#x00000A79 Shenzhen Xinchuan Electric Technology Co.,Ltd 424DD8020000000000003600000028000000100000000E0000000100180000000000A2020000120B0000120B000000000000000000001306E31306E3190CE42B1FE62B1FE61306E31F13E5190CE42519E51306E31306E3190CE42F24E7190CE41306E31306E31306E31306E35F56EC645CED645CED4137E91F13E5473DE95F57EC3227E71306E3473DE95A51EC271BE61306E31306E31409CA524CC68E8AD74F48C1615CC82218D03E36BF716BCE746FCE453DC01307CE3931BA7D78D27671D1150CB21409CA1712801B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D1712801712807F8080D4D5D5D4D5D5383939120B89545656D4D5D5D4D5D5626464130C89292B2BD4D5D5D4D5D56264641915801712804647471B1D1DAAAAAAD4D5D5130E82383939292B2B717272D4D5D5151183D4D5D57F80801B1D1D7172721E1C81191580464747D4D5D5D4D5D51B1D1D19158A292B2BD4D5D5D4D5D5292B2B1B1B8AD4D5D56264641B1D1D1B1D1D2427821E1D81D4D5D54647476264643839391E208BD4D5D57F8080464747545656242A8BD4D5D59B9C9C292B2BAAAAAA2D3683252882464747D4D5D5D4D5D51B1D1D272D85292B2BD4D5D5D4D5D5292B2B2E37861B1D1DD4D5D5D4D5D5464747394484323BB52324812122822426822526824554C0323883292B822A2D83353C84424CBF3238843940842E32834853865D6EBB5262EB3E43E83334E74147E94349E9535FEB4D56EA5662EB484DEA545DEB636FED545AEA5A63EC6671ED8CA0F290A5F2748AEF6B7BEE5D68EC6874ED788AEF8397F17684EF7986EF8C9FF2818FF1818EF08E9DF18A97F18791F19BA9F3B0C0F691A4F291A2F28390F192A1F29CACF3A3B3F498A6F3A4B3F4AEBDF5B0BEF59EA8F3A3ADF4BBC7F7C4D1F8CAD7F8CED9F9B4C4F6B8C8F6ACB8F59AA3F3B6C1F6C5D2F8C2CDF8CCD7F9D2DDF9D5E0FAD2DAF9D5DCF9DFE7FBE2E9FBE5EBFBE8EEFB0000 EtherCAT Driver EtherCAT Driver DRIVE CL3-E57H 2000 9000 5000 200 100 2000 EtherCAT Driver 402 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 SINT 8 USINT 8 REAL 32 BYTE 8 STRING(10) 80 STRING(4) 32 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT1600 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1601 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A00 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A01 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C12 48 0 SubIndex 000 USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw DT1C13 48 0 SubIndex 000 USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Search Switch UDINT 32 16 rw r 2 Search Zero UDINT 32 48 rw r DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw r 2 Bit mask UDINT 32 48 rw r #x1000 Device type UDINT 32 262546 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(10) 80 ro #x1009 Hardware version STRING(4) 32 ro #x100a Software version STRING(4) 32 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01 Sync Error Counter Limit 04 #x1600 RPDO Mapping 1 DT1600 400 Number of Entries #x2 Mapping Entry 1 #x60400010 Mapping Entry 2 #x60600008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1601 RPDO Mapping 2 DT1601 400 Number of Entries #x1 Mapping Entry 1 #x607a0020 Mapping Entry 2 #x0 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1a00 TPDO Mapping 1 DT1A00 400 Number of Entries #x2 Mapping Entry 1 #x60410010 Mapping Entry 2 #x60610008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1a01 TPDO Mapping 2 DT1A01 400 Number of Entries #x2 Mapping Entry 1 #x60640020 Mapping Entry 2 #x606c0020 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro #x1c32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 01 Sync Manager 2, PDO Mapping 0 1600 Sync Manager 2, PDO Mapping 1 0000 #x1c13 TxPDO assign DT1C13 48 SubIndex 000 01 Sync Manager 3, PDO Mapping 0 001A Sync Manager 3, PDO Mapping 1 0000 #x2000 Func DriverID UINT 16 #x0 ro #x2001 Func SoftVersion UINT 16 #x0 ro #x2100 Func InState UINT 16 #x0 ro t #x2101 Func OuState UINT 16 #x0 ro t #x2200 Func ParaRest UINT 16 #x0 rw r #x2201 Func ParaSave UINT 16 #x0 rw r #x2300 Func DefaultDir UINT 16 #x0 rw #x2301 Func RunModeSet UINT 16 #x0 rw #x2302 Func DivSet UINT 16 #x0 rw #x2303 Func MaxCurrent UINT 16 #x0 rw #x2304 Func IBasePer UINT 16 #x0 rw #x2305 Func CloseIMaxPer UINT 16 #x0 rw #x2306 Func OpenIMaxPer UINT 16 #x0 rw #x2307 Func IdleIPer UINT 16 #x0 rw #x2308 Func IdleTime UINT 16 #x0 rw #x2309 Func InPosErr UINT 16 #x0 rw #x230A Func InPosTime UINT 16 #x0 rw #x230B Func FilterTime UINT 16 #x0 rw #x230C Func Encoder UINT 16 #x0 rw #x230D Func EnAlmPos UINT 16 #x0 rw #x2400 Func SensorErr UINT 16 #x0 rw #x2401 Func HomeOfsetClear UINT 16 #x0 rw #x2402 Func LimitStop UINT 16 #x0 rw #x2403 Func BkValid UINT 16 #x0 rw #x2404 Func BkSetDelay UINT 16 #x0 rw #x2405 Func BkOffDelay UINT 16 #x0 rw #x2500 Func InNoNc UINT 16 #x0 rw #x2501 Func OuNoNc UINT 16 #x0 rw #x2510 Func I1Set UINT 16 #x0 rw #x2511 Func I2Set UINT 16 #x0 rw #x2512 Func I3Set UINT 16 #x0 rw #x2513 Func I4Set UINT 16 #x0 rw #x2514 Func I5Set UINT 16 #x0 rw #x2515 Func I6Set UINT 16 #x0 rw #x2520 Func O1Set UINT 16 #x0 rw #x2521 Func O2Set UINT 16 #x0 rw #x2522 Func O3Set UINT 16 #x0 rw #x2530 Func FltTimes1 UINT 16 #x0 rw #x2531 Func FltTimes2 UINT 16 #x0 rw #x2532 Func FltTimes3 UINT 16 #x0 rw #x2533 Func FltTimes4 UINT 16 #x0 rw #x2534 Func FltTimes5 UINT 16 #x0 rw #x2535 Func FltTimes6 UINT 16 #x0 rw #x2600 Func SyncCnt UINT 16 #x0 rw #x2700 Func I_KpScale UINT 16 #x0 rw #x2701 Func I_KpGain UINT 16 #x0 rw #x2702 Func I_KiGain UINT 16 #x0 rw #x2703 Func I_KcGain UINT 16 #x0 rw #x2704 Func Spd_Kp1 UINT 16 #x0 rw #x2705 Func Spd_Kv1 UINT 16 #x0 rw #x2706 Func Spd_Kp2 UINT 16 #x0 rw #x2707 Func Spd_Kv2 UINT 16 #x0 rw #x2708 Func Spd_Ki UINT 16 #x0 rw #x2709 Func Spd_Kvff UINT 16 #x0 rw #x603F ErrorCode UINT 16 #x0 ro t #x6040 ControlWord UINT 16 #x0 rw r #x6041 StatusWord UINT 16 #x0 ro t #x605A Quickstop Option Code INT 16 #x0 rw #x605D Halt option code INT 16 FFFF rw #x6060 Modes of operation SINT 8 #x0 rw r #x6061 Modes of operation display SINT 8 #x0 ro t #x6062 Position demand value DINT 32 #x0 ro t #x6064 Position actual value DINT 32 #x0 ro t #x606B Commanded Velocity DINT 32 #x0 ro t #x606C Velocity actual value DINT 32 #x0 ro t #x607A Target position DINT 32 #x0 rw r #x607C Home offset DINT 32 #x0 rw r #x6081 Profile velocity UDINT 32 #x0 rw r #x6083 Profile acceleration UDINT 32 #x0 rw r #x6084 Profile deceleration UDINT 32 #x0 rw r #x6098 Homing method SINT 8 #x1 rw r #x6099 Homing speeds DT6099 80 Number of Entries #x2 Search Switch #x0 Search Zero #x0 #x609A Homing acceleration UDINT 32 #x0 rw r #x60B8 Touch Probe Function UINT 16 #x0 rw r #x60B9 Touch Probe Status UINT 16 #x0 ro t #x60BA Touch Probe Position 1 Positive Value DINT 32 #x0 ro t #x60BB Touch Probe Position 1 Negative Value DINT 32 #x0 ro t #x60BC Touch Probe Position 2 Positive Value DINT 32 #x0 ro t #x60BD Touch Probe Position 2 Negative Value DINT 32 #x0 ro t #x60D5 Touch Probe Position 1 Positive Counter UDINT 32 #x0 ro t #x60D6 Touch Probe Position 1 Negative Counter UDINT 32 #x0 ro t #x60D7 Touch Probe Position 2 Positive Counter UDINT 32 #x0 ro t #x60D8 Touch Probe Position 2 Negative Counter UDINT 32 #x0 ro t #x60F4 Follow Error Actual Value DINT 32 #x0 ro t #x60FD Digital inputs UDINT 32 #x0 ro t #x60FE Digital outputs DT60FE 80 Number of Entries #x2 Physical outputs #x0 Bit mask #x0 #x60FF Target Velocity DINT 32 #x0 rw r #x6502 Supported Drive Modes UDINT 32 #x1dd ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO 1 #x6040 #x0 16 ControlWord UINT #x607A #x0 32 Target position DINT #x60FF #x0 32 Target Velocity DINT #x60B8 #x0 16 Touch Probe Function UINT #x1601 RxPDO 2 #x6040 #x0 16 ControlWord UINT #x6060 #x0 8 Modes of operation SINT #x607A #x0 32 Target position DINT #x6081 #x0 32 Profile velocity UDINT #x6099 #x1 32 Search Switch UDINT #x6099 #x2 32 Search Zero UDINT #x1A00 TxPDO 1 #x603F #x0 16 ErrorCode UINT #x6041 #x0 16 StatusWord UINT #x6064 #x0 32 Position actual value DINT #x60FD #x0 32 Digital inputs UDINT #x60B9 #x0 16 Touch Probe Status UINT #x60BA #x0 32 Touch Probe Position 1 Positive Value DINT #x6061 #x0 8 Modes of operation display SINT #x1A01 TxPDO 2 #x603F #x0 16 ErrorCode UINT #x6041 #x0 16 StatusWord UINT #x6064 #x0 32 Position actual value DINT #x60FD #x0 32 Digital inputs UDINT #x6061 #x0 8 Modes of operation display SINT PS #x6060 0 08 Modes of Operation DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 2048 003C0000FF0200000000 CL3-E86H 2000 9000 5000 200 100 2000 EtherCAT Driver 402 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 SINT 8 USINT 8 REAL 32 BYTE 8 STRING(10) 80 STRING(4) 32 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT1600 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1601 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A00 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A01 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C12 48 0 SubIndex 000 USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw DT1C13 48 0 SubIndex 000 USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Search Switch UDINT 32 16 rw r 2 Search Zero UDINT 32 48 rw r DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw r 2 Bit mask UDINT 32 48 rw r #x1000 Device type UDINT 32 262546 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(10) 80 ro #x1009 Hardware version STRING(4) 32 ro #x100a Software version STRING(4) 32 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01 Sync Error Counter Limit 04 #x1600 RPDO Mapping 1 DT1600 400 Number of Entries #x2 Mapping Entry 1 #x60400010 Mapping Entry 2 #x60600008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1601 RPDO Mapping 2 DT1601 400 Number of Entries #x1 Mapping Entry 1 #x607a0020 Mapping Entry 2 #x0 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1a00 TPDO Mapping 1 DT1A00 400 Number of Entries #x2 Mapping Entry 1 #x60410010 Mapping Entry 2 #x60610008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1a01 TPDO Mapping 2 DT1A01 400 Number of Entries #x2 Mapping Entry 1 #x60640020 Mapping Entry 2 #x606c0020 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro #x1c32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 01 Sync Manager 2, PDO Mapping 0 1600 Sync Manager 2, PDO Mapping 1 0000 #x1c13 TxPDO assign DT1C13 48 SubIndex 000 01 Sync Manager 3, PDO Mapping 0 001A Sync Manager 3, PDO Mapping 1 0000 #x2000 Func DriverID UINT 16 #x0 ro #x2001 Func SoftVersion UINT 16 #x0 ro #x2100 Func InState UINT 16 #x0 ro t #x2101 Func OuState UINT 16 #x0 ro t #x2200 Func ParaRest UINT 16 #x0 rw r #x2201 Func ParaSave UINT 16 #x0 rw r #x2300 Func DefaultDir UINT 16 #x0 rw #x2301 Func RunModeSet UINT 16 #x0 rw #x2302 Func DivSet UINT 16 #x0 rw #x2303 Func MaxCurrent UINT 16 #x0 rw #x2304 Func IBasePer UINT 16 #x0 rw #x2305 Func CloseIMaxPer UINT 16 #x0 rw #x2306 Func OpenIMaxPer UINT 16 #x0 rw #x2307 Func IdleIPer UINT 16 #x0 rw #x2308 Func IdleTime UINT 16 #x0 rw #x2309 Func InPosErr UINT 16 #x0 rw #x230A Func InPosTime UINT 16 #x0 rw #x230B Func FilterTime UINT 16 #x0 rw #x230C Func Encoder UINT 16 #x0 rw #x230D Func EnAlmPos UINT 16 #x0 rw #x2400 Func SensorErr UINT 16 #x0 rw #x2401 Func HomeOfsetClear UINT 16 #x0 rw #x2402 Func LimitStop UINT 16 #x0 rw #x2403 Func BkValid UINT 16 #x0 rw #x2404 Func BkSetDelay UINT 16 #x0 rw #x2405 Func BkOffDelay UINT 16 #x0 rw #x2500 Func InNoNc UINT 16 #x0 rw #x2501 Func OuNoNc UINT 16 #x0 rw #x2510 Func I1Set UINT 16 #x0 rw #x2511 Func I2Set UINT 16 #x0 rw #x2512 Func I3Set UINT 16 #x0 rw #x2513 Func I4Set UINT 16 #x0 rw #x2514 Func I5Set UINT 16 #x0 rw #x2515 Func I6Set UINT 16 #x0 rw #x2520 Func O1Set UINT 16 #x0 rw #x2521 Func O2Set UINT 16 #x0 rw #x2522 Func O3Set UINT 16 #x0 rw #x2530 Func FltTimes1 UINT 16 #x0 rw #x2531 Func FltTimes2 UINT 16 #x0 rw #x2532 Func FltTimes3 UINT 16 #x0 rw #x2533 Func FltTimes4 UINT 16 #x0 rw #x2534 Func FltTimes5 UINT 16 #x0 rw #x2535 Func FltTimes6 UINT 16 #x0 rw #x2600 Func SyncCnt UINT 16 #x0 rw #x2700 Func I_KpScale UINT 16 #x0 rw #x2701 Func I_KpGain UINT 16 #x0 rw #x2702 Func I_KiGain UINT 16 #x0 rw #x2703 Func I_KcGain UINT 16 #x0 rw #x2704 Func Spd_Kp1 UINT 16 #x0 rw #x2705 Func Spd_Kv1 UINT 16 #x0 rw #x2706 Func Spd_Kp2 UINT 16 #x0 rw #x2707 Func Spd_Kv2 UINT 16 #x0 rw #x2708 Func Spd_Ki UINT 16 #x0 rw #x2709 Func Spd_Kvff UINT 16 #x0 rw #x603F ErrorCode UINT 16 #x0 ro t #x6040 ControlWord UINT 16 #x0 rw r #x6041 StatusWord UINT 16 #x0 ro t #x605A Quickstop Option Code INT 16 #x0 rw #x605D Halt option code INT 16 FFFF rw #x6060 Modes of operation SINT 8 #x0 rw r #x6061 Modes of operation display SINT 8 #x0 ro t #x6062 Position demand value DINT 32 #x0 ro t #x6064 Position actual value DINT 32 #x0 ro t #x606B Commanded Velocity DINT 32 #x0 ro t #x606C Velocity actual value DINT 32 #x0 ro t #x607A Target position DINT 32 #x0 rw r #x607C Home offset DINT 32 #x0 rw r #x6081 Profile velocity UDINT 32 #x0 rw r #x6083 Profile acceleration UDINT 32 #x0 rw r #x6084 Profile deceleration UDINT 32 #x0 rw r #x6098 Homing method SINT 8 #x1 rw r #x6099 Homing speeds DT6099 80 Number of Entries #x2 Search Switch #x0 Search Zero #x0 #x609A Homing acceleration UDINT 32 #x0 rw r #x60B8 Touch Probe Function UINT 16 #x0 rw r #x60B9 Touch Probe Status UINT 16 #x0 ro t #x60BA Touch Probe Position 1 Positive Value DINT 32 #x0 ro t #x60BB Touch Probe Position 1 Negative Value DINT 32 #x0 ro t #x60BC Touch Probe Position 2 Positive Value DINT 32 #x0 ro t #x60BD Touch Probe Position 2 Negative Value DINT 32 #x0 ro t #x60D5 Touch Probe Position 1 Positive Counter UDINT 32 #x0 ro t #x60D6 Touch Probe Position 1 Negative Counter UDINT 32 #x0 ro t #x60D7 Touch Probe Position 2 Positive Counter UDINT 32 #x0 ro t #x60D8 Touch Probe Position 2 Negative Counter UDINT 32 #x0 ro t #x60F4 Follow Error Actual Value DINT 32 #x0 ro t #x60FD Digital inputs UDINT 32 #x0 ro t #x60FE Digital outputs DT60FE 80 Number of Entries #x2 Physical outputs #x0 Bit mask #x0 #x60FF Target Velocity DINT 32 #x0 rw r #x6502 Supported Drive Modes UDINT 32 #x1dd ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO 1 #x6040 #x0 16 ControlWord UINT #x607A #x0 32 Target position DINT #x60FF #x0 32 Target Velocity DINT #x60B8 #x0 16 Touch Probe Function UINT #x1601 RxPDO 2 #x6040 #x0 16 ControlWord UINT #x6060 #x0 8 Modes of operation SINT #x607A #x0 32 Target position DINT #x6081 #x0 32 Profile velocity UDINT #x6099 #x1 32 Search Switch UDINT #x6099 #x2 32 Search Zero UDINT #x1A00 TxPDO 1 #x603F #x0 16 ErrorCode UINT #x6041 #x0 16 StatusWord UINT #x6064 #x0 32 Position actual value DINT #x60FD #x0 32 Digital inputs UDINT #x60B9 #x0 16 Touch Probe Status UINT #x60BA #x0 32 Touch Probe Position 1 Positive Value DINT #x6061 #x0 8 Modes of operation display SINT #x1A01 TxPDO 2 #x603F #x0 16 ErrorCode UINT #x6041 #x0 16 StatusWord UINT #x6064 #x0 32 Position actual value DINT #x60FD #x0 32 Digital inputs UDINT #x6061 #x0 8 Modes of operation display SINT PS #x6060 0 08 Modes of Operation DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 2048 003C0000FF0200000000 OL3-E57H 2000 9000 5000 200 100 2000 EtherCAT Driver 402 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 SINT 8 USINT 8 REAL 32 BYTE 8 STRING(10) 80 STRING(4) 32 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT1600 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1601 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A00 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A01 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C12 48 0 SubIndex 000 USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw DT1C13 48 0 SubIndex 000 USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Search Switch UDINT 32 16 rw r 2 Search Zero UDINT 32 48 rw r DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw r 2 Bit mask UDINT 32 48 rw r #x1000 Device type UDINT 32 262546 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(10) 80 ro #x1009 Hardware version STRING(4) 32 ro #x100a Software version STRING(4) 32 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01 Sync Error Counter Limit 04 #x1600 RPDO Mapping 1 DT1600 400 Number of Entries #x2 Mapping Entry 1 #x60400010 Mapping Entry 2 #x60600008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1601 RPDO Mapping 2 DT1601 400 Number of Entries #x1 Mapping Entry 1 #x607a0020 Mapping Entry 2 #x0 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1a00 TPDO Mapping 1 DT1A00 400 Number of Entries #x2 Mapping Entry 1 #x60410010 Mapping Entry 2 #x60610008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1a01 TPDO Mapping 2 DT1A01 400 Number of Entries #x2 Mapping Entry 1 #x60640020 Mapping Entry 2 #x606c0020 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro #x1c32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 01 Sync Manager 2, PDO Mapping 0 1600 Sync Manager 2, PDO Mapping 1 0000 #x1c13 TxPDO assign DT1C13 48 SubIndex 000 01 Sync Manager 3, PDO Mapping 0 001A Sync Manager 3, PDO Mapping 1 0000 #x2000 Func DriverID UINT 16 #x0 ro #x2001 Func SoftVersion UINT 16 #x0 ro #x2100 Func InState UINT 16 #x0 ro t #x2101 Func OuState UINT 16 #x0 ro t #x2200 Func ParaRest UINT 16 #x0 rw r #x2201 Func ParaSave UINT 16 #x0 rw r #x2300 Func DefaultDir UINT 16 #x0 rw #x2301 Func RunModeSet UINT 16 #x0 rw #x2302 Func DivSet UINT 16 #x0 rw #x2303 Func MaxCurrent UINT 16 #x0 rw #x2304 Func IBasePer UINT 16 #x0 rw #x2305 Func CloseIMaxPer UINT 16 #x0 rw #x2306 Func OpenIMaxPer UINT 16 #x0 rw #x2307 Func IdleIPer UINT 16 #x0 rw #x2308 Func IdleTime UINT 16 #x0 rw #x2309 Func InPosErr UINT 16 #x0 rw #x230A Func InPosTime UINT 16 #x0 rw #x230B Func FilterTime UINT 16 #x0 rw #x230C Func Encoder UINT 16 #x0 rw #x230D Func EnAlmPos UINT 16 #x0 rw #x2400 Func SensorErr UINT 16 #x0 rw #x2401 Func HomeOfsetClear UINT 16 #x0 rw #x2402 Func LimitStop UINT 16 #x0 rw #x2403 Func BkValid UINT 16 #x0 rw #x2404 Func BkSetDelay UINT 16 #x0 rw #x2405 Func BkOffDelay UINT 16 #x0 rw #x2500 Func InNoNc UINT 16 #x0 rw #x2501 Func OuNoNc UINT 16 #x0 rw #x2510 Func I1Set UINT 16 #x0 rw #x2511 Func I2Set UINT 16 #x0 rw #x2512 Func I3Set UINT 16 #x0 rw #x2513 Func I4Set UINT 16 #x0 rw #x2514 Func I5Set UINT 16 #x0 rw #x2515 Func I6Set UINT 16 #x0 rw #x2520 Func O1Set UINT 16 #x0 rw #x2521 Func O2Set UINT 16 #x0 rw #x2522 Func O3Set UINT 16 #x0 rw #x2530 Func FltTimes1 UINT 16 #x0 rw #x2531 Func FltTimes2 UINT 16 #x0 rw #x2532 Func FltTimes3 UINT 16 #x0 rw #x2533 Func FltTimes4 UINT 16 #x0 rw #x2534 Func FltTimes5 UINT 16 #x0 rw #x2535 Func FltTimes6 UINT 16 #x0 rw #x2600 Func SyncCnt UINT 16 #x0 rw #x2700 Func I_KpScale UINT 16 #x0 rw #x2701 Func I_KpGain UINT 16 #x0 rw #x2702 Func I_KiGain UINT 16 #x0 rw #x2703 Func I_KcGain UINT 16 #x0 rw #x2704 Func Spd_Kp1 UINT 16 #x0 rw #x2705 Func Spd_Kv1 UINT 16 #x0 rw #x2706 Func Spd_Kp2 UINT 16 #x0 rw #x2707 Func Spd_Kv2 UINT 16 #x0 rw #x2708 Func Spd_Ki UINT 16 #x0 rw #x2709 Func Spd_Kvff UINT 16 #x0 rw #x603F ErrorCode UINT 16 #x0 ro t #x6040 ControlWord UINT 16 #x0 rw r #x6041 StatusWord UINT 16 #x0 ro t #x605A Quickstop Option Code INT 16 #x0 rw #x605D Halt option code INT 16 FFFF rw #x6060 Modes of operation SINT 8 #x0 rw r #x6061 Modes of operation display SINT 8 #x0 ro t #x6062 Position demand value DINT 32 #x0 ro t #x6064 Position actual value DINT 32 #x0 ro t #x606B Commanded Velocity DINT 32 #x0 ro t #x606C Velocity actual value DINT 32 #x0 ro t #x607A Target position DINT 32 #x0 rw r #x607C Home offset DINT 32 #x0 rw r #x6081 Profile velocity UDINT 32 #x0 rw r #x6083 Profile acceleration UDINT 32 #x0 rw r #x6084 Profile deceleration UDINT 32 #x0 rw r #x6098 Homing method SINT 8 #x1 rw r #x6099 Homing speeds DT6099 80 Number of Entries #x2 Search Switch #x0 Search Zero #x0 #x609A Homing acceleration UDINT 32 #x0 rw r #x60B8 Touch Probe Function UINT 16 #x0 rw r #x60B9 Touch Probe Status UINT 16 #x0 ro t #x60BA Touch Probe Position 1 Positive Value DINT 32 #x0 ro t #x60BB Touch Probe Position 1 Negative Value DINT 32 #x0 ro t #x60BC Touch Probe Position 2 Positive Value DINT 32 #x0 ro t #x60BD Touch Probe Position 2 Negative Value DINT 32 #x0 ro t #x60D5 Touch Probe Position 1 Positive Counter UDINT 32 #x0 ro t #x60D6 Touch Probe Position 1 Negative Counter UDINT 32 #x0 ro t #x60D7 Touch Probe Position 2 Positive Counter UDINT 32 #x0 ro t #x60D8 Touch Probe Position 2 Negative Counter UDINT 32 #x0 ro t #x60F4 Follow Error Actual Value DINT 32 #x0 ro t #x60FD Digital inputs UDINT 32 #x0 ro t #x60FE Digital outputs DT60FE 80 Number of Entries #x2 Physical outputs #x0 Bit mask #x0 #x60FF Target Velocity DINT 32 #x0 rw r #x6502 Supported Drive Modes UDINT 32 #x1dd ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO 1 #x6040 #x0 16 ControlWord UINT #x607A #x0 32 Target position DINT #x60FF #x0 32 Target Velocity DINT #x60B8 #x0 16 Touch Probe Function UINT #x1601 RxPDO 2 #x6040 #x0 16 ControlWord UINT #x6060 #x0 8 Modes of operation SINT #x607A #x0 32 Target position DINT #x6081 #x0 32 Profile velocity UDINT #x6099 #x1 32 Search Switch UDINT #x6099 #x2 32 Search Zero UDINT #x1A00 TxPDO 1 #x603F #x0 16 ErrorCode UINT #x6041 #x0 16 StatusWord UINT #x6064 #x0 32 Position actual value DINT #x60FD #x0 32 Digital inputs UDINT #x60B9 #x0 16 Touch Probe Status UINT #x60BA #x0 32 Touch Probe Position 1 Positive Value DINT #x6061 #x0 8 Modes of operation display SINT #x1A01 TxPDO 2 #x603F #x0 16 ErrorCode UINT #x6041 #x0 16 StatusWord UINT #x6064 #x0 32 Position actual value DINT #x60FD #x0 32 Digital inputs UDINT #x6061 #x0 8 Modes of operation display SINT PS #x6060 0 08 Modes of Operation DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 2048 003C0000FF0200000000 OL3-E86H 2000 9000 5000 200 100 2000 EtherCAT Driver 402 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 SINT 8 USINT 8 REAL 32 BYTE 8 STRING(10) 80 STRING(4) 32 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT1600 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1601 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A00 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A01 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C12 48 0 SubIndex 000 USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw DT1C13 48 0 SubIndex 000 USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Search Switch UDINT 32 16 rw r 2 Search Zero UDINT 32 48 rw r DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw r 2 Bit mask UDINT 32 48 rw r #x1000 Device type UDINT 32 262546 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(10) 80 ro #x1009 Hardware version STRING(4) 32 ro #x100a Software version STRING(4) 32 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01 Sync Error Counter Limit 04 #x1600 RPDO Mapping 1 DT1600 400 Number of Entries #x2 Mapping Entry 1 #x60400010 Mapping Entry 2 #x60600008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1601 RPDO Mapping 2 DT1601 400 Number of Entries #x1 Mapping Entry 1 #x607a0020 Mapping Entry 2 #x0 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1a00 TPDO Mapping 1 DT1A00 400 Number of Entries #x2 Mapping Entry 1 #x60410010 Mapping Entry 2 #x60610008 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1a01 TPDO Mapping 2 DT1A01 400 Number of Entries #x2 Mapping Entry 1 #x60640020 Mapping Entry 2 #x606c0020 Mapping Entry 3 #x0 Mapping Entry 4 #x0 Mapping Entry 5 #x0 Mapping Entry 6 #x0 Mapping Entry 7 #x0 Mapping Entry 8 #x0 Mapping Entry 9 #x0 Mapping Entry 10 #x0 Mapping Entry 11 #x0 Mapping Entry 12 #x0 #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro #x1c32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 01 Sync Manager 2, PDO Mapping 0 1600 Sync Manager 2, PDO Mapping 1 0000 #x1c13 TxPDO assign DT1C13 48 SubIndex 000 01 Sync Manager 3, PDO Mapping 0 001A Sync Manager 3, PDO Mapping 1 0000 #x2000 Func DriverID UINT 16 #x0 ro #x2001 Func SoftVersion UINT 16 #x0 ro #x2100 Func InState UINT 16 #x0 ro t #x2101 Func OuState UINT 16 #x0 ro t #x2200 Func ParaRest UINT 16 #x0 rw r #x2201 Func ParaSave UINT 16 #x0 rw r #x2300 Func DefaultDir UINT 16 #x0 rw #x2301 Func RunModeSet UINT 16 #x0 rw #x2302 Func DivSet UINT 16 #x0 rw #x2303 Func MaxCurrent UINT 16 #x0 rw #x2304 Func IBasePer UINT 16 #x0 rw #x2305 Func CloseIMaxPer UINT 16 #x0 rw #x2306 Func OpenIMaxPer UINT 16 #x0 rw #x2307 Func IdleIPer UINT 16 #x0 rw #x2308 Func IdleTime UINT 16 #x0 rw #x2309 Func InPosErr UINT 16 #x0 rw #x230A Func InPosTime UINT 16 #x0 rw #x230B Func FilterTime UINT 16 #x0 rw #x230C Func Encoder UINT 16 #x0 rw #x230D Func EnAlmPos UINT 16 #x0 rw #x2400 Func SensorErr UINT 16 #x0 rw #x2401 Func HomeOfsetClear UINT 16 #x0 rw #x2402 Func LimitStop UINT 16 #x0 rw #x2403 Func BkValid UINT 16 #x0 rw #x2404 Func BkSetDelay UINT 16 #x0 rw #x2405 Func BkOffDelay UINT 16 #x0 rw #x2500 Func InNoNc UINT 16 #x0 rw #x2501 Func OuNoNc UINT 16 #x0 rw #x2510 Func I1Set UINT 16 #x0 rw #x2511 Func I2Set UINT 16 #x0 rw #x2512 Func I3Set UINT 16 #x0 rw #x2513 Func I4Set UINT 16 #x0 rw #x2514 Func I5Set UINT 16 #x0 rw #x2515 Func I6Set UINT 16 #x0 rw #x2520 Func O1Set UINT 16 #x0 rw #x2521 Func O2Set UINT 16 #x0 rw #x2522 Func O3Set UINT 16 #x0 rw #x2530 Func FltTimes1 UINT 16 #x0 rw #x2531 Func FltTimes2 UINT 16 #x0 rw #x2532 Func FltTimes3 UINT 16 #x0 rw #x2533 Func FltTimes4 UINT 16 #x0 rw #x2534 Func FltTimes5 UINT 16 #x0 rw #x2535 Func FltTimes6 UINT 16 #x0 rw #x2600 Func SyncCnt UINT 16 #x0 rw #x2700 Func I_KpScale UINT 16 #x0 rw #x2701 Func I_KpGain UINT 16 #x0 rw #x2702 Func I_KiGain UINT 16 #x0 rw #x2703 Func I_KcGain UINT 16 #x0 rw #x2704 Func Spd_Kp1 UINT 16 #x0 rw #x2705 Func Spd_Kv1 UINT 16 #x0 rw #x2706 Func Spd_Kp2 UINT 16 #x0 rw #x2707 Func Spd_Kv2 UINT 16 #x0 rw #x2708 Func Spd_Ki UINT 16 #x0 rw #x2709 Func Spd_Kvff UINT 16 #x0 rw #x603F ErrorCode UINT 16 #x0 ro t #x6040 ControlWord UINT 16 #x0 rw r #x6041 StatusWord UINT 16 #x0 ro t #x605A Quickstop Option Code INT 16 #x0 rw #x605D Halt option code INT 16 FFFF rw #x6060 Modes of operation SINT 8 #x0 rw r #x6061 Modes of operation display SINT 8 #x0 ro t #x6062 Position demand value DINT 32 #x0 ro t #x6064 Position actual value DINT 32 #x0 ro t #x606B Commanded Velocity DINT 32 #x0 ro t #x606C Velocity actual value DINT 32 #x0 ro t #x607A Target position DINT 32 #x0 rw r #x607C Home offset DINT 32 #x0 rw r #x6081 Profile velocity UDINT 32 #x0 rw r #x6083 Profile acceleration UDINT 32 #x0 rw r #x6084 Profile deceleration UDINT 32 #x0 rw r #x6098 Homing method SINT 8 #x1 rw r #x6099 Homing speeds DT6099 80 Number of Entries #x2 Search Switch #x0 Search Zero #x0 #x609A Homing acceleration UDINT 32 #x0 rw r #x60B8 Touch Probe Function UINT 16 #x0 rw r #x60B9 Touch Probe Status UINT 16 #x0 ro t #x60BA Touch Probe Position 1 Positive Value DINT 32 #x0 ro t #x60BB Touch Probe Position 1 Negative Value DINT 32 #x0 ro t #x60BC Touch Probe Position 2 Positive Value DINT 32 #x0 ro t #x60BD Touch Probe Position 2 Negative Value DINT 32 #x0 ro t #x60D5 Touch Probe Position 1 Positive Counter UDINT 32 #x0 ro t #x60D6 Touch Probe Position 1 Negative Counter UDINT 32 #x0 ro t #x60D7 Touch Probe Position 2 Positive Counter UDINT 32 #x0 ro t #x60D8 Touch Probe Position 2 Negative Counter UDINT 32 #x0 ro t #x60F4 Follow Error Actual Value DINT 32 #x0 ro t #x60FD Digital inputs UDINT 32 #x0 ro t #x60FE Digital outputs DT60FE 80 Number of Entries #x2 Physical outputs #x0 Bit mask #x0 #x60FF Target Velocity DINT 32 #x0 rw r #x6502 Supported Drive Modes UDINT 32 #x1dd ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO 1 #x6040 #x0 16 ControlWord UINT #x607A #x0 32 Target position DINT #x60FF #x0 32 Target Velocity DINT #x60B8 #x0 16 Touch Probe Function UINT #x1601 RxPDO 2 #x6040 #x0 16 ControlWord UINT #x6060 #x0 8 Modes of operation SINT #x607A #x0 32 Target position DINT #x6081 #x0 32 Profile velocity UDINT #x6099 #x1 32 Search Switch UDINT #x6099 #x2 32 Search Zero UDINT #x1A00 TxPDO 1 #x603F #x0 16 ErrorCode UINT #x6041 #x0 16 StatusWord UINT #x6064 #x0 32 Position actual value DINT #x60FD #x0 32 Digital inputs UDINT #x60B9 #x0 16 Touch Probe Status UINT #x60BA #x0 32 Touch Probe Position 1 Positive Value DINT #x6061 #x0 8 Modes of operation display SINT #x1A01 TxPDO 2 #x603F #x0 16 ErrorCode UINT #x6041 #x0 16 StatusWord UINT #x6064 #x0 32 Position actual value DINT #x60FD #x0 32 Digital inputs UDINT #x6061 #x0 8 Modes of operation display SINT PS #x6060 0 08 Modes of Operation DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 2048 003C0000FF0200000000