Rtelligent RS400E PREOP -> OP

TimP
Topic Author
Offline
Senior Member

2 years 11 months ago #286165 by TimP

Rtelligent RS400E PREOP -> OP was created by TimP

Trying to configure Rtelligent RS400E but it always throws an error

Warning: Spoiler!

Here is my xml config

Warning: Spoiler!

And this is truncated dmesg output, as you can see it is trying to set Uploading SDO 0x0000:00. and failing because of it, but i cannot find from where it's take this SDO 0x0000:00.

Warning: Spoiler!

[12260.103448] EtherCAT DEBUG: 00 30 43 00 1A 07 20 00 FD 60
[12260.103456] EtherCAT DEBUG 0-0: Uploaded data:
[12260.103457] EtherCAT DEBUG: 20 00 FD 60
[12260.103460] EtherCAT DEBUG 0-0: PDO entry 0x60FD:00, 32 bit, "???".
[12260.103462] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:08.
[12260.103463] EtherCAT DEBUG 0-0: Upload request:
[12260.103464] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00
[12260.105566] EtherCAT DEBUG 0-0: Upload response:
[12260.105572] EtherCAT DEBUG: 00 30 43 00 1A 08 08 00 00 00
[12260.105578] EtherCAT DEBUG 0-0: Uploaded data:
[12260.105579] EtherCAT DEBUG: 08 00 00 00
[12260.105582] EtherCAT DEBUG 0-0: PDO entry 0x0000:00, 8 bit, "Gap".
[12260.105584] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:09.
[12260.105585] EtherCAT DEBUG 0-0: Upload request:
[12260.105586] EtherCAT DEBUG: 00 20 40 00 1A 09 00 00 00 00
[12260.107394] EtherCAT DEBUG 0-0: Upload response:
[12260.107399] EtherCAT DEBUG: 00 30 43 00 1A 09 00 00 00 00
[12260.107404] EtherCAT DEBUG 0-0: Uploaded data:
[12260.107405] EtherCAT DEBUG: 00 00 00 00
[12260.107408] EtherCAT DEBUG 0-0: PDO entry 0x0000:00, 0 bit, "Gap".
[12260.107410] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:0A.
[12260.107411] EtherCAT DEBUG 0-0: Upload request:
[12260.107412] EtherCAT DEBUG: 00 20 40 00 1A 0A 00 00 00 00
[12260.109469] EtherCAT DEBUG 0-0: Upload response:
[12260.109475] EtherCAT DEBUG: 00 30 43 00 1A 0A 00 00 00 00
[12260.109480] EtherCAT DEBUG 0-0: Uploaded data:
[12260.109481] EtherCAT DEBUG: 00 00 00 00
[12260.109484] EtherCAT DEBUG 0-0: PDO entry 0x0000:00, 0 bit, "Gap".
[12260.109486] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:0B.
[12260.109487] EtherCAT DEBUG 0-0: Upload request:
[12260.109488] EtherCAT DEBUG: 00 20 40 00 1A 0B 00 00 00 00
[12260.111546] EtherCAT DEBUG 0-0: Upload response:
[12260.111552] EtherCAT DEBUG: 00 30 43 00 1A 0B 00 00 00 00
[12260.111556] EtherCAT DEBUG 0-0: Uploaded data:
[12260.111557] EtherCAT DEBUG: 00 00 00 00
[12260.111560] EtherCAT DEBUG 0-0: PDO entry 0x0000:00, 0 bit, "Gap".
[12260.111562] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:0C.
[12260.111563] EtherCAT DEBUG 0-0: Upload request:
[12260.111564] EtherCAT DEBUG: 00 20 40 00 1A 0C 00 00 00 00
[12260.113370] EtherCAT DEBUG 0-0: Upload response:
[12260.113376] EtherCAT DEBUG: 00 30 43 00 1A 0C 00 00 00 00
[12260.113381] EtherCAT DEBUG 0-0: Uploaded data:
[12260.113382] EtherCAT DEBUG: 00 00 00 00
[12260.113385] EtherCAT DEBUG 0-0: PDO entry 0x0000:00, 0 bit, "Gap".
[12260.113386] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:02.
[12260.113388] EtherCAT DEBUG 0-0: Upload request:
[12260.113389] EtherCAT DEBUG: 00 20 40 13 1C 02 00 00 00 00
[12260.115446] EtherCAT DEBUG 0-0: Upload response:
[12260.115451] EtherCAT DEBUG: 00 30 4B 13 1C 02 00 00 00 00
[12260.115457] EtherCAT DEBUG 0-0: Uploaded data:
[12260.115458] EtherCAT DEBUG: 00 00
[12260.115459] EtherCAT DEBUG 0-0: PDO 0x0000.
[12260.115461] EtherCAT DEBUG 0-0: Uploading SDO 0x0000:00.
[12260.115462] EtherCAT DEBUG 0-0: Upload request:
[12260.115463] EtherCAT DEBUG: 00 20 40 00 00 00 00 00 00 00
[12260.117567] EtherCAT DEBUG 0-0: Upload response:
[12260.117573] EtherCAT DEBUG: 00 20 80 00 00 00 00 00 02 06
[12260.117578] EtherCAT ERROR 0-0: SDO upload 0x0000:00 aborted.
[12260.117579] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory".
[12260.117581] EtherCAT ERROR 0-0: Failed to read number of mapped PDO entries.
[12260.117582] EtherCAT ERROR 0-0: Failed to read mapped PDO entries for PDO 0x0000.
[12260.117583] EtherCAT DEBUG 0-0: Reading of PDO configuration finished.
[12260.117587] EtherCAT 0: Bus scanning completed in 332 ms.
[12260.117589] EtherCAT 0: Using slave 0 as DC reference clock.
[12260.117591] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns)
[12260.117593] EtherCAT DEBUG 0: No app_time received up to now.
[12260.131842] EtherCAT DEBUG 0-0: Changing state from PREOP to PREOP (forced).
[12260.131850] EtherCAT DEBUG 0-0: Configuring...
[12260.133053] EtherCAT DEBUG 0-0: Now in INIT.
[12260.133055] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[12260.133327] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[12260.133600] EtherCAT DEBUG 0-0: Clearing DC assignment...
[12260.133871] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[12260.133873] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 64, Ctrl 0x26, En 1
[12260.133876] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 64, Ctrl 0x22, En 1
[12260.134149] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[12260.135241] EtherCAT DEBUG 0-0: Now in PREOP.
[12260.135243] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[12260.135514] EtherCAT DEBUG 0-0: Finished configuration.
[12260.135516] EtherCAT DEBUG 0-0: Ready for requests.
[12263.139807] EtherCAT DEBUG 0-0: Fetching SDO dictionary.
[12263.142259] EtherCAT DEBUG 0-0: SDO list fragments left: 3
[12263.143363] EtherCAT DEBUG 0-0: SDO list fragments left: 2
[12263.144413] EtherCAT DEBUG 0-0: SDO list fragments left: 1

PDOs

Warning: Spoiler!

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"

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rodw
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2 years 11 months ago #286211 by rodw

Replied by rodw on topic Rtelligent RS400E PREOP -> OP

the Rtelligent servos must be similar to their steppers. Have a look at my configs here
github.com/rodw-au/linuxcnc-cia402

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Hakan
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2 years 11 months ago #286213 by Hakan

Replied by Hakan on topic Rtelligent RS400E PREOP -> OP

To debug this you can remove all the pdoentrys and hopefully it should go to OP then.
Then add one pdoentry after the other.

Actually, without starting linuxcnc, you can test

Code:

ethercat slaves
ethercat -p slaveno state init
ethercat slaves
ehercat -p slaveno state op
ethercat slaves
 

hopefully that works.

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TimP
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2 years 11 months ago #286234 by TimP

Replied by TimP on topic Rtelligent RS400E PREOP -> OP

used yours as template, and even tried to use it directly without changes, neither worked, i already think maybe this one is configured somewhat wrong, and i need to try other that i have RS750E, but i. think they are similar in this regard

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TimP
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2 years 11 months ago #286236 by TimP

Replied by TimP on topic Rtelligent RS400E PREOP -> OP

how to remove all pdos?

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Hakan
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2 years 11 months ago #286257 by Hakan

Replied by Hakan on topic Rtelligent RS400E PREOP -> OP

Use an editor, in the xml file.
The lines starting and ending with <pdoentry> </pdoentry>, or they start with <pdoentry and ends with />
It's just text.

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TimP
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2 years 11 months ago #286262 by TimP

Replied by TimP on topic Rtelligent RS400E PREOP -> OP

yep have tried this, same result

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Hakan
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2 years 11 months ago #286263 by Hakan

Replied by Hakan on topic Rtelligent RS400E PREOP -> OP

Did it work with "ethercat -p nr state op"?

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TimP
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2 years 11 months ago #286264 by TimP

Replied by TimP on topic Rtelligent RS400E PREOP -> OP

nope, here is `dmesg` log

Code:

EtherCAT WARNING: Datagram 0000000038320a25 (master-fsm) was SKIPPED 1 time.
[  587.780452] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[  587.780466] EtherCAT DEBUG 0-0: Configuring...
[  587.781419] EtherCAT DEBUG 0-0: Now in INIT.
[  587.781422] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[  587.781705] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[  587.781984] EtherCAT DEBUG 0-0: Clearing DC assignment...
[  587.782264] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[  587.782267] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size  64, Ctrl 0x26, En 1
[  587.782271] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size  64, Ctrl 0x22, En 1
[  587.782554] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[  587.784253] EtherCAT DEBUG 0-0: Now in PREOP.
[  587.784256] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[  587.784528] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size   0, Ctrl 0x64, En 0
[  587.784534] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size   0, Ctrl 0x20, En 0
[  587.786165] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[  587.786455] EtherCAT ERROR 0-0: AL status message 0x0025: "Invalid Output Mapping".
[  587.787307] EtherCAT 0-0: Acknowledged state PREOP.

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Hakan
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2 years 11 months ago #286276 by Hakan

Replied by Hakan on topic Rtelligent RS400E PREOP -> OP

Based on this thread forum.linuxcnc.org/ethercat/46141-ethercat-gha-servo-drive it looks indeed like you have the wrong pid in the xml file, at least compared to the esi xml file here www.rtelligent.net/download_list_3.html (three zeros vs two zeros in pid). Also, maybe the rsconfigurator can be useful?
There are some other tips in that forum-thread as well.

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