1337 Yaskawa Electric Corporation 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ServoDrive Servo Drives 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SGDV-E1 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 DT1010 144 0 Number of Entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacture parameters UDINT 32 112 rw DT1011 144 0 Number of Entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication parameters UDINT 32 48 rw 3 Restore application parameters UDINT 32 80 rw 4 Restore manufacture parameters UDINT 32 112 rw DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of SyncManager channels USINT 8 0 ro Communication type SyncManager DT1C00ARR 32 16 ro DT1C10 8 0 Number of assigned PDOs USINT 8 0 ro DT1C1XARR UINT 32 1 2 DT1C1X 48 0 Number of assigned PDOs USINT 8 0 rw Index of assigned PDO DT1C1XARR 32 16 rw DT1C32 352 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 Reserved3 UDINT 32 288 ro 12 SM2 event missed counter UDINT 32 320 ro DT1C33 288 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro DT10F1 80 0 Number of Entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Count Limit UDINT 32 48 rw DT270X 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 272 0 Number of Entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 8 rw 2 Status USINT 8 136 ro 3 Reply ARRAY [0..15] OF BYTE 128 144 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit UDINT 32 16 rw 2 Max position limit UDINT 32 48 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60C1 48 0 Number of set-points USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 24 0 Number of Entries USINT 8 0 ro 1 Interpolation time period USINT 8 8 rw 2 Interpolation time index SINT 8 16 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DT2730 160 0 Number of Entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 96 rw RT 5 Size of data record USINT 8 112 wo 6 Buffer clear USINT 8 120 wo 7 Position data definition USINT 8 128 rw RT 8 Position data polarity USINT 8 136 rw RT 9 Behavior after reaching buffer position USINT 8 144 rw RT DT2741 48 0 Number of Entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro RT 2 Write pointer position UINT 16 32 ro RT DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of Entries USINT 8 0 ro Interpolation data record DT27C0ARR 8128 16 rw DT2767 80 0 Number of Entries UINT 16 0 ro 1 DC Control Loop Mode Select UINT 16 16 rw 2 DC Control Loop Mode Status UINT 16 32 ro #x1000 Device Type UDINT 32 #x00020192 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(0) 0 ro #x1009 Manufacturer Hardware Version STRING(0) 0 ro #x100A Manufacturer Software Version STRING(0) 0 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw #x1C00 Sync Manager Communication Type DT1C00 48 ro #x1C10 Sync Manager 0 PDO assignment DT1C10 8 ro #x1C11 Sync Manager 1 PDO assignment DT1C10 8 ro #x1C12 Sync Manager 2 PDO assignment DT1C1X 48 rw #x1C13 Sync Manager 3 PDO assignment DT1C1X 48 rw #x1C32 Sync Manager 2 Synchronization DT1C32 352 ro #x1C33 Sync Manager 3 Synchronization DT1C33 288 ro #x1F01 Sync Error Settings(mirror of 10F1h) DT10F1 80 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction UINT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation UINT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x2212 Encoder Output Pulses UDINT 32 rw #x2216 Position Reference Acceleration Time Constant UINT 16 rw #x2217 Average Movement Time of Position Reference Filter UINT 16 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Reference speed UINT 16 rw #x2494 Polarity Detection travel range UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage UINT 16 rw #x2551 Analog Monitor 2 Offset Voltage UINT 16 rw #x2552 Analog Monitor Magnification (xl) UINT 16 rw #x2553 Analog Monitor Magnification (x2) UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2700 User Parameter Configuration UDINT 32 rw #x2701 Position User Unit DT270X 80 ro #x2702 Velocity User Unit DT270X 80 ro #x2703 Acceleration User Unit DT270X 80 ro #x2710 SERVO Adjusting Command DT2710 272 ro #x2720 Safety module monitors UDINT 32 ro T #x27E0 Diag.Mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Controlword UINT 16 rw RT #x6041 Statusword UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand value INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6087 Torque slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro RT #x609A Homing acceleration UDINT 32 rw RT #x60B1 Velocity offset DINT 32 rw RT #x60B2 Torque offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C1 Interpolation data record DT60C1 48 ro RT #x60C2 Interpolation time period DT60C2 24 ro #x60E0 Positive torque limit value UINT 16 rw RT #x60E1 Negative torque limit value UINT 16 rw RT #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro RT #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #x60C0 Interpolation sub mode select INT 16 rw #x2730 Interpolation data configuration for 1st profile DT2730 160 ro RT #x2731 Interpolation data configuration for 2nd profile DT2730 160 ro RT #x2732 Interpolation profile select USINT 8 rw RT #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C0 8144 ro #x2741 Interpolation data record pointer position DT2741 48 ro RT #x2765 Servopack Serial Number STRING(0) 0 ro #x2766 EtherCAT Network Module Serial Number STRING(0) 0 ro #x2767 DC Control Loop Mode DT2767 80 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x1600 #x1601 #x1603 #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x1600 #x1601 #x1602 #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x1A01 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x1A00 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x1A00 #x1A01 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x1A00 #x1A01 #x1A02 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 0010800080108000 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SGDV-E1 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 DT1010 144 0 Number of Entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacture parameters UDINT 32 112 rw DT1011 144 0 Number of Entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication parameters UDINT 32 48 rw 3 Restore application parameters UDINT 32 80 rw 4 Restore manufacture parameters UDINT 32 112 rw DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of SyncManager channels USINT 8 0 ro Communication type SyncManager DT1C00ARR 32 16 ro DT1C10 8 0 Number of assigned PDOs USINT 8 0 ro DT1C1XARR UINT 32 1 2 DT1C1X 48 0 Number of assigned PDOs USINT 8 0 rw Index of assigned PDO DT1C1XARR 32 16 rw DT1C32 352 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 Reserved3 UDINT 32 288 ro 12 SM2 event missed counter UDINT 32 320 ro DT1C33 288 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro DT10F1 80 0 Number of Entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Count Limit UDINT 32 48 rw DT270X 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 272 0 Number of Entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 8 rw 2 Status USINT 8 136 ro 3 Reply ARRAY [0..15] OF BYTE 128 144 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit UDINT 32 16 rw 2 Max position limit UDINT 32 48 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60C1 48 0 Number of set-points USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 24 0 Number of Entries USINT 8 0 ro 1 Interpolation time period USINT 8 8 rw 2 Interpolation time index SINT 8 16 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DT2730 160 0 Number of Entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 96 rw RT 5 Size of data record USINT 8 112 wo 6 Buffer clear USINT 8 120 wo 7 Position data definition USINT 8 128 rw RT 8 Position data polarity USINT 8 136 rw RT 9 Behavior after reaching buffer position USINT 8 144 rw RT DT2741 48 0 Number of Entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro RT 2 Write pointer position UINT 16 32 ro RT DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of Entries USINT 8 0 ro Interpolation data record DT27C0ARR 8128 16 rw #x1000 Device Type UDINT 32 #x00020192 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(0) 0 ro #x100A Manufacturer Software Version STRING(0) 0 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw #x1C00 Sync Manager Communication Type DT1C00 48 ro #x1C10 Sync Manager 0 PDO assignment DT1C10 8 ro #x1C11 Sync Manager 1 PDO assignment DT1C10 8 ro #x1C12 Sync Manager 2 PDO assignment DT1C1X 48 rw #x1C13 Sync Manager 3 PDO assignment DT1C1X 48 rw #x1C32 Sync Manager 2 Synchronization DT1C32 352 ro #x1C33 Sync Manager 3 Synchronization DT1C33 288 ro #x1F01 Sync Error Settings(mirror of 10F1h) DT10F1 80 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction UINT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation UINT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x2212 Encoder Output Pulses UDINT 32 rw #x2216 Position Reference Acceleration Time Constant UINT 16 rw #x2217 Average Movement Time of Position Reference Filter UINT 16 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Reference speed UINT 16 rw #x2494 Polarity Detection travel range UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage UINT 16 rw #x2551 Analog Monitor 2 Offset Voltage UINT 16 rw #x2552 Analog Monitor Magnification (xl) UINT 16 rw #x2553 Analog Monitor Magnification (x2) UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2700 User Parameter Configuration UDINT 32 rw #x2701 Position User Unit DT270X 80 ro #x2702 Velocity User Unit DT270X 80 ro #x2703 Acceleration User Unit DT270X 80 ro #x2710 SERVO Adjusting Command DT2710 272 ro #x2720 Safety module monitors UDINT 32 ro T #x27E0 Diag.Mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Controlword UINT 16 rw RT #x6041 Statusword UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand value INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6087 Torque slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro RT #x609A Homing acceleration UDINT 32 rw RT #x60B1 Velocity offset DINT 32 rw RT #x60B2 Torque offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C1 Interpolation data record DT60C1 48 ro RT #x60C2 Interpolation time period DT60C2 24 ro #x60E0 Positive torque limit value UINT 16 rw RT #x60E1 Negative torque limit value UINT 16 rw RT #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro RT #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #x60C0 Interpolation sub mode select INT 16 rw #x2730 Interpolation data configuration for 1st profile DT2730 160 ro RT #x2731 Interpolation data configuration for 2nd profile DT2730 160 ro RT #x2732 Interpolation profile select USINT 8 rw RT #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C0 8144 ro #x2741 Interpolation data record pointer position DT2741 48 ro RT Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x1600 #x1601 #x1603 #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x1600 #x1601 #x1602 #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x1A01 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x1A00 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x1A00 #x1A01 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x1A00 #x1A01 #x1A02 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 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SGDV-E1 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 DT1010 144 0 Number of Entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacture parameters UDINT 32 112 rw DT1011 144 0 Number of Entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication parameters UDINT 32 48 rw 3 Restore application parameters UDINT 32 80 rw 4 Restore manufacture parameters UDINT 32 112 rw DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of SyncManager channels USINT 8 0 ro Communication type SyncManager DT1C00ARR 32 16 ro DT1C10 8 0 Number of assigned PDOs USINT 8 0 ro DT1C1XARR UINT 32 1 2 DT1C1X 48 0 Number of assigned PDOs USINT 8 0 rw Index of assigned PDO DT1C1XARR 32 16 rw DT1C32 352 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 Reserved3 UDINT 32 288 ro 12 SM2 event missed counter UDINT 32 320 ro DT1C33 288 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro DT10F1 80 0 Number of Entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Count Limit UDINT 32 48 rw DT270X 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 272 0 Number of Entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 8 rw 2 Status USINT 8 136 ro 3 Reply ARRAY [0..15] OF BYTE 128 144 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit UDINT 32 16 rw 2 Max position limit UDINT 32 48 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60C1 48 0 Number of set-points USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 24 0 Number of Entries USINT 8 0 ro 1 Interpolation time period USINT 8 8 rw 2 Interpolation time index SINT 8 16 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw #x1000 Device Type UDINT 32 #x00020192 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(0) 0 ro #x100A Manufacturer Software Version STRING(0) 0 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw #x1C00 Sync Manager Communication Type DT1C00 48 ro #x1C10 Sync Manager 0 PDO assignment DT1C10 8 ro #x1C11 Sync Manager 1 PDO assignment DT1C10 8 ro #x1C12 Sync Manager 2 PDO assignment DT1C1X 48 rw #x1C13 Sync Manager 3 PDO assignment DT1C1X 48 rw #x1C32 Sync Manager 2 Synchronization DT1C32 352 ro #x1C33 Sync Manager 3 Synchronization DT1C33 288 ro #x1F01 Sync Error Settings(mirror of 10F1h) DT10F1 80 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction UINT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation UINT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x2212 Encoder Output Pulses UDINT 32 rw #x2216 Position Reference Acceleration Time Constant UINT 16 rw #x2217 Average Movement Time of Position Reference Filter UINT 16 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Reference speed UINT 16 rw #x2494 Polarity Detection travel range UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage UINT 16 rw #x2551 Analog Monitor 2 Offset Voltage UINT 16 rw #x2552 Analog Monitor Magnification (xl) UINT 16 rw #x2553 Analog Monitor Magnification (x2) UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2700 User Parameter Configuration UDINT 32 rw #x2701 Position User Unit DT270X 80 ro #x2702 Velocity User Unit DT270X 80 ro #x2703 Acceleration User Unit DT270X 80 ro #x2710 SERVO Adjusting Command DT2710 272 ro #x2720 Safety module monitors UDINT 32 ro T #x27E0 Diag.Mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Controlword UINT 16 rw RT #x6041 Statusword UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand value INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6087 Torque slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro RT #x609A Homing acceleration UDINT 32 rw RT #x60B1 Velocity offset DINT 32 rw RT #x60B2 Torque offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C1 Interpolation data record DT60C1 48 ro RT #x60C2 Interpolation time period DT60C2 24 ro #x60E0 Positive torque limit value UINT 16 rw RT #x60E1 Negative torque limit value UINT 16 rw RT #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro RT #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x1600 #x1601 #x1603 #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x1600 #x1601 #x1602 #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x1A01 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x1A00 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x1A00 #x1A01 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x1A00 #x1A01 #x1A02 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 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SGDV-E1 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 DT1010 144 0 Number of Entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacture parameters UDINT 32 112 rw DT1011 144 0 Number of Entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication parameters UDINT 32 48 rw 3 Restore application parameters UDINT 32 80 rw 4 Restore manufacture parameters UDINT 32 112 rw DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of SyncManager channels USINT 8 0 ro Communication type SyncManager DT1C00ARR 32 16 ro DT1C10 8 0 Number of assigned PDOs USINT 8 0 ro DT1C1XARR UINT 32 1 2 DT1C1X 48 0 Number of assigned PDOs USINT 8 0 rw Index of assigned PDO DT1C1XARR 32 16 rw DT1C32 352 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 Reserved3 UDINT 32 288 ro 12 SM2 event missed counter UDINT 32 320 ro DT1C33 288 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro DT10F1 80 0 Number of Entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Count Limit UDINT 32 48 rw DT270X 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 272 0 Number of Entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 8 rw 2 Status USINT 8 136 ro 3 Reply ARRAY [0..15] OF BYTE 128 144 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit UDINT 32 16 rw 2 Max position limit UDINT 32 48 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60C1 48 0 Number of set-points USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 24 0 Number of Entries USINT 8 0 ro 1 Interpolation time period USINT 8 8 rw 2 Interpolation time index SINT 8 16 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw #x1000 Device Type UDINT 32 #x00020192 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(0) 0 ro #x100A Manufacturer Software Version STRING(0) 0 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw #x1C00 Sync Manager Communication Type DT1C00 48 ro #x1C10 Sync Manager 0 PDO assignment DT1C10 8 ro #x1C11 Sync Manager 1 PDO assignment DT1C10 8 ro #x1C12 Sync Manager 2 PDO assignment DT1C1X 48 rw #x1C13 Sync Manager 3 PDO assignment DT1C1X 48 rw #x1C32 Sync Manager 2 Synchronization DT1C32 352 ro #x1C33 Sync Manager 3 Synchronization DT1C33 288 ro #x1F01 Sync Error Settings(mirror of 10F1h) DT10F1 80 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction UINT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation UINT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x2212 Encoder Output Pulses UDINT 32 rw #x2216 Position Reference Acceleration Time Constant UINT 16 rw #x2217 Average Movement Time of Position Reference Filter UINT 16 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Reference speed UINT 16 rw #x2494 Polarity Detection travel range UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage UINT 16 rw #x2551 Analog Monitor 2 Offset Voltage UINT 16 rw #x2552 Analog Monitor Magnification (xl) UINT 16 rw #x2553 Analog Monitor Magnification (x2) UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2700 User Parameter Configuration UDINT 32 rw #x2701 Position User Unit DT270X 80 ro #x2702 Velocity User Unit DT270X 80 ro #x2703 Acceleration User Unit DT270X 80 ro #x2710 SERVO Adjusting Command DT2710 272 ro #x2720 Safety module monitors UDINT 32 ro T #x27E0 Diag.Mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Controlword UINT 16 rw RT #x6041 Statusword UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand value INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6087 Torque slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro RT #x609A Homing acceleration UDINT 32 rw RT #x60B1 Velocity offset DINT 32 rw RT #x60B2 Torque offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C1 Interpolation data record DT60C1 48 ro RT #x60C2 Interpolation time period DT60C2 24 ro #x60E0 Positive torque limit value UINT 16 rw RT #x60E1 Negative torque limit value UINT 16 rw RT #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro RT #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x1600 #x1601 #x1603 #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x1600 #x1601 #x1602 #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x1A01 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x1A00 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x1A00 #x1A01 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x1A00 #x1A01 #x1A02 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 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SGDV-E1 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 DT1010 144 0 Number of Entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacture parameters UDINT 32 112 rw DT1011 144 0 Number of Entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication parameters UDINT 32 48 rw 3 Restore application parameters UDINT 32 80 rw 4 Restore manufacture parameters UDINT 32 112 rw DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of SyncManager channels USINT 8 0 ro Communication type SyncManager DT1C00ARR 32 16 ro DT1C10 8 0 Number of assigned PDOs USINT 8 0 ro DT1C1XARR UINT 32 1 2 DT1C1X 48 0 Number of assigned PDOs USINT 8 0 rw Index of assigned PDO DT1C1XARR 32 16 rw DT1C32 352 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 Reserved3 UDINT 32 288 ro 12 SM2 event missed counter UDINT 32 320 ro DT1C33 288 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro DT10F1 80 0 Number of Entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Count Limit UDINT 32 48 rw DT270X 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 272 0 Number of Entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 8 rw 2 Status USINT 8 136 ro 3 Reply ARRAY [0..15] OF BYTE 128 144 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit UDINT 32 16 rw 2 Max position limit UDINT 32 48 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60C1 48 0 Number of set-points USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 24 0 Number of Entries USINT 8 0 ro 1 Interpolation time period USINT 8 8 rw 2 Interpolation time index SINT 8 16 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw #x1000 Device Type UDINT 32 #x00020192 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(0) 0 ro #x100A Manufacturer Software Version STRING(0) 0 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw #x1C00 Sync Manager Communication Type DT1C00 48 ro #x1C10 Sync Manager 0 PDO assignment DT1C10 8 ro #x1C11 Sync Manager 1 PDO assignment DT1C10 8 ro #x1C12 Sync Manager 2 PDO assignment DT1C1X 48 rw #x1C13 Sync Manager 3 PDO assignment DT1C1X 48 rw #x1C32 Sync Manager 2 Synchronization DT1C32 352 ro #x1C33 Sync Manager 3 Synchronization DT1C33 288 ro #x1F01 Sync Error Settings(mirror of 10F1h) DT10F1 80 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction UINT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation UINT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x2212 Encoder Output Pulses UDINT 32 rw #x2216 Position Reference Acceleration Time Constant UINT 16 rw #x2217 Average Movement Time of Position Reference Filter UINT 16 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Reference speed UINT 16 rw #x2494 Polarity Detection travel range UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage UINT 16 rw #x2551 Analog Monitor 2 Offset Voltage UINT 16 rw #x2552 Analog Monitor Magnification (xl) UINT 16 rw #x2553 Analog Monitor Magnification (x2) UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2700 User Parameter Configuration UDINT 32 rw #x2701 Position User Unit DT270X 80 ro #x2702 Velocity User Unit DT270X 80 ro #x2703 Acceleration User Unit DT270X 80 ro #x2710 SERVO Adjusting Command DT2710 272 ro #x27E0 Diag.Mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Controlword UINT 16 rw RT #x6041 Statusword UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand value INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6087 Torque slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro RT #x609A Homing acceleration UDINT 32 rw RT #x60B1 Velocity offset DINT 32 rw RT #x60B2 Torque offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C1 Interpolation data record DT60C1 48 ro RT #x60C2 Interpolation time period DT60C2 24 ro #x60E0 Positive torque limit value UINT 16 rw RT #x60E1 Negative torque limit value UINT 16 rw RT #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro RT #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x1600 #x1601 #x1603 #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x1600 #x1601 #x1602 #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x1A01 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x1A00 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x1A00 #x1A01 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x1A00 #x1A01 #x1A02 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 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SGDV-E1 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 DT1010 144 0 Number of Entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacture parameters UDINT 32 112 rw DT1011 144 0 Number of Entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication parameters UDINT 32 48 rw 3 Restore application parameters UDINT 32 80 rw 4 Restore manufacture parameters UDINT 32 112 rw DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of SyncManager channels USINT 8 0 ro Communication type SyncManager DT1C00ARR 32 16 ro DT1C10 8 0 Number of assigned PDOs USINT 8 0 ro DT1C1XARR UINT 32 1 2 DT1C1X 48 0 Number of assigned PDOs USINT 8 0 rw Index of assigned PDO DT1C1XARR 32 16 rw DT1C32 352 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 Reserved3 UDINT 32 288 ro 12 SM2 event missed counter UDINT 32 320 ro DT1C33 288 0 Number of Synchronization Parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 4 Synchronization types supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Reserved1 UDINT 32 176 ro 8 Reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro DT10F1 80 0 Number of Entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Count Limit UDINT 32 48 rw DT270X 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 272 0 Number of Entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 8 rw 2 Status USINT 8 136 ro 3 Reply ARRAY [0..15] OF BYTE 128 144 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit UDINT 32 16 rw 2 Max position limit UDINT 32 48 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60C1 48 0 Number of set-points USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 24 0 Number of Entries USINT 8 0 ro 1 Interpolation time period USINT 8 8 rw 2 Interpolation time index SINT 8 16 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw #x1000 Device Type UDINT 32 #x00020192 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(0) 0 ro #x100A Manufacturer Software Version STRING(0) 0 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw #x1C00 Sync Manager Communication Type DT1C00 48 ro #x1C10 Sync Manager 0 PDO assignment DT1C10 8 ro #x1C11 Sync Manager 1 PDO assignment DT1C10 8 ro #x1C12 Sync Manager 2 PDO assignment DT1C1X 48 rw #x1C13 Sync Manager 3 PDO assignment DT1C1X 48 rw #x1C32 Sync Manager 2 Synchronization DT1C32 352 ro #x1C33 Sync Manager 3 Synchronization DT1C33 288 ro #x1F01 Sync Error Settings DT10F1 80 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction UINT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation UINT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x2212 Encoder Output Pulses UDINT 32 rw #x2216 Position Reference Acceleration Time Constant UINT 16 rw #x2217 Average Movement Time of Position Reference Filter UINT 16 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Reference speed UINT 16 rw #x2494 Polarity Detection travel range UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage UINT 16 rw #x2551 Analog Monitor 2 Offset Voltage UINT 16 rw #x2552 Analog Monitor Magnification (xl) UINT 16 rw #x2553 Analog Monitor Magnification (x2) UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2700 User Parameter Configuration UDINT 32 rw #x2701 Position User Unit DT270X 80 ro #x2702 Velocity User Unit DT270X 80 ro #x2703 Acceleration User Unit DT270X 80 ro #x2710 SERVO Adjusting Command DT2710 272 ro #x27E0 Diag.Mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Controlword UINT 16 rw RT #x6041 Statusword UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand value INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6087 Torque slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro RT #x609A Homing acceleration UDINT 32 rw RT #x60B1 Velocity offset DINT 32 rw RT #x60B2 Torque offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C1 Interpolation data record DT60C1 48 ro RT #x60C2 Interpolation time period DT60C2 24 ro #x60E0 Positive torque limit value UINT 16 rw RT #x60E1 Negative torque limit value UINT 16 rw RT #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro RT #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x1600 #x1601 #x1603 #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x1600 #x1601 #x1602 #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x1A01 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x1A00 #x1A02 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x1A00 #x1A01 #x1A03 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x1A00 #x1A01 #x1A02 #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 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