 16 bit, "SubIndex 029"
0x2003:1e,

, type 0000, 16 bit, "SubIndex 030"
0x2003:1f,

, type 0000, 16 bit, "SubIndex 031"
0x2003:20,

, type 0000, 16 bit, "SubIndex 032"
0x2003:21,

, type 0000, 16 bit, "SubIndex 033"
0x2003:22,

, type 0000, 16 bit, "SubIndex 034"
0x2003:23,

, type 0000, 16 bit, "SubIndex 035"
0x2003:24,

, type 0000, 16 bit, "SubIndex 036"
0x2003:25,

, type 0000, 16 bit, "SubIndex 037"
0x2003:26,

, type 0000, 16 bit, "SubIndex 038"
0x2003:27,

, type 0000, 16 bit, "SubIndex 039"
0x2003:28,

, type 0000, 16 bit, "SubIndex 040"
0x2003:29, rwrwrw, uint16, 16 bit, "Control of home return"
0x2003:2a,

, type 0000, 16 bit, "SubIndex 042"
0x2003:2b,

, type 0000, 16 bit, "SubIndex 043"
0x2003:2c,

, type 0000, 16 bit, "SubIndex 044"
0x2003:2d,

, type 0000, 16 bit, "SubIndex 045"
0x2003:2e,

, type 0000, 16 bit, "SubIndex 046"
0x2003:2f,

, type 0000, 16 bit, "SubIndex 047"
0x2003:30,

, type 0000, 16 bit, "SubIndex 048"
0x2003:31, rwrwrw, uint16, 16 bit, "Homing wait stable time"
0x2003:32,

, type 0000, 16 bit, "SubIndex 050"
0x2003:33,

, type 0000, 16 bit, "SubIndex 051"
0x2003:34,

, type 0000, 16 bit, "SubIndex 052"
0x2003:35,

, type 0000, 16 bit, "SubIndex 053"
0x2003:36,

, type 0000, 16 bit, "SubIndex 054"
0x2003:37,

, type 0000, 16 bit, "SubIndex 055"
0x2003:38,

, type 0000, 16 bit, "SubIndex 056"
0x2003:39,

, type 0000, 16 bit, "SubIndex 057"
0x2003:3a,

, type 0000, 16 bit, "SubIndex 058"
0x2003:3b,

, type 0000, 16 bit, "SubIndex 059"
0x2003:3c,

, type 0000, 16 bit, "SubIndex 060"
0x2003:3d,

, type 0000, 16 bit, "SubIndex 061"
0x2003:3e,

, type 0000, 16 bit, "SubIndex 062"
0x2003:3f,

, type 0000, 16 bit, "SubIndex 063"
0x2003:40, rwrwrw, uint16, 16 bit, "Encoder multi-turns offset"
0x2003:41, rwrwrw, uint32, 32 bit, "Absolute position offset low 32bits"
0x2003:42,

, type 0000, 16 bit, "SubIndex 066"
0x2003:43, rwrwrw, uint32, 32 bit, "Absolute position offset high 32bits"
0x2003:44,

, type 0000, 16 bit, "SubIndex 068"
0x2003:45, rwrwrw, uint16, 16 bit, "Reserve 1"
0x2003:46, rwrwrw, uint16, 16 bit, "Reserve 2"
0x2003:47, rwrwrw, uint32, 32 bit, "Reserve 3"
0x2003:48,

, type 0000, 16 bit, "SubIndex 072"
0x2003:49, rwrwrw, uint32, 32 bit, "Reserve 4"
SDO 0x2004, "Speed control parameters"
0x2004:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2004:01,

, type 0000, 16 bit, "SubIndex 001"
0x2004:02,

, type 0000, 16 bit, "SubIndex 002"
0x2004:03,

, type 0000, 16 bit, "SubIndex 003"
0x2004:04,

, type 0000, 16 bit, "SubIndex 004"
0x2004:05, rwrwrw, uint16, 16 bit, "Jog speed"
0x2004:06, rwrwrw, uint16, 16 bit, "Jog acceleration time"
0x2004:07, rwrwrw, uint16, 16 bit, "Jog deceleration time"
0x2004:08, rwrwrw, uint16, 16 bit, "Speed limit for zero clamp"
0x2004:09,

, type 0000, 16 bit, "SubIndex 009"
0x2004:0a,

, type 0000, 16 bit, "SubIndex 010"
0x2004:0b,

, type 0000, 16 bit, "SubIndex 011"
0x2004:0c,

, type 0000, 16 bit, "SubIndex 012"
0x2004:0d,

, type 0000, 16 bit, "SubIndex 013"
0x2004:0e,

, type 0000, 16 bit, "SubIndex 014"
0x2004:0f,

, type 0000, 16 bit, "SubIndex 015"
0x2004:10, rwrwrw, uint16, 16 bit, "Speed feedforward setting"
0x2004:11,

, type 0000, 16 bit, "SubIndex 017"
0x2004:12,

, type 0000, 16 bit, "SubIndex 018"
0x2004:13,

, type 0000, 16 bit, "SubIndex 019"
0x2004:14,

, type 0000, 16 bit, "SubIndex 020"
0x2004:15,

, type 0000, 16 bit, "SubIndex 021"
0x2004:16,

, type 0000, 16 bit, "SubIndex 022"
0x2004:17,

, type 0000, 16 bit, "SubIndex 023"
0x2004:18,

, type 0000, 16 bit, "SubIndex 024"
0x2004:19,

, type 0000, 16 bit, "SubIndex 025"
0x2004:1a,

, type 0000, 16 bit, "SubIndex 026"
0x2004:1b,

, type 0000, 16 bit, "SubIndex 027"
0x2004:1c,

, type 0000, 16 bit, "SubIndex 028"
0x2004:1d,

, type 0000, 16 bit, "SubIndex 029"
0x2004:1e, rwrwrw, uint16, 16 bit, "Filter time for speed display"
SDO 0x2005, "Torque control parameters"
0x2005:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2005:01,

, type 0000, 16 bit, "SubIndex 001"
0x2005:02,

, type 0000, 16 bit, "SubIndex 002"
0x2005:03,

, type 0000, 16 bit, "SubIndex 003"
0x2005:04,

, type 0000, 16 bit, "SubIndex 004"
0x2005:05,

, type 0000, 16 bit, "SubIndex 005"
0x2005:06,

, type 0000, 16 bit, "SubIndex 006"
0x2005:07, rwrwrw, uint16, 16 bit, "Torque limit source selection"
0x2005:08,

, type 0000, 16 bit, "SubIndex 008"
0x2005:09, rwrwrw, uint16, 16 bit, "Internal forward torque limit"
0x2005:0a, rwrwrw, uint16, 16 bit, "Internal reverse torque limit"
0x2005:0b, rwrwrw, uint16, 16 bit, "External forward torque limit"
0x2005:0c, rwrwrw, uint16, 16 bit, "External reverse torque limit"
0x2005:0d, rwrwrw, uint16, 16 bit, "Speed limit source for torque mode"
0x2005:0e,

, type 0000, 16 bit, "SubIndex 014"
0x2005:0f, rwrwrw, uint16, 16 bit, "Forward speed limit"
0x2005:10, rwrwrw, uint16, 16 bit, "Reverse speed limit"
0x2005:11, rwrwrw, uint16, 16 bit, "Base value for torque reach"
0x2005:12, rwrwrw, uint16, 16 bit, "Valid value for torque reach"
0x2005:13, rwrwrw, uint16, 16 bit, "Invalid value for torque reach"
0x2005:14,

, type 0000, 16 bit, "SubIndex 020"
0x2005:15,

, type 0000, 16 bit, "SubIndex 021"
0x2005:16,

, type 0000, 16 bit, "SubIndex 022"
0x2005:17,

, type 0000, 16 bit, "SubIndex 023"
0x2005:18,

, type 0000, 16 bit, "SubIndex 024"
0x2005:19,

, type 0000, 16 bit, "SubIndex 025"
0x2005:1a,

, type 0000, 16 bit, "SubIndex 026"
0x2005:1b,

, type 0000, 16 bit, "SubIndex 027"
0x2005:1c,

, type 0000, 16 bit, "SubIndex 028"
0x2005:1d,

, type 0000, 16 bit, "SubIndex 029"
0x2005:1e,

, type 0000, 16 bit, "SubIndex 030"
0x2005:1f,

, type 0000, 16 bit, "SubIndex 031"
0x2005:20,

, type 0000, 16 bit, "SubIndex 032"
0x2005:21,

, type 0000, 16 bit, "SubIndex 033"
0x2005:22,

, type 0000, 16 bit, "SubIndex 034"
0x2005:23,

, type 0000, 16 bit, "SubIndex 035"
0x2005:24,

, type 0000, 16 bit, "SubIndex 036"
0x2005:25,

, type 0000, 16 bit, "SubIndex 037"
0x2005:26,

, type 0000, 16 bit, "SubIndex 038"
0x2005:27,

, type 0000, 16 bit, "SubIndex 039"
0x2005:28,

, type 0000, 16 bit, "SubIndex 040"
0x2005:29,

, type 0000, 16 bit, "SubIndex 041"
0x2005:2a,

, type 0000, 16 bit, "SubIndex 042"
0x2005:2b,

, type 0000, 16 bit, "SubIndex 043"
0x2005:2c,

, type 0000, 16 bit, "SubIndex 044"
0x2005:2d, rwrwrw, uint16, 16 bit, "Torque feedforward setting"
0x2005:2e, rwrwrw, uint16, 16 bit, "Reserve 1"
0x2005:2f, rwrwrw, uint16, 16 bit, "Reserve 2"
0x2005:30, rwrwrw, uint16, 16 bit, "Reserve 3"
0x2005:31, rwrwrw, uint16, 16 bit, "Torque command filter time"
0x2005:32, rwrwrw, uint16, 16 bit, "Second torque command filter time"
0x2005:33, rwrwrw, uint16, 16 bit, "Emergency stop torque"
SDO 0x2006, "Gain parameters"
0x2006:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2006:01, rwrwrw, uint16, 16 bit, "Speed loop gain"
0x2006:02, rwrwrw, uint16, 16 bit, "Speed loop integral time"
0x2006:03, rwrwrw, uint16, 16 bit, "Position loop gain"
0x2006:04, rwrwrw, uint16, 16 bit, "The second speed loop gain"
0x2006:05, rwrwrw, uint16, 16 bit, "The second speed loop integral time"
0x2006:06, rwrwrw, uint16, 16 bit, "The second position loop gain"
0x2006:07,

, type 0000, 16 bit, "SubIndex 007"
0x2006:08,

, type 0000, 16 bit, "SubIndex 008"
0x2006:09,

, type 0000, 16 bit, "SubIndex 009"
0x2006:0a,

, type 0000, 16 bit, "SubIndex 010"
0x2006:0b,

, type 0000, 16 bit, "SubIndex 011"
0x2006:0c, rwrwrw, uint16, 16 bit, "Reserve 1"
0x2006:0d, rwrwrw, uint16, 16 bit, "Load inertia ratio"
0x2006:0e,

, type 0000, 16 bit, "SubIndex 014"
0x2006:0f, rwrwrw, uint16, 16 bit, "Speed feedforward filter time"
0x2006:10, rwrwrw, uint16, 16 bit, "Speed feedforward gain"
0x2006:11, rwrwrw, uint16, 16 bit, "Torque feedforward filter time"
0x2006:12, rwrwrw, uint16, 16 bit, "Torque feedforward gain"
0x2006:13, rwrwrw, uint16, 16 bit, "Speed feedback selection"
0x2006:14, rwrwrw, uint16, 16 bit, "Speed feedback average filter"
0x2006:15, rwrwrw, uint16, 16 bit, "Cutoff frequency of speed feedback filter"
0x2006:16, rwrwrw, uint16, 16 bit, "PDFF control coefficient"
0x2006:17, rwrwrw, uint16, 16 bit, "Reserve 2"
0x2006:18,

, type 0000, 16 bit, "SubIndex 024"
0x2006:19,

, type 0000, 16 bit, "SubIndex 025"
0x2006:1a,

, type 0000, 16 bit, "SubIndex 026"
0x2006:1b,

, type 0000, 16 bit, "SubIndex 027"
0x2006:1c,

, type 0000, 16 bit, "SubIndex 028"
0x2006:1d,

, type 0000, 16 bit, "SubIndex 029"
0x2006:1e,

, type 0000, 16 bit, "SubIndex 030"
0x2006:1f,

, type 0000, 16 bit, "SubIndex 031"
0x2006:20,

, type 0000, 16 bit, "SubIndex 032"
0x2006:21,

, type 0000, 16 bit, "SubIndex 033"
0x2006:22,

, type 0000, 16 bit, "SubIndex 034"
0x2006:23,

, type 0000, 16 bit, "SubIndex 035"
0x2006:24,

, type 0000, 16 bit, "SubIndex 036"
0x2006:25,

, type 0000, 16 bit, "SubIndex 037"
0x2006:26,

, type 0000, 16 bit, "SubIndex 038"
0x2006:27,

, type 0000, 16 bit, "SubIndex 039"
0x2006:28,

, type 0000, 16 bit, "SubIndex 040"
0x2006:29,

, type 0000, 16 bit, "SubIndex 041"
0x2006:2a,

, type 0000, 16 bit, "SubIndex 042"
0x2006:2b,

, type 0000, 16 bit, "SubIndex 043"
0x2006:2c,

, type 0000, 16 bit, "SubIndex 044"
0x2006:2d,

, type 0000, 16 bit, "SubIndex 045"
0x2006:2e,

, type 0000, 16 bit, "SubIndex 046"
0x2006:2f,

, type 0000, 16 bit, "SubIndex 047"
0x2006:30,

, type 0000, 16 bit, "SubIndex 048"
0x2006:31,

, type 0000, 16 bit, "SubIndex 049"
0x2006:32,

, type 0000, 16 bit, "SubIndex 050"
0x2006:33, rwrwrw, uint16, 16 bit, "The second gain mode selection"
0x2006:34, rwrwrw, uint16, 16 bit, "Gain switching condition"
0x2006:35, rwrwrw, uint16, 16 bit, "Gain switching delay time"
0x2006:36, rwrwrw, uint16, 16 bit, "Gain switching level"
0x2006:37, rwrwrw, uint16, 16 bit, "Gain switching hysteresis"
0x2006:38, rwrwrw, uint16, 16 bit, "Position loop gain switching time"
0x2006:39,

, type 0000, 16 bit, "SubIndex 057"
0x2006:3a,

, type 0000, 16 bit, "SubIndex 058"
0x2006:3b,

, type 0000, 16 bit, "SubIndex 059"
0x2006:3c,

, type 0000, 16 bit, "SubIndex 060"
0x2006:3d, rwrwrw, uint16, 16 bit, "Current loop gain of axis_d"
0x2006:3e, rwrwrw, uint16, 16 bit, "Current loop integral time of axis_d"
0x2006:3f, rwrwrw, uint16, 16 bit, "Reserve 3"
0x2006:40, rwrwrw, uint16, 16 bit, "Current loop gain of axis_q"
0x2006:41, rwrwrw, uint16, 16 bit, "Current loop integral time of axis_q"
0x2006:42, rwrwrw, uint16, 16 bit, "Reserve 4"
SDO 0x2007, "Auto tuning parameters"
0x2007:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2007:01, rwrwrw, uint16, 16 bit, "Auto tuning mode"
0x2007:02, rwrwrw, uint16, 16 bit, "Rigidity level selection"
0x2007:03,

, type 0000, 16 bit, "SubIndex 003"
0x2007:04, rwrwrw, uint16, 16 bit, "Reserve 1"
0x2007:05, rwrwrw, uint16, 16 bit, "Reserve 2"
0x2007:06, rwrwrw, uint16, 16 bit, "Offline inertia auto tuning mode"
0x2007:07, rwrwrw, uint16, 16 bit, "Maximum speed for inertia tuning"
0x2007:08, rwrwrw, uint16, 16 bit, "Acce/Dece time for inertia tuning"
0x2007:09, rwrwrw, uint16, 16 bit, "Wait time after an inertia tuning"
0x2007:0a, rwrwrw, uint16, 16 bit, "Revolutions for an inertia tuning"
0x2007:0b,

, type 0000, 16 bit, "SubIndex 011"
0x2007:0c, rwrwrw, uint16, 16 bit, "Self-adaptive notch selection"
0x2007:0d, rwrwrw, uint16, 16 bit, "1st notch frequency"
0x2007:0e, rwrwrw, uint16, 16 bit, "1st notch width level"
0x2007:0f, rwrwrw, uint16, 16 bit, "1st notch attenuation level"
0x2007:10, rwrwrw, uint16, 16 bit, "2nd notch frequency"
0x2007:11, rwrwrw, uint16, 16 bit, "2nd notch width level"
0x2007:12, rwrwrw, uint16, 16 bit, "2nd notch attenuation level"
0x2007:13, rwrwrw, uint16, 16 bit, "3rd notch frequency"
0x2007:14, rwrwrw, uint16, 16 bit, "3rd notch width level"
0x2007:15, rwrwrw, uint16, 16 bit, "3rd notch attenuation level"
0x2007:16, rwrwrw, uint16, 16 bit, "4th notch frequency"
0x2007:17, rwrwrw, uint16, 16 bit, "4th notch width level"
0x2007:18, rwrwrw, uint16, 16 bit, "4th notch attenuation level"
0x2007:19, rwrwrw, uint16, 16 bit, "Reserve 4"
0x2007:1a, rwrwrw, uint16, 16 bit, "Reserve 5"
0x2007:1b, rwrwrw, uint16, 16 bit, "Reserve 6"
0x2007:1c, rwrwrw, uint16, 16 bit, "Reserve 7"
0x2007:1d, rwrwrw, uint16, 16 bit, "Disturbance torque compensation gain"
0x2007:1e, rwrwrw, uint16, 16 bit, "Disturbance observer filter time"
0x2007:1f, rwrwrw, uint16, 16 bit, "Gravity compensation"
0x2007:20, rwrwrw, uint16, 16 bit, "Forward friction compensation"
0x2007:21, rwrwrw, uint16, 16 bit, "Reverse friction compensation"
0x2007:22, rwrwrw, uint16, 16 bit, "Reserve 8"
0x2007:23, rwrwrw, uint16, 16 bit, "Reserve 9"
SDO 0x2008, "Communication parameters"
0x2008:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x2008:01,

, type 0000, 16 bit, "SubIndex 001"
0x2008:02,

, type 0000, 16 bit, "SubIndex 002"
0x2008:03,

, type 0000, 16 bit, "SubIndex 003"
0x2008:04,

, type 0000, 16 bit, "SubIndex 004"
0x2008:05,

, type 0000, 16 bit, "SubIndex 005"
0x2008:06,

, type 0000, 16 bit, "SubIndex 006"
0x2008:07,

, type 0000, 16 bit, "SubIndex 007"
0x2008:08,

, type 0000, 16 bit, "SubIndex 008"
0x2008:09, r-r-r-, uint16, 16 bit, "Slave station address"
0x2008:0a, r-r-r-, uint16, 16 bit, "Slave station alias address display"
0x2008:0b, rwrwrw, uint16, 16 bit, "Slave station alias address setting"
0x2008:0c, rwrwrw, uint16, 16 bit, "EEPROM operation mode"
0x2008:0d, rwrwrw, uint16, 16 bit, "Reverse 2"
0x2008:0e, rwrwrw, uint16, 16 bit, "Reverse 3"
0x2008:0f, rwrwrw, uint16, 16 bit, "Reverse 4"
0x2008:10, rwrwrw, uint16, 16 bit, "Reverse 5"
0x2008:11,

, type 0000, 16 bit, "SubIndex 017"
0x2008:12, rwrwrw, uint16, 16 bit, "Reverse 6"
0x2008:13, rwrwrw, uint16, 16 bit, "Reverse 7"
0x2008:14, rwrwrw, uint16, 16 bit, "Reverse 8"
0x2008:15, rwrwrw, uint16, 16 bit, "Reverse 9"
0x2008:16,

, type 0000, 16 bit, "SubIndex 022"
0x2008:17,

, type 0000, 16 bit, "SubIndex 023"
0x2008:18, rwrwrw, uint16, 16 bit, "EtherCAT sync error window"
0x2008:19,

, type 0000, 16 bit, "SubIndex 025"
0x2008:1a, rwrwrw, uint16, 16 bit, "Reserve 10"
0x2008:1b, rwrwrw, uint16, 16 bit, "Reserve 11"
0x2008:1c,

, type 0000, 16 bit, "SubIndex 028"
0x2008:1d, rwrwrw, uint16, 16 bit, "Reserve 12"
0x2008:1e, rwrwrw, uint16, 16 bit, "Reserve 13"
SDO 0x200c, "Auxiliary function parameters"
0x200c:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x200c:01, rwrwrw, uint16, 16 bit, "Parameters initialization"
0x200c:02,

, type 0000, 16 bit, "SubIndex 002"
0x200c:03,

, type 0000, 16 bit, "SubIndex 003"
0x200c:04,

, type 0000, 16 bit, "SubIndex 004"
0x200c:05,

, type 0000, 16 bit, "SubIndex 005"
0x200c:06, rwrwrw, uint16, 16 bit, "Encoder multi-turn/fault reset"
0x200c:07, rwrwrw, uint16, 16 bit, "Encoder eeprom read/write"
0x200c:08, rwrwrw, uint16, 16 bit, "Servo software reset"
0x200c:09, rwrwrw, uint16, 16 bit, "Servo fault reset"
0x200c:0a, rwrwrw, uint16, 16 bit, "Emergency stop"
0x200c:0b, rwrwrw, uint16, 16 bit, "Jog function"
0x200c:0c, rwrwrw, uint16, 16 bit, "Load inertia tuning"
0x200c:0d,

, type 0000, 16 bit, "SubIndex 013"
0x200c:0e,

, type 0000, 16 bit, "SubIndex 014"
0x200c:0f,

, type 0000, 16 bit, "SubIndex 015"
0x200c:10,

, type 0000, 16 bit, "SubIndex 016"
0x200c:11, rwrwrw, uint16, 16 bit, "IN/OUT port control mode"
0x200c:12, rwrwrw, uint16, 16 bit, "Input force setting"
0x200c:13, rwrwrw, uint16, 16 bit, "Output force setting"
SDO 0x200d, "Monitor parameters"
0x200d:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x200d:01,

, type 0000, 16 bit, "SubIndex 001"
0x200d:02, r-r-r-, int16, 16 bit, "Feedback speed"
0x200d:03, r-r-r-, int16, 16 bit, "Reference speed"
0x200d:04, r-r-r-, int16, 16 bit, "Feedback torque"
0x200d:05, r-r-r-, int16, 16 bit, "Reference torque"
0x200d:06, r-r-r-, uint16, 16 bit, "Average torque"
0x200d:07, r-r-r-, uint16, 16 bit, "Reserve 1"
0x200d:08, r-r-r-, int32, 32 bit, "Input reference pulse counter"
0x200d:09,

, type 0000, 16 bit, "SubIndex 009"
0x200d:0a, r-r-r-, int32, 32 bit, "Absolute position counter"
0x200d:0b,

, type 0000, 16 bit, "SubIndex 011"
0x200d:0c, r-r-r-, int32, 32 bit, "Feedback pulse counter"
0x200d:0d,

, type 0000, 16 bit, "SubIndex 013"
0x200d:0e, r-r-r-, int32, 32 bit, "Follow error counter"
0x200d:0f,

, type 0000, 16 bit, "SubIndex 015"
0x200d:10, r-r-r-, int32, 32 bit, "Follow error counter*"
0x200d:11,

, type 0000, 16 bit, "SubIndex 017"
0x200d:12,

, type 0000, 16 bit, "SubIndex 018"
0x200d:13,

, type 0000, 16 bit, "SubIndex 019"
0x200d:14, r-r-r-, uint16, 16 bit, "Input terminal state"
0x200d:15, r-r-r-, uint16, 16 bit, "Output terminal state"
0x200d:16, r-r-r-, uint16, 16 bit, "Mechanical angle"
0x200d:17, r-r-r-, uint16, 16 bit, "Electrical angle"
0x200d:18, r-r-r-, uint16, 16 bit, "Bus voltage"
0x200d:19, r-r-r-, int32, 32 bit, "Encoder single turn data"
0x200d:1a,

, type 0000, 16 bit, "SubIndex 026"
0x200d:1b, r-r-r-, uint16, 16 bit, "Encoder multi turn data"
0x200d:1c,

, type 0000, 16 bit, "SubIndex 028"
0x200d:1d,

, type 0000, 16 bit, "SubIndex 029"
0x200d:1e,

, type 0000, 16 bit, "SubIndex 030"
0x200d:1f,

, type 0000, 16 bit, "SubIndex 031"
0x200d:20,

, type 0000, 16 bit, "SubIndex 032"
0x200d:21, r-r-r-, uint32, 32 bit, "Total power on time"
0x200d:22,

, type 0000, 16 bit, "SubIndex 034"
0x200d:23,

, type 0000, 16 bit, "SubIndex 035"
0x200d:24, rwrwrw, uint16, 16 bit, "Fault record selection"
0x200d:25, r-r-r-, uint16, 16 bit, "Fault code upon selected fault"
0x200d:26, r-r-r-, int16, 16 bit, "Current U upon selected fault"
0x200d:27, r-r-r-, int16, 16 bit, "Current V upon selected fault"
0x200d:28, r-r-r-, uint16, 16 bit, "Input state upon selected fault"
0x200d:29, r-r-r-, uint16, 16 bit, "Output state upon selected fault"
0x200d:2a, r-r-r-, uint16, 16 bit, "Bus voltage upon selected fault"
0x200d:2b, r-r-r-, int16, 16 bit, "Feedback speed upon selected fault"
0x200d:2c, r-r-r-, uint32, 32 bit, "Timestamp upon selected fault"
0x200d:2d,

, type 0000, 16 bit, "SubIndex 045"
0x200d:2e,

, type 0000, 16 bit, "SubIndex 046"
0x200d:2f,

, type 0000, 16 bit, "SubIndex 047"
0x200d:30,

, type 0000, 16 bit, "SubIndex 048"
0x200d:31,

, type 0000, 16 bit, "SubIndex 049"
0x200d:32,

, type 0000, 16 bit, "SubIndex 050"
0x200d:33,

, type 0000, 16 bit, "SubIndex 051"
0x200d:34,

, type 0000, 16 bit, "SubIndex 052"
0x200d:35,

, type 0000, 16 bit, "SubIndex 053"
0x200d:36,

, type 0000, 16 bit, "SubIndex 054"
0x200d:37, r-r-r-, int32, 32 bit, "Real time input pulse counter"
0x200d:38,

, type 0000, 16 bit, "SubIndex 056"
0x200d:39,

, type 0000, 16 bit, "SubIndex 057"
0x200d:3a,

, type 0000, 16 bit, "SubIndex 058"
0x200d:3b,

, type 0000, 16 bit, "SubIndex 059"
0x200d:3c,

, type 0000, 16 bit, "SubIndex 060"
0x200d:3d, r-r-r-, int32, 32 bit, "Absolute position feedback low 32bits"
0x200d:3e,

, type 0000, 16 bit, "SubIndex 062"
0x200d:3f, r-r-r-, int32, 32 bit, "Absolute position feedback high 32bits"
0x200d:40,

, type 0000, 16 bit, "SubIndex 064"
0x200d:41, r-r-r-, int32, 32 bit, "Mechanical position low 32bits"
0x200d:42,

, type 0000, 16 bit, "SubIndex 066"
0x200d:43, r-r-r-, int32, 32 bit, "Mechanical position high 32bits"
0x200d:44,

, type 0000, 16 bit, "SubIndex 068"
0x200d:45, r-r-r-, uint16, 16 bit, "Reserve 2"
0x200d:46,

, type 0000, 16 bit, "SubIndex 070"
0x200d:47, r-r-r-, int32, 32 bit, "Reserve 3"
0x200d:48,

, type 0000, 16 bit, "SubIndex 072"
0x200d:49, r-r-r-, int32, 32 bit, "Reserve 4"
0x200d:4a,

, type 0000, 16 bit, "SubIndex 074"
0x200d:4b, r-r-r-, int32, 32 bit, "Reserve 5"
0x200d:4c,

, type 0000, 16 bit, "SubIndex 076"
0x200d:4d, r-r-r-, int32, 32 bit, "Feedback speed(0.1rpm)"
0x200d:4e,

, type 0000, 16 bit, "SubIndex 078"
SDO 0x603f, "Error Code"
0x603f:00, r-r-r-, uint16, 16 bit, "Error Code"
SDO 0x6040, "Control Word"
0x6040:00, rwrwrw, uint16, 16 bit, "Control Word"
SDO 0x6041, "Status Word"
0x6041:00, r-r-r-, uint16, 16 bit, "Status Word"
SDO 0x605a, "Quickstop Option Code"
0x605a:00, rwrwrw, int16, 16 bit, "Quickstop Option Code"
SDO 0x605d, "Halt stop option code"
0x605d:00, rwrwrw, int16, 16 bit, "Halt stop option code"
SDO 0x6060, "Modes of Operation"
0x6060:00, rwrwrw, int8, 8 bit, "Modes of Operation"
SDO 0x6061, "Modes of Operation Display"
0x6061:00, r-r-r-, int8, 8 bit, "Modes of Operation Display"
SDO 0x6062, "Position Demand Value"
0x6062:00, r-r-r-, int32, 32 bit, "Position Demand Value"
SDO 0x6063, "Position Actual Internal Value"
0x6063:00, r-r-r-, int32, 32 bit, "Position Actual Internal Value"
SDO 0x6064, "Position Actual Value"
0x6064:00, r-r-r-, int32, 32 bit, "Position Actual Value"
SDO 0x6065, "Following Error window"
0x6065:00, rwrwrw, uint32, 32 bit, "Following Error window"
SDO 0x6066, "Following Error Time Out"
0x6066:00, rwrwrw, uint16, 16 bit, "Following Error Time Out"
SDO 0x6067, "Position window"
0x6067:00, rwrwrw, uint32, 32 bit, "Position window"
SDO 0x6068, "Position window time"
0x6068:00, rwrwrw, uint16, 16 bit, "Position window time"
SDO 0x606c, "Velocity Actual Value"
0x606c:00, r-r-r-, int32, 32 bit, "Velocity Actual Value"
SDO 0x606d, "Velocity window"
0x606d:00, rwrwrw, uint16, 16 bit, "Velocity window"
SDO 0x606e, "Velocity window time"
0x606e:00, rwrwrw, uint16, 16 bit, "Velocity window time"
SDO 0x6071, "Target Torque"
0x6071:00, rwrwrw, uint16, 16 bit, "Target Torque"
SDO 0x6072, "Max Torque"
0x6072:00, rwrwrw, uint16, 16 bit, "Max Torque"
SDO 0x6074, "Torque Demand"
0x6074:00, rwrwrw, uint16, 16 bit, "Torque Demand"
SDO 0x6077, "Torque Actual Value"
0x6077:00, r-r-r-, int16, 16 bit, "Torque Actual Value"
SDO 0x607a, "Target Position"
0x607a:00, rwrwrw, int32, 32 bit, "Target Position"
SDO 0x607c, "Home Offset"
0x607c:00, rwrwrw, int32, 32 bit, "Home Offset"
SDO 0x607d, "Software position limit"
0x607d:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x607d:01, rwrwrw, int32, 32 bit, "Min position limit"
0x607d:02, rwrwrw, int32, 32 bit, "Max position limit"
SDO 0x607e, "Polarity"
0x607e:00, rwrwrw, int8, 8 bit, "Polarity"
SDO 0x607f, "Max Profile Velocity"
0x607f:00, rwrwrw, uint32, 32 bit, "Max Profile Velocity"
SDO 0x6081, "Profile Velocity"
0x6081:00, rwrwrw, uint32, 32 bit, "Profile Velocity"
SDO 0x6083, "Profile Acceleration"
0x6083:00, rwrwrw, uint32, 32 bit, "Profile Acceleration"
SDO 0x6084, "Profile Deceleration"
0x6084:00, rwrwrw, uint32, 32 bit, "Profile Deceleration"
SDO 0x6085, "Quickstop Declaration"
0x6085:00, rwrwrw, uint32, 32 bit, "Quickstop Declaration"
SDO 0x6086, "Motion profile type"
0x6086:00, rwrwrw, int16, 16 bit, "Motion profile type"
SDO 0x6087, "Torque slope"
0x6087:00, rwrwrw, uint32, 32 bit, "Torque slope"
SDO 0x6091, "Gear ratio"
0x6091:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x6091:01, rwrwrw, uint32, 32 bit, "Motor revolutions"
0x6091:02, rwrwrw, uint32, 32 bit, "Shaft revolutions"
SDO 0x6098, "Homing Method"
0x6098:00, rwrwrw, int8, 8 bit, "Homing Method"
SDO 0x6099, "Homing velocity"
0x6099:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x6099:01, rwrwrw, uint32, 32 bit, "Homing velocity_Fast"
0x6099:02, rwrwrw, uint32, 32 bit, "Homing velocity_Slow"
SDO 0x609a, "Homing Acceleration"
0x609a:00, rwrwrw, int32, 32 bit, "Homing Acceleration"
SDO 0x60b0, "Position offset"
0x60b0:00, rwrwrw, int32, 32 bit, "Position offset"
SDO 0x60b1, "Velocity offset"
0x60b1:00, rwrwrw, int32, 32 bit, "Velocity offset"
SDO 0x60b2, "Torque offset"
0x60b2:00, rwrwrw, int16, 16 bit, "Torque offset"
SDO 0x60b8, "Touch probe function"
0x60b8:00, rwrwrw, uint16, 16 bit, "Touch probe function"
SDO 0x60b9, "Touch probe Status"
0x60b9:00, rwrwrw, uint16, 16 bit, "Touch probe Status"
SDO 0x60ba, "Touch Probe 1 Positive Value"
0x60ba:00, r-r-r-, int32, 32 bit, "Touch Probe 1 Positive Value"
SDO 0x60bb, "Touch Probe 1 Negative Value"
0x60bb:00, r-r-r-, int32, 32 bit, "Touch Probe 1 Negative Value"
SDO 0x60bc, "Touch Probe 2 Positive Value"
0x60bc:00, r-r-r-, int32, 32 bit, "Touch Probe 2 Positive Value"
SDO 0x60bd, "Touch Probe 2 Negative Value"
0x60bd:00, r-r-r-, int32, 32 bit, "Touch Probe 2 Negative Value"
SDO 0x60d5, "Touch Probe 1 Positive Counter"
0x60d5:00, r-r-r-, uint16, 16 bit, "Touch Probe 1 Positive Counter"
SDO 0x60d6, "Touch Probe 1 Negative Counter"
0x60d6:00, r-r-r-, uint16, 16 bit, "Touch Probe 1 Negative Counter"
SDO 0x60d7, "Touch Probe 2 Positive Counter"
0x60d7:00, r-r-r-, uint16, 16 bit, "Touch Probe 2 Positive Counter"
SDO 0x60d8, "Touch Probe 2 Negative Counter"
0x60d8:00, r-r-r-, uint16, 16 bit, "Touch Probe 2 Negative Counter"
SDO 0x60e0, "Positive torque limit value"
0x60e0:00, rwrwrw, uint16, 16 bit, "Positive torque limit value"
SDO 0x60e1, "Negative torque limit value"
0x60e1:00, rwrwrw, uint16, 16 bit, "Negative torque limit value"
SDO 0x60e6, "Actual Position Calucation Method"
0x60e6:00, rwrwrw, int16, 16 bit, "Actual Position Calucation Method"
SDO 0x60f4, "Following error actual value"
0x60f4:00, r-r-r-, int32, 32 bit, "Following error actual value"
SDO 0x60fc, "Position demand internal value"
0x60fc:00, r-r-r-, int32, 32 bit, "Position demand internal value"
SDO 0x60fd, "Digital Inputs"
0x60fd:00, r-r-r-, uint32, 32 bit, "Digital Inputs"
SDO 0x60fe, "Digital Output"
0x60fe:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x60fe:01, rwrwrw, uint32, 32 bit, "Physical Outputs "
0x60fe:02, rwrwrw, uint32, 32 bit, "bit mask"
SDO 0x60ff, "Target Velocity"
0x60ff:00, rwrwrw, int32, 32 bit, "Target Velocity"
SDO 0x6502, "Supported Drive Modes"
0x6502:00, r-r-r-, uint32, 32 bit, "Supported Drive Modes"

Last edit: 08 Dec 2023 21:06 by TimP.

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Servo drive config and first movement

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