=== Master 0, Slave 0 === SDO 0x1000, "Device type" 0x1000:00, r-r-r-, uint32, 32 bit, "Device type" SDO 0x1001, "Error register" 0x1001:00, r-r-r-, uint8, 8 bit, "Error register" SDO 0x1008, "Device name" 0x1008:00, r-r-r-, string, 200 bit, "Device name" SDO 0x1009, "Manufacturer Hardware version" 0x1009:00, r-r-r-, string, 120 bit, "Manufacturer Hardware version" SDO 0x100a, "Manufacturer Software version" 0x100a:00, r-r-r-, string, 40 bit, "Manufacturer Software version" SDO 0x1018, "Identity Object" 0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID" 0x1018:02, r-r-r-, uint32, 32 bit, "Product Code" 0x1018:03, r-r-r-, uint32, 32 bit, "Revision Number" 0x1018:04, r-r-r-, uint32, 32 bit, "Serial Number" SDO 0x10f1, "Error Settings" 0x10f1:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x10f1:01, r-r-r-, uint32, 32 bit, "Local Error Reaction" 0x10f1:02, rwrwrw, uint16, 16 bit, "Sync Error Counter Limit" SDO 0x10f8, "Timestamp Object" 0x10f8:00, rwrwrw, uint64, 64 bit, "Timestamp Object" SDO 0x1600, "RxPDO" 0x1600:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1600:01, rwrwrw, uint32, 32 bit, "RXPDO_SI1" 0x1600:02, rwrwrw, uint32, 32 bit, "RXPDO_SI2" 0x1600:03, rwrwrw, uint32, 32 bit, "RXPDO_SI3" 0x1600:04, rwrwrw, uint32, 32 bit, "RXPDO_SI4" 0x1600:05, rwrwrw, uint32, 32 bit, "RXPDO_SI5" 0x1600:06, rwrwrw, uint32, 32 bit, "RXPDO_SI6" 0x1600:07, rwrwrw, uint32, 32 bit, "RXPDO_SI7" 0x1600:08, rwrwrw, uint32, 32 bit, "RXPDO_SI8" 0x1600:09, rwrwrw, uint32, 32 bit, "RXPDO_SI9" 0x1600:0a, rwrwrw, uint32, 32 bit, "RXPDO_SI10" SDO 0x1701, "RxPDO" 0x1701:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1701:01, rwrwrw, uint32, 32 bit, "SI1" 0x1701:02, rwrwrw, uint32, 32 bit, "SI2" 0x1701:03, rwrwrw, uint32, 32 bit, "SI3" 0x1701:04, rwrwrw, uint32, 32 bit, "SI4" 0x1701:05, rwrwrw, uint32, 32 bit, "SI5" 0x1701:06, rwrwrw, uint32, 32 bit, "SI6" 0x1701:07, rwrwrw, uint32, 32 bit, "SI7" 0x1701:08, rwrwrw, uint32, 32 bit, "SI8" 0x1701:09, rwrwrw, uint32, 32 bit, "SI9" 0x1701:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1702, "RxPDO" 0x1702:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1702:01, rwrwrw, uint32, 32 bit, "SI1" 0x1702:02, rwrwrw, uint32, 32 bit, "SI2" 0x1702:03, rwrwrw, uint32, 32 bit, "SI3" 0x1702:04, rwrwrw, uint32, 32 bit, "SI4" 0x1702:05, rwrwrw, uint32, 32 bit, "SI5" 0x1702:06, rwrwrw, uint32, 32 bit, "SI6" 0x1702:07, rwrwrw, uint32, 32 bit, "SI7" 0x1702:08, rwrwrw, uint32, 32 bit, "SI8" 0x1702:09, rwrwrw, uint32, 32 bit, "SI9" 0x1702:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1a00, "TxPDO" 0x1a00:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1a00:01, rwrwrw, uint32, 32 bit, "SI1" 0x1a00:02, rwrwrw, uint32, 32 bit, "SI2" 0x1a00:03, rwrwrw, uint32, 32 bit, "SI3" 0x1a00:04, rwrwrw, uint32, 32 bit, "SI4" 0x1a00:05, rwrwrw, uint32, 32 bit, "SI5" 0x1a00:06, rwrwrw, uint32, 32 bit, "SI6" 0x1a00:07, rwrwrw, uint32, 32 bit, "SI7" 0x1a00:08, rwrwrw, uint32, 32 bit, "SI8" 0x1a00:09, rwrwrw, uint32, 32 bit, "SI9" 0x1a00:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1b01, "TxPDO" 0x1b01:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1b01:01, rwrwrw, uint32, 32 bit, "SI1" 0x1b01:02, rwrwrw, uint32, 32 bit, "SI2" 0x1b01:03, rwrwrw, uint32, 32 bit, "SI3" 0x1b01:04, rwrwrw, uint32, 32 bit, "SI4" 0x1b01:05, rwrwrw, uint32, 32 bit, "SI5" 0x1b01:06, rwrwrw, uint32, 32 bit, "SI6" 0x1b01:07, rwrwrw, uint32, 32 bit, "SI7" 0x1b01:08, rwrwrw, uint32, 32 bit, "SI8" 0x1b01:09, rwrwrw, uint32, 32 bit, "SI9" 0x1b01:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1c00, "Sync manager type" 0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001" 0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002" 0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003" 0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004" SDO 0x1c12, "RxPDO assign" 0x1c12:00, rwr-r-, uint8, 8 bit, "SubIndex 000" 0x1c12:01, rwr-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c13, "TxPDO assign" 0x1c13:00, rwr-r-, uint8, 8 bit, "SubIndex 000" 0x1c13:01, rwr-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c32, "SM output parameter" 0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c32:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c32:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c32:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c32:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c32:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c32:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c32:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c32:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c32:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c32:0d, r-r-r-, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c32:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c32:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c32:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c32:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c32:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c32:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c32:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c32:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c32:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c32:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c32:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c32:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c32:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c32:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c32:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c32:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c32:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c32:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c32:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x1c33, "SM input parameter" 0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c33:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c33:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c33:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c33:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c33:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c33:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c33:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c33:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c33:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c33:0d, r-r-r-, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c33:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c33:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c33:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c33:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c33:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c33:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c33:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c33:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c33:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c33:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c33:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c33:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c33:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c33:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c33:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c33:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c33:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c33:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c33:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x2000, "P0 Group Function Code" 0x2000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2000:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2000:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2000:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2000:04, rwrwrw, uint16, 16 bit, "RotationDir" 0x2000:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2000:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2000:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2000:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2000:09, rwrwrw, uint16, 16 bit, "ExtResSel" 0x2000:0a, rwrwrw, uint16, 16 bit, "ExtResVal" 0x2000:0b, rwrwrw, uint16, 16 bit, "ExtResPwr" 0x2000:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2000:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2000:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2000:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2000:10, ------, type 0000, 0 bit, "SubIndex 016" 0x2000:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2000:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2000:13, ------, type 0000, 0 bit, "SubIndex 019" 0x2000:14, ------, type 0000, 0 bit, "SubIndex 020" 0x2000:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2000:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2000:17, rwrwrw, uint16, 16 bit, "PulseOutPcPolarity" 0x2000:18, rwrwrw, uint16, 16 bit, "PulseOutZWidth" 0x2000:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2000:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x2000:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x2000:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x2000:1d, rwrwrw, uint32, 32 bit, "PulseCntEqu" 0x2000:1e, rwrwrw, uint16, 16 bit, "EncBatErrMask" 0x2000:1f, rwrwrw, uint16, 16 bit, "EncCommWarmThreshold" 0x2000:20, rwrwrw, uint16, 16 bit, "EscPdoTout" SDO 0x2001, "P1 Group Function Code" 0x2001:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2001:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2001:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2001:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2001:04, ------, type 0000, 0 bit, "SubIndex 004" 0x2001:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2001:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2001:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2001:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2001:09, rwrwrw, uint16, 16 bit, "ToqModeSpdSrc" 0x2001:0a, rwrwrw, uint16, 16 bit, "MaxSpeedLimit" 0x2001:0b, rwrwrw, uint16, 16 bit, "WarmSpeedTh" 0x2001:0c, rwrwrw, uint16, 16 bit, "PosSpeedTh " 0x2001:0d, rwrwrw, uint16, 16 bit, "NegSpeedTh " 0x2001:0e, rwrwrw, uint16, 16 bit, "ToqLimitSrc" 0x2001:0f, rwrwrw, uint16, 16 bit, "PToqLim" 0x2001:10, rwrwrw, uint16, 16 bit, "NToqLim" 0x2001:11, rwrwrw, uint16, 16 bit, "PToqmodSpdlimit" 0x2001:12, rwrwrw, uint16, 16 bit, "NToqmodSpdlimit" 0x2001:13, rwrwrw, uint16, 16 bit, "ToqLimTime " 0x2001:14, rwrwrw, uint16, 16 bit, "SoftOvCurrentCnt" 0x2001:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2001:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2001:17, ------, type 0000, 0 bit, "SubIndex 023" 0x2001:18, ------, type 0000, 0 bit, "SubIndex 024" 0x2001:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2001:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x2001:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x2001:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x2001:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x2001:1e, rwrwrw, uint16, 16 bit, "BK_ONtoCmdEnaDelay" 0x2001:1f, rwrwrw, uint16, 16 bit, "BK_OFFtoPwmOFFDelay" 0x2001:20, rwrwrw, uint16, 16 bit, "BK_OFFSpdTh" 0x2001:21, rwrwrw, uint16, 16 bit, "BK_OFFSinceSoffDelay" 0x2001:22, ------, type 0000, 0 bit, "SubIndex 034" 0x2001:23, ------, type 0000, 0 bit, "SubIndex 035" 0x2001:24, ------, type 0000, 0 bit, "SubIndex 036" 0x2001:25, rwrwrw, uint16, 16 bit, "SpdRefJOGAccTime" 0x2001:26, rwrwrw, uint16, 16 bit, "SpdRefJOGDecTime" SDO 0x2002, "P2 Group Function Code" 0x2002:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2002:01, rwrwrw, uint16, 16 bit, "PosLoop1stGain " 0x2002:02, rwrwrw, uint16, 16 bit, "SpdLoop1stGain " 0x2002:03, rwrwrw, uint16, 16 bit, "SpdLoop1stIntgTime " 0x2002:04, rwrwrw, uint16, 16 bit, "PosLoop2ndGain " 0x2002:05, rwrwrw, uint16, 16 bit, "SpdLoop2ndGain " 0x2002:06, rwrwrw, uint16, 16 bit, "SpdLoop2ndIntgTime " 0x2002:07, rwrwrw, uint16, 16 bit, "SecondGainSwMode" 0x2002:08, rwrwrw, uint16, 16 bit, "SecondGainFunSel" 0x2002:09, rwrwrw, uint16, 16 bit, "SpdFeedForwardGain " 0x2002:0a, rwrwrw, uint16, 16 bit, "SpdFeedForwardFilter " 0x2002:0b, rwrwrw, uint16, 16 bit, "ToqFeedForwardGain " 0x2002:0c, rwrwrw, uint16, 16 bit, "ToqFeedForwardFilter " 0x2002:0d, rwrwrw, uint16, 16 bit, "SecondGainSwTime" 0x2002:0e, rwrwrw, uint16, 16 bit, "SecondGainSwLevel" 0x2002:0f, rwrwrw, uint16, 16 bit, "SecondGainHysteresis" 0x2002:10, rwrwrw, uint16, 16 bit, "SecondGainPosSwTime" 0x2002:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2002:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2002:13, ------, type 0000, 0 bit, "SubIndex 019" 0x2002:14, rwrwrw, uint16, 16 bit, "Mfc_Enable" 0x2002:15, rwrwrw, uint16, 16 bit, "Mfc_Gain" 0x2002:16, rwrwrw, uint16, 16 bit, "Mfc_Zeta" 0x2002:17, rwrwrw, uint16, 16 bit, "Mfc_Ptff" 0x2002:18, rwrwrw, uint16, 16 bit, "Mfc_Ntff" 0x2002:19, rwrwrw, uint16, 16 bit, "Mfc_Vff" 0x2002:1a, rwrwrw, uint16, 16 bit, "Mfc_Gain2nd" 0x2002:1b, rwrwrw, uint16, 16 bit, "Mfc_Zeta2nd" 0x2002:1c, rwrwrw, uint16, 16 bit, "Mfc_AntFreq" 0x2002:1d, rwrwrw, uint16, 16 bit, "Mfc_ResFreq" SDO 0x2003, "P3 Group Function Code" 0x2003:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2003:01, rwrwrw, uint16, 16 bit, "LoadInerRatio" 0x2003:02, rwrwrw, uint16, 16 bit, "RigiditySel" 0x2003:03, rwrwrw, uint16, 16 bit, "SelfAdjustMode" 0x2003:04, rwrwrw, uint16, 16 bit, "InerIdOnline" 0x2003:05, rwrwrw, uint16, 16 bit, "InerIdCircle" 0x2003:06, rwrwrw, uint16, 16 bit, "InerIdMaxSpd" 0x2003:07, rwrwrw, uint16, 16 bit, "InerIdRollMode" 0x2003:08, rwrwrw, uint16, 16 bit, "InerIdWaitTime" SDO 0x2004, "P4 Group Function Code" 0x2004:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2004:01, rwrwrw, uint16, 16 bit, "PulseFilterType" 0x2004:02, rwrwrw, uint16, 16 bit, "LowpassFilterTime" 0x2004:03, rwrwrw, uint16, 16 bit, "AveragingFilterTime" 0x2004:04, rwrwrw, uint16, 16 bit, "TogFiltertTime" 0x2004:05, rwrwrw, uint16, 16 bit, "NotchFilter1_Freq" 0x2004:06, rwrwrw, uint16, 16 bit, "NotchFilter1_Deep" 0x2004:07, rwrwrw, uint16, 16 bit, "NotchFilter1_Band" 0x2004:08, rwrwrw, uint16, 16 bit, "NotchFilter2_Freq" 0x2004:09, rwrwrw, uint16, 16 bit, "NotchFilter2_Deep" 0x2004:0a, rwrwrw, uint16, 16 bit, "NotchFilter2_Band" 0x2004:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x2004:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2004:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2004:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2004:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2004:10, ------, type 0000, 0 bit, "SubIndex 016" 0x2004:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2004:12, rwrwrw, uint16, 16 bit, "SpdFdbFilterTime" SDO 0x2005, "P5 Group Function Code" 0x2005:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2005:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2005:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2005:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2005:04, ------, type 0000, 0 bit, "SubIndex 004" 0x2005:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2005:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2005:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2005:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2005:09, ------, type 0000, 0 bit, "SubIndex 009" 0x2005:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x2005:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x2005:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2005:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2005:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2005:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2005:10, rwrwrw, uint16, 16 bit, "RotateSpdDtTh" 0x2005:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2005:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2005:13, rwrwrw, uint16, 16 bit, "SpdZeroOutTh " 0x2005:14, rwrwrw, uint16, 16 bit, "ToqCoinTh" 0x2005:15, rwrwrw, uint16, 16 bit, "ToqCoinHysteresis" 0x2005:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2005:17, rwrwrw, uint16, 16 bit, "TouchProbe1FilterConstant" 0x2005:18, rwrwrw, uint16, 16 bit, "TouchProbe2FilterConstant" 0x2005:19, rwrwrw, int16, 16 bit, "touchProbeDIOnCompTime" 0x2005:1a, rwrwrw, int16, 16 bit, "touchProbeDIOffCompTime" SDO 0x2006, "P6 Group Function Code" 0x2006:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2006:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2006:02, rwrwrw, uint16, 16 bit, "Di1FunSel" 0x2006:03, rwrwrw, uint16, 16 bit, "Di1LogSel" 0x2006:04, rwrwrw, uint16, 16 bit, "Di1SrcSel" 0x2006:05, rwrwrw, uint16, 16 bit, "Di2FunSel" 0x2006:06, rwrwrw, uint16, 16 bit, "Di2LogSel" 0x2006:07, rwrwrw, uint16, 16 bit, "Di2SrcSel" 0x2006:08, rwrwrw, uint16, 16 bit, "Di3FunSel" 0x2006:09, rwrwrw, uint16, 16 bit, "Di3LogSel" 0x2006:0a, rwrwrw, uint16, 16 bit, "Di3SrcSel" 0x2006:0b, rwrwrw, uint16, 16 bit, "Di4FunSel" 0x2006:0c, rwrwrw, uint16, 16 bit, "Di4LogSel" 0x2006:0d, rwrwrw, uint16, 16 bit, "Di4SrcSel" 0x2006:0e, rwrwrw, uint16, 16 bit, "Di5FunSel" 0x2006:0f, rwrwrw, uint16, 16 bit, "Di5LogSel" 0x2006:10, rwrwrw, uint16, 16 bit, "Di5SrcSel" 0x2006:11, rwrwrw, uint16, 16 bit, "Di6FunSel" 0x2006:12, rwrwrw, uint16, 16 bit, "Di6LogSel" 0x2006:13, rwrwrw, uint16, 16 bit, "Di6SrcSel" 0x2006:14, ------, type 0000, 0 bit, "SubIndex 020" 0x2006:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2006:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2006:17, ------, type 0000, 0 bit, "SubIndex 023" 0x2006:18, ------, type 0000, 0 bit, "SubIndex 024" 0x2006:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2006:1a, rwrwrw, uint16, 16 bit, "Do1FunSel" 0x2006:1b, rwrwrw, uint16, 16 bit, "Do1LogSel" 0x2006:1c, rwrwrw, uint16, 16 bit, "Do2FunSel" 0x2006:1d, rwrwrw, uint16, 16 bit, "Do2LogSel" 0x2006:1e, rwrwrw, uint16, 16 bit, "Do3FunSel" 0x2006:1f, rwrwrw, uint16, 16 bit, "Do3LogSel" 0x2006:20, ------, type 0000, 0 bit, "SubIndex 032" 0x2006:21, ------, type 0000, 0 bit, "SubIndex 033" 0x2006:22, r-r-r-, uint16, 16 bit, "EcatForceDoStatus" SDO 0x200a, "P10 Group Function Code" 0x200a:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x200a:01, rwrwrw, uint16, 16 bit, "SpdRefJOG" 0x200a:02, rwrwrw, uint16, 16 bit, "RstFuncFac" 0x200a:03, rwrwrw, uint16, 16 bit, "ServoErrClear" 0x200a:04, rwrwrw, uint16, 16 bit, "MotOLProtect_Coef" 0x200a:05, rwrwrw, uint16, 16 bit, "MotoTypeSel" 0x200a:06, rwrwrw, uint16, 16 bit, "AbsEncRst" 0x200a:07, rwrwrw, uint16, 16 bit, "ManualSetMotoCode" 0x200a:08, ------, type 0000, 0 bit, "SubIndex 008" 0x200a:09, ------, type 0000, 0 bit, "SubIndex 009" 0x200a:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x200a:0b, rwrwrw, uint16, 16 bit, "P10_11_MtStuckErrEn" SDO 0x200d, "P13 Group Function Code" 0x200d:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x200d:01, rwrwrw, uint16, 16 bit, "CommVdi_1" 0x200d:02, rwrwrw, uint16, 16 bit, "CommVdi_2" 0x200d:03, rwrwrw, uint16, 16 bit, "CommVdi_3" 0x200d:04, rwrwrw, uint16, 16 bit, "CommVdi_4" 0x200d:05, rwrwrw, uint16, 16 bit, "CommVdi_5" 0x200d:06, rwrwrw, uint16, 16 bit, "CommVdi_6" 0x200d:07, ------, type 0000, 0 bit, "SubIndex 007" 0x200d:08, ------, type 0000, 0 bit, "SubIndex 008" 0x200d:09, ------, type 0000, 0 bit, "SubIndex 009" 0x200d:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x200d:0b, rwrwrw, uint16, 16 bit, "CommVdo_1" 0x200d:0c, rwrwrw, uint16, 16 bit, "CommVdo_2" 0x200d:0d, rwrwrw, uint16, 16 bit, "CommVdo_3" SDO 0x201e, "U0 Group monitor" 0x201e:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x201e:01, r-r-r-, int16, 16 bit, "SrvStatus" 0x201e:02, r-r-r-, int16, 16 bit, "SpeedDis " 0x201e:03, r-r-r-, int16, 16 bit, "SpdCmd " 0x201e:04, r-r-r-, int16, 16 bit, "PosCmdToSpd " 0x201e:05, r-r-r-, int32, 32 bit, "PulsErr" 0x201e:06, ------, type 0000, 0 bit, "SubIndex 006" 0x201e:07, ------, type 0000, 0 bit, "SubIndex 007" 0x201e:08, ------, type 0000, 0 bit, "SubIndex 008" 0x201e:09, r-r-r-, int32, 32 bit, "PulsTotal_LowWord" 0x201e:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x201e:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x201e:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x201e:0d, r-r-r-, int32, 32 bit, "EncTotal_LowWord" 0x201e:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x201e:0f, r-r-r-, int32, 32 bit, "EncTotal_HighWord" 0x201e:10, ------, type 0000, 0 bit, "SubIndex 016" 0x201e:11, r-r-r-, uint16, 16 bit, "DiData1 " 0x201e:12, ------, type 0000, 0 bit, "SubIndex 018" 0x201e:13, r-r-r-, uint16, 16 bit, "DoData1 " 0x201e:14, r-r-r-, uint16, 16 bit, "InerRatioReal" 0x201e:15, ------, type 0000, 0 bit, "SubIndex 021" 0x201e:16, ------, type 0000, 0 bit, "SubIndex 022" 0x201e:17, r-r-r-, uint16, 16 bit, "DisVibFreq" 0x201e:18, r-r-r-, uint16, 16 bit, "DisVibMag" 0x201e:19, r-r-r-, int16, 16 bit, "PToqLimitDis" 0x201e:1a, r-r-r-, int16, 16 bit, "NToqLimitDis" 0x201e:1b, r-r-r-, int16, 16 bit, "PSpdLimitDis" 0x201e:1c, r-r-r-, int16, 16 bit, "NSpdLimitDis" 0x201e:1d, r-r-r-, int16, 16 bit, "MachineAngle " 0x201e:1e, r-r-r-, int16, 16 bit, "ElecAngle " 0x201e:1f, r-r-r-, uint16, 16 bit, "DcBusVoltDisp " 0x201e:20, r-r-r-, int16, 16 bit, "Temperature_IPM" 0x201e:21, r-r-r-, uint16, 16 bit, "OutputPowerInst" 0x201e:22, r-r-r-, uint16, 16 bit, "OutputPowerAverage" 0x201e:23, r-r-r-, uint16, 16 bit, "HourTotalRun " 0x201e:24, ------, type 0000, 0 bit, "SubIndex 036" 0x201e:25, r-r-r-, uint16, 16 bit, "MinTotalRun " 0x201e:26, r-r-r-, uint16, 16 bit, "SecTotalRun " 0x201e:27, r-r-r-, uint16, 16 bit, "ToqOutRate" 0x201e:28, r-r-r-, uint16, 16 bit, "HourCurrentRun " 0x201e:29, ------, type 0000, 0 bit, "SubIndex 041" 0x201e:2a, r-r-r-, uint16, 16 bit, "MinCurrentRun " 0x201e:2b, r-r-r-, uint16, 16 bit, "SecCurrentRun " 0x201e:2c, r-r-r-, uint16, 16 bit, "DisPwrInst" 0x201e:2d, ------, type 0000, 0 bit, "SubIndex 045" 0x201e:2e, r-r-r-, uint16, 16 bit, "DisPwrAvg" 0x201e:2f, ------, type 0000, 0 bit, "SubIndex 047" 0x201e:30, r-r-r-, uint16, 16 bit, "PwrUpCount" 0x201e:31, r-r-r-, uint16, 16 bit, "u16MotOLCnt" 0x201e:32, r-r-r-, uint32, 32 bit, "MotoTotal_LowWord" 0x201e:33, r-r-r-, uint32, 32 bit, "MotoTotal_HighWord" 0x201e:34, r-r-r-, uint16, 16 bit, "u16EncoderBit" 0x201e:35, r-r-r-, uint16, 16 bit, "MotoModel" 0x201e:36, r-r-r-, uint32, 32 bit, "AbsEncIn1Cycle" 0x201e:37, r-r-r-, uint32, 32 bit, "AbsEncMultiTurn" 0x201e:38, r-r-r-, int32, 32 bit, "EncTotal_CmdUnit" 0x201e:39, r-r-r-, int32, 32 bit, "EncTotal_CmdUnit_HighWord" SDO 0x201f, "U1 Group Monitor" 0x201f:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x201f:01, r-r-r-, uint16, 16 bit, "NowErrorCode" 0x201f:02, r-r-r-, uint16, 16 bit, "NowWarmCode" 0x201f:03, r-r-r-, int16, 16 bit, "IuWarmOccur" 0x201f:04, r-r-r-, int16, 16 bit, "IvWarmOccur" 0x201f:05, r-r-r-, uint16, 16 bit, "UdcWarmOccur" 0x201f:06, r-r-r-, int16, 16 bit, "T_IPMWarmOccur" 0x201f:07, r-r-r-, int16, 16 bit, "IqWarmOccur" 0x201f:08, r-r-r-, int16, 16 bit, "IdWarmOccur" 0x201f:09, r-r-r-, int32, 32 bit, "PosErrWarmOccur" 0x201f:0a, r-r-r-, int16, 16 bit, "SpdWarmOccur" 0x201f:0b, r-r-r-, uint16, 16 bit, "Time1WarmOccur" 0x201f:0c, r-r-r-, uint16, 16 bit, "ErrCntCurRun" 0x201f:0d, r-r-r-, uint16, 16 bit, "WarmCntCurRun" 0x201f:0e, r-r-r-, uint16, 16 bit, "ErrorTotalCnt" 0x201f:0f, r-r-r-, uint16, 16 bit, "WarmTotalCnt" 0x201f:10, r-r-r-, uint16, 16 bit, "ErrCodeLast1st" 0x201f:11, r-r-r-, uint16, 16 bit, "ErrCodeLast2nd" 0x201f:12, r-r-r-, uint16, 16 bit, "ErrCodeLast3rd" 0x201f:13, r-r-r-, uint16, 16 bit, "ErrCodeLast4th" 0x201f:14, r-r-r-, uint16, 16 bit, "ErrCodeLast5th" 0x201f:15, r-r-r-, uint16, 16 bit, "WarmCodeLast1st" 0x201f:16, r-r-r-, uint16, 16 bit, "WarmCodeLast2nd" 0x201f:17, r-r-r-, uint16, 16 bit, "WarmCodeLast3rd" 0x201f:18, r-r-r-, uint16, 16 bit, "WarmCodeLast4th" 0x201f:19, r-r-r-, uint16, 16 bit, "WarmCodeLast5th" SDO 0x2020, "U2 Group Monitor" 0x2020:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2020:01, r-r-r-, uint16, 16 bit, "ProductSer" 0x2020:02, r-r-r-, uint16, 16 bit, "Model1" 0x2020:03, r-r-r-, uint16, 16 bit, "Model2" 0x2020:04, r-r-r-, uint16, 16 bit, "FirewareVer" 0x2020:05, r-r-r-, uint16, 16 bit, "HardwareVer" 0x2020:06, r-r-r-, uint16, 16 bit, "ExFactoryYear" 0x2020:07, r-r-r-, uint16, 16 bit, "ExFactoryMonth" 0x2020:08, r-r-r-, uint16, 16 bit, "ExFactoryDay" 0x2020:09, r-r-r-, uint16, 16 bit, "DeviceSerNum1" 0x2020:0a, r-r-r-, uint16, 16 bit, "DeviceSerNum2" 0x2020:0b, r-r-r-, uint16, 16 bit, "DeviceSerNum3" 0x2020:0c, r-r-r-, uint16, 16 bit, "DeviceSerNum4" 0x2020:0d, r-r-r-, uint16, 16 bit, "DeviceSerNum5" 0x2020:0e, r-r-r-, uint16, 16 bit, "DeviceSerNum6" 0x2020:0f, r-r-r-, uint16, 16 bit, "DeviceSerNum7" 0x2020:10, r-r-r-, uint16, 16 bit, "DeviceSerNum8" SDO 0x603f, "Error Code" 0x603f:00, r-r-r-, uint16, 16 bit, "Error Code" SDO 0x6040, "ControlWord" 0x6040:00, rwrwrw, uint16, 16 bit, "ControlWord" SDO 0x6041, "statusWord" 0x6041:00, r-r-r-, uint16, 16 bit, "statusWord" SDO 0x605a, "Quick-stop option code" 0x605a:00, rwrwrw, int16, 16 bit, "Quick-stop option code" SDO 0x605b, "Shutdown option code " 0x605b:00, rwrwrw, int16, 16 bit, "Shutdown option code " SDO 0x605c, "Disable operation option code" 0x605c:00, rwrwrw, int16, 16 bit, "Disable operation option code" SDO 0x605d, "Halt option code " 0x605d:00, rwrwrw, int16, 16 bit, "Halt option code " SDO 0x605e, "Fault reaction option code " 0x605e:00, rwrwrw, int16, 16 bit, "Fault reaction option code " SDO 0x6060, "Modes of operation" 0x6060:00, rwrwrw, int8, 8 bit, "Modes of operation" SDO 0x6061, "Modes of operation display" 0x6061:00, r-r-r-, int8, 8 bit, "Modes of operation display" SDO 0x6062, "Position demand value " 0x6062:00, r-r-r-, int32, 32 bit, "Position demand value " SDO 0x6063, "Position actual internal value" 0x6063:00, r-r-r-, int32, 32 bit, "Position actual internal value" SDO 0x6064, "Position actual value" 0x6064:00, r-r-r-, int32, 32 bit, "Position actual value" SDO 0x6065, "Following error window" 0x6065:00, rwrwrw, uint32, 32 bit, "Following error window" SDO 0x6066, "Following error time out[ms]" 0x6066:00, rwrwrw, uint16, 16 bit, "Following error time out[ms]" SDO 0x6067, "Position window " 0x6067:00, rwrwrw, uint32, 32 bit, "Position window " SDO 0x6068, "Position window time " 0x6068:00, rwrwrw, uint16, 16 bit, "Position window time " SDO 0x6069, "Velocity sensor actual value" 0x6069:00, r-r-r-, int32, 32 bit, "Velocity sensor actual value" SDO 0x606b, "Velocity demand value " 0x606b:00, r-r-r-, int32, 32 bit, "Velocity demand value " SDO 0x606c, "Velocity actual value" 0x606c:00, r-r-r-, int32, 32 bit, "Velocity actual value" SDO 0x606d, "Velocity window " 0x606d:00, rwrwrw, uint16, 16 bit, "Velocity window " SDO 0x606e, "Velocity window time " 0x606e:00, rwrwrw, uint16, 16 bit, "Velocity window time " SDO 0x606f, "Velocity threshold " 0x606f:00, rwrwrw, uint16, 16 bit, "Velocity threshold " SDO 0x6070, "Velocity threshold time " 0x6070:00, rwrwrw, uint16, 16 bit, "Velocity threshold time " SDO 0x6071, "Target torque" 0x6071:00, rwrwrw, int16, 16 bit, "Target torque" SDO 0x6072, "Max torque" 0x6072:00, rwrwrw, uint16, 16 bit, "Max torque" SDO 0x6073, "Max current " 0x6073:00, rwrwrw, uint16, 16 bit, "Max current " SDO 0x6074, "Torque demand " 0x6074:00, r-r-r-, int16, 16 bit, "Torque demand " SDO 0x6075, "Motor rated current " 0x6075:00, rwrwrw, uint32, 32 bit, "Motor rated current " SDO 0x6076, "Motor rated torque" 0x6076:00, rwrwrw, uint32, 32 bit, "Motor rated torque" SDO 0x6077, "Torque actual value" 0x6077:00, r-r-r-, int16, 16 bit, "Torque actual value" SDO 0x6078, "Current actual value " 0x6078:00, r-r-r-, int16, 16 bit, "Current actual value " SDO 0x6079, "DC link circuit voltage " 0x6079:00, r-r-r-, uint32, 32 bit, "DC link circuit voltage " SDO 0x607a, "Target position" 0x607a:00, rwrwrw, int32, 32 bit, "Target position" SDO 0x607b, "Position range limit" 0x607b:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x607b:01, rwrwrw, int32, 32 bit, "Min position range limit" 0x607b:02, rwrwrw, int32, 32 bit, "Max position range limit" SDO 0x607c, "Home Offset" 0x607c:00, rwrwrw, int32, 32 bit, "Home Offset" SDO 0x607d, "Software position limit" 0x607d:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x607d:01, rwrwrw, int32, 32 bit, "Min position limit" 0x607d:02, rwrwrw, int32, 32 bit, "Max position limit" SDO 0x607e, "Polarity" 0x607e:00, rwrwrw, uint8, 8 bit, "Polarity" SDO 0x607f, "Max profile velocity " 0x607f:00, rwrwrw, uint32, 32 bit, "Max profile velocity " SDO 0x6080, "Max motor speed" 0x6080:00, rwrwrw, uint32, 32 bit, "Max motor speed" SDO 0x6081, "Profile velocity " 0x6081:00, rwrwrw, uint32, 32 bit, "Profile velocity " SDO 0x6082, "End velocity " 0x6082:00, rwrwrw, uint32, 32 bit, "End velocity " SDO 0x6083, "Profile acceleration " 0x6083:00, rwrwrw, uint32, 32 bit, "Profile acceleration " SDO 0x6084, "Profile deceleration " 0x6084:00, rwrwrw, uint32, 32 bit, "Profile deceleration " SDO 0x6085, "Quick-stop deceleration" 0x6085:00, rwrwrw, uint32, 32 bit, "Quick-stop deceleration" SDO 0x6086, "Motion profile type" 0x6086:00, rwrwrw, int16, 16 bit, "Motion profile type" SDO 0x6087, "Torque slope " 0x6087:00, rwrwrw, uint32, 32 bit, "Torque slope " SDO 0x6088, "Torque profile type " 0x6088:00, rwrwrw, int16, 16 bit, "Torque profile type " SDO 0x6091, "Gear ratio " 0x6091:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6091:01, rwrwrw, uint32, 32 bit, "Motor revolutions" 0x6091:02, rwrwrw, uint32, 32 bit, "Shaft revolutions" SDO 0x6098, "Homing method" 0x6098:00, rwrwrw, int8, 8 bit, "Homing method" SDO 0x6099, "Homing speed" 0x6099:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6099:01, rwrwrw, uint32, 32 bit, "Speed during search for switch" 0x6099:02, rwrwrw, uint32, 32 bit, "Speed during search for zero" SDO 0x609a, "Homing acceleration" 0x609a:00, rwrwrw, uint32, 32 bit, "Homing acceleration" SDO 0x60a2, "Jerk factor" 0x60a2:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60a2:01, rwrwrw, uint32, 32 bit, "Numerator" 0x60a2:02, rwrwrw, uint32, 32 bit, "divisor" SDO 0x60b0, "Position offset" 0x60b0:00, rwrwrw, int32, 32 bit, "Position offset" SDO 0x60b1, "Velocity offset" 0x60b1:00, rwrwrw, int32, 32 bit, "Velocity offset" SDO 0x60b2, "Torque offset" 0x60b2:00, rwrwrw, int16, 16 bit, "Torque offset" SDO 0x60b8, "Touch probe function" 0x60b8:00, rwrwrw, uint16, 16 bit, "Touch probe function" SDO 0x60b9, "Touch probe status" 0x60b9:00, r-r-r-, uint16, 16 bit, "Touch probe status" SDO 0x60ba, "Touch probe position1 positive value" 0x60ba:00, r-r-r-, int32, 32 bit, "Touch probe position1 positive value" SDO 0x60bb, "Touch probe position1 negative value" 0x60bb:00, r-r-r-, int32, 32 bit, "Touch probe position1 negative value" SDO 0x60bc, "Touch probe position2 positive value" 0x60bc:00, r-r-r-, int32, 32 bit, "Touch probe position2 positive value" SDO 0x60bd, "Touch probe position2 negative value" 0x60bd:00, r-r-r-, int32, 32 bit, "Touch probe position2 negative value" SDO 0x60c2, "Interpolation time period" 0x60c2:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60c2:01, rwrwrw, uint8, 8 bit, "Interpolation time period value" 0x60c2:02, rwrwrw, int8, 8 bit, "Interpolation time index" SDO 0x60c5, "Max acceleration" 0x60c5:00, rwrwrw, uint32, 32 bit, "Max acceleration" SDO 0x60c6, "Max deceleration" 0x60c6:00, rwrwrw, uint32, 32 bit, "Max deceleration" SDO 0x60d5, "Touch probe 1 positive edge counter" 0x60d5:00, r-r-r-, uint16, 16 bit, "Touch probe 1 positive edge counter" SDO 0x60d6, "Touch probe 1 negative edge counter" 0x60d6:00, r-r-r-, uint16, 16 bit, "Touch probe 1 negative edge counter" SDO 0x60d7, "Touch probe 2 positive edge counter" 0x60d7:00, r-r-r-, uint16, 16 bit, "Touch probe 2 positive edge counter" SDO 0x60d8, "Touch probe 2 negative edge counter" 0x60d8:00, r-r-r-, uint16, 16 bit, "Touch probe 2 negative edge counter" SDO 0x60e0, "Positive torque limit value" 0x60e0:00, rwrwrw, uint16, 16 bit, "Positive torque limit value" SDO 0x60e1, "Negative torque limit value" 0x60e1:00, rwrwrw, uint16, 16 bit, "Negative torque limit value" SDO 0x60f4, "Following error actual value" 0x60f4:00, r-r-r-, int32, 32 bit, "Following error actual value" SDO 0x60fc, "Position demand internal value " 0x60fc:00, r-r-r-, int32, 32 bit, "Position demand internal value " SDO 0x60fd, "Digital inputs " 0x60fd:00, r-r-r-, uint32, 32 bit, "Digital inputs " SDO 0x60fe, "Digital outputs " 0x60fe:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60fe:01, rwrwrw, uint32, 32 bit, "Digital Output status" 0x60fe:02, rwrwrw, uint32, 32 bit, "Digital Output Mask" SDO 0x60ff, "Target velocity" 0x60ff:00, rwrwrw, int32, 32 bit, "Target velocity" SDO 0x6502, "Supported Driver Modes" 0x6502:00, r-r-r-, uint32, 32 bit, "Supported Driver Modes" SDO 0xf000, "Modular Device Profile" 0xf000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0xf000:01, r-r-r-, uint16, 16 bit, "Index distance " 0xf000:02, r-r-r-, uint16, 16 bit, "Maximum number of modules " === Master 0, Slave 1 === SDO 0x1000, "Device type" 0x1000:00, r-r-r-, uint32, 32 bit, "Device type" SDO 0x1001, "Error register" 0x1001:00, r-r-r-, uint8, 8 bit, "Error register" SDO 0x1008, "Device name" 0x1008:00, r-r-r-, string, 200 bit, "Device name" SDO 0x1009, "Manufacturer Hardware version" 0x1009:00, r-r-r-, string, 120 bit, "Manufacturer Hardware version" SDO 0x100a, "Manufacturer Software version" 0x100a:00, r-r-r-, string, 40 bit, "Manufacturer Software version" SDO 0x1018, "Identity Object" 0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID" 0x1018:02, r-r-r-, uint32, 32 bit, "Product Code" 0x1018:03, r-r-r-, uint32, 32 bit, "Revision Number" 0x1018:04, r-r-r-, uint32, 32 bit, "Serial Number" SDO 0x10f1, "Error Settings" 0x10f1:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x10f1:01, r-r-r-, uint32, 32 bit, "Local Error Reaction" 0x10f1:02, rwrwrw, uint16, 16 bit, "Sync Error Counter Limit" SDO 0x10f8, "Timestamp Object" 0x10f8:00, rwrwrw, uint64, 64 bit, "Timestamp Object" SDO 0x1600, "RxPDO" 0x1600:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1600:01, rwrwrw, uint32, 32 bit, "RXPDO_SI1" 0x1600:02, rwrwrw, uint32, 32 bit, "RXPDO_SI2" 0x1600:03, rwrwrw, uint32, 32 bit, "RXPDO_SI3" 0x1600:04, rwrwrw, uint32, 32 bit, "RXPDO_SI4" 0x1600:05, rwrwrw, uint32, 32 bit, "RXPDO_SI5" 0x1600:06, rwrwrw, uint32, 32 bit, "RXPDO_SI6" 0x1600:07, rwrwrw, uint32, 32 bit, "RXPDO_SI7" 0x1600:08, rwrwrw, uint32, 32 bit, "RXPDO_SI8" 0x1600:09, rwrwrw, uint32, 32 bit, "RXPDO_SI9" 0x1600:0a, rwrwrw, uint32, 32 bit, "RXPDO_SI10" SDO 0x1701, "RxPDO" 0x1701:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1701:01, rwrwrw, uint32, 32 bit, "SI1" 0x1701:02, rwrwrw, uint32, 32 bit, "SI2" 0x1701:03, rwrwrw, uint32, 32 bit, "SI3" 0x1701:04, rwrwrw, uint32, 32 bit, "SI4" 0x1701:05, rwrwrw, uint32, 32 bit, "SI5" 0x1701:06, rwrwrw, uint32, 32 bit, "SI6" 0x1701:07, rwrwrw, uint32, 32 bit, "SI7" 0x1701:08, rwrwrw, uint32, 32 bit, "SI8" 0x1701:09, rwrwrw, uint32, 32 bit, "SI9" 0x1701:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1702, "RxPDO" 0x1702:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1702:01, rwrwrw, uint32, 32 bit, "SI1" 0x1702:02, rwrwrw, uint32, 32 bit, "SI2" 0x1702:03, rwrwrw, uint32, 32 bit, "SI3" 0x1702:04, rwrwrw, uint32, 32 bit, "SI4" 0x1702:05, rwrwrw, uint32, 32 bit, "SI5" 0x1702:06, rwrwrw, uint32, 32 bit, "SI6" 0x1702:07, rwrwrw, uint32, 32 bit, "SI7" 0x1702:08, rwrwrw, uint32, 32 bit, "SI8" 0x1702:09, rwrwrw, uint32, 32 bit, "SI9" 0x1702:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1a00, "TxPDO" 0x1a00:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1a00:01, rwrwrw, uint32, 32 bit, "SI1" 0x1a00:02, rwrwrw, uint32, 32 bit, "SI2" 0x1a00:03, rwrwrw, uint32, 32 bit, "SI3" 0x1a00:04, rwrwrw, uint32, 32 bit, "SI4" 0x1a00:05, rwrwrw, uint32, 32 bit, "SI5" 0x1a00:06, rwrwrw, uint32, 32 bit, "SI6" 0x1a00:07, rwrwrw, uint32, 32 bit, "SI7" 0x1a00:08, rwrwrw, uint32, 32 bit, "SI8" 0x1a00:09, rwrwrw, uint32, 32 bit, "SI9" 0x1a00:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1b01, "TxPDO" 0x1b01:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1b01:01, rwrwrw, uint32, 32 bit, "SI1" 0x1b01:02, rwrwrw, uint32, 32 bit, "SI2" 0x1b01:03, rwrwrw, uint32, 32 bit, "SI3" 0x1b01:04, rwrwrw, uint32, 32 bit, "SI4" 0x1b01:05, rwrwrw, uint32, 32 bit, "SI5" 0x1b01:06, rwrwrw, uint32, 32 bit, "SI6" 0x1b01:07, rwrwrw, uint32, 32 bit, "SI7" 0x1b01:08, rwrwrw, uint32, 32 bit, "SI8" 0x1b01:09, rwrwrw, uint32, 32 bit, "SI9" 0x1b01:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1c00, "Sync manager type" 0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001" 0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002" 0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003" 0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004" SDO 0x1c12, "RxPDO assign" 0x1c12:00, rwr-r-, uint8, 8 bit, "SubIndex 000" 0x1c12:01, rwr-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c13, "TxPDO assign" 0x1c13:00, rwr-r-, uint8, 8 bit, "SubIndex 000" 0x1c13:01, rwr-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c32, "SM output parameter" 0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c32:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c32:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c32:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c32:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c32:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c32:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c32:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c32:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c32:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c32:0d, r-r-r-, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c32:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c32:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c32:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c32:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c32:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c32:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c32:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c32:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c32:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c32:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c32:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c32:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c32:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c32:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c32:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c32:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c32:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c32:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c32:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x1c33, "SM input parameter" 0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c33:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c33:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c33:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c33:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c33:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c33:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c33:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c33:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c33:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c33:0d, r-r-r-, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c33:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c33:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c33:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c33:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c33:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c33:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c33:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c33:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c33:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c33:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c33:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c33:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c33:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c33:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c33:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c33:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c33:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c33:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c33:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x2000, "P0 Group Function Code" 0x2000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2000:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2000:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2000:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2000:04, rwrwrw, uint16, 16 bit, "RotationDir" 0x2000:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2000:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2000:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2000:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2000:09, rwrwrw, uint16, 16 bit, "ExtResSel" 0x2000:0a, rwrwrw, uint16, 16 bit, "ExtResVal" 0x2000:0b, rwrwrw, uint16, 16 bit, "ExtResPwr" 0x2000:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2000:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2000:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2000:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2000:10, ------, type 0000, 0 bit, "SubIndex 016" 0x2000:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2000:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2000:13, ------, type 0000, 0 bit, "SubIndex 019" 0x2000:14, ------, type 0000, 0 bit, "SubIndex 020" 0x2000:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2000:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2000:17, rwrwrw, uint16, 16 bit, "PulseOutPcPolarity" 0x2000:18, rwrwrw, uint16, 16 bit, "PulseOutZWidth" 0x2000:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2000:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x2000:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x2000:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x2000:1d, rwrwrw, uint32, 32 bit, "PulseCntEqu" 0x2000:1e, rwrwrw, uint16, 16 bit, "EncBatErrMask" 0x2000:1f, rwrwrw, uint16, 16 bit, "EncCommWarmThreshold" 0x2000:20, rwrwrw, uint16, 16 bit, "EscPdoTout" SDO 0x2001, "P1 Group Function Code" 0x2001:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2001:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2001:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2001:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2001:04, ------, type 0000, 0 bit, "SubIndex 004" 0x2001:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2001:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2001:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2001:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2001:09, rwrwrw, uint16, 16 bit, "ToqModeSpdSrc" 0x2001:0a, rwrwrw, uint16, 16 bit, "MaxSpeedLimit" 0x2001:0b, rwrwrw, uint16, 16 bit, "WarmSpeedTh" 0x2001:0c, rwrwrw, uint16, 16 bit, "PosSpeedTh " 0x2001:0d, rwrwrw, uint16, 16 bit, "NegSpeedTh " 0x2001:0e, rwrwrw, uint16, 16 bit, "ToqLimitSrc" 0x2001:0f, rwrwrw, uint16, 16 bit, "PToqLim" 0x2001:10, rwrwrw, uint16, 16 bit, "NToqLim" 0x2001:11, rwrwrw, uint16, 16 bit, "PToqmodSpdlimit" 0x2001:12, rwrwrw, uint16, 16 bit, "NToqmodSpdlimit" 0x2001:13, rwrwrw, uint16, 16 bit, "ToqLimTime " 0x2001:14, rwrwrw, uint16, 16 bit, "SoftOvCurrentCnt" 0x2001:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2001:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2001:17, ------, type 0000, 0 bit, "SubIndex 023" 0x2001:18, ------, type 0000, 0 bit, "SubIndex 024" 0x2001:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2001:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x2001:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x2001:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x2001:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x2001:1e, rwrwrw, uint16, 16 bit, "BK_ONtoCmdEnaDelay" 0x2001:1f, rwrwrw, uint16, 16 bit, "BK_OFFtoPwmOFFDelay" 0x2001:20, rwrwrw, uint16, 16 bit, "BK_OFFSpdTh" 0x2001:21, rwrwrw, uint16, 16 bit, "BK_OFFSinceSoffDelay" 0x2001:22, ------, type 0000, 0 bit, "SubIndex 034" 0x2001:23, ------, type 0000, 0 bit, "SubIndex 035" 0x2001:24, ------, type 0000, 0 bit, "SubIndex 036" 0x2001:25, rwrwrw, uint16, 16 bit, "SpdRefJOGAccTime" 0x2001:26, rwrwrw, uint16, 16 bit, "SpdRefJOGDecTime" SDO 0x2002, "P2 Group Function Code" 0x2002:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2002:01, rwrwrw, uint16, 16 bit, "PosLoop1stGain " 0x2002:02, rwrwrw, uint16, 16 bit, "SpdLoop1stGain " 0x2002:03, rwrwrw, uint16, 16 bit, "SpdLoop1stIntgTime " 0x2002:04, rwrwrw, uint16, 16 bit, "PosLoop2ndGain " 0x2002:05, rwrwrw, uint16, 16 bit, "SpdLoop2ndGain " 0x2002:06, rwrwrw, uint16, 16 bit, "SpdLoop2ndIntgTime " 0x2002:07, rwrwrw, uint16, 16 bit, "SecondGainSwMode" 0x2002:08, rwrwrw, uint16, 16 bit, "SecondGainFunSel" 0x2002:09, rwrwrw, uint16, 16 bit, "SpdFeedForwardGain " 0x2002:0a, rwrwrw, uint16, 16 bit, "SpdFeedForwardFilter " 0x2002:0b, rwrwrw, uint16, 16 bit, "ToqFeedForwardGain " 0x2002:0c, rwrwrw, uint16, 16 bit, "ToqFeedForwardFilter " 0x2002:0d, rwrwrw, uint16, 16 bit, "SecondGainSwTime" 0x2002:0e, rwrwrw, uint16, 16 bit, "SecondGainSwLevel" 0x2002:0f, rwrwrw, uint16, 16 bit, "SecondGainHysteresis" 0x2002:10, rwrwrw, uint16, 16 bit, "SecondGainPosSwTime" 0x2002:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2002:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2002:13, ------, type 0000, 0 bit, "SubIndex 019" 0x2002:14, rwrwrw, uint16, 16 bit, "Mfc_Enable" 0x2002:15, rwrwrw, uint16, 16 bit, "Mfc_Gain" 0x2002:16, rwrwrw, uint16, 16 bit, "Mfc_Zeta" 0x2002:17, rwrwrw, uint16, 16 bit, "Mfc_Ptff" 0x2002:18, rwrwrw, uint16, 16 bit, "Mfc_Ntff" 0x2002:19, rwrwrw, uint16, 16 bit, "Mfc_Vff" 0x2002:1a, rwrwrw, uint16, 16 bit, "Mfc_Gain2nd" 0x2002:1b, rwrwrw, uint16, 16 bit, "Mfc_Zeta2nd" 0x2002:1c, rwrwrw, uint16, 16 bit, "Mfc_AntFreq" 0x2002:1d, rwrwrw, uint16, 16 bit, "Mfc_ResFreq" SDO 0x2003, "P3 Group Function Code" 0x2003:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2003:01, rwrwrw, uint16, 16 bit, "LoadInerRatio" 0x2003:02, rwrwrw, uint16, 16 bit, "RigiditySel" 0x2003:03, rwrwrw, uint16, 16 bit, "SelfAdjustMode" 0x2003:04, rwrwrw, uint16, 16 bit, "InerIdOnline" 0x2003:05, rwrwrw, uint16, 16 bit, "InerIdCircle" 0x2003:06, rwrwrw, uint16, 16 bit, "InerIdMaxSpd" 0x2003:07, rwrwrw, uint16, 16 bit, "InerIdRollMode" 0x2003:08, rwrwrw, uint16, 16 bit, "InerIdWaitTime" SDO 0x2004, "P4 Group Function Code" 0x2004:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2004:01, rwrwrw, uint16, 16 bit, "PulseFilterType" 0x2004:02, rwrwrw, uint16, 16 bit, "LowpassFilterTime" 0x2004:03, rwrwrw, uint16, 16 bit, "AveragingFilterTime" 0x2004:04, rwrwrw, uint16, 16 bit, "TogFiltertTime" 0x2004:05, rwrwrw, uint16, 16 bit, "NotchFilter1_Freq" 0x2004:06, rwrwrw, uint16, 16 bit, "NotchFilter1_Deep" 0x2004:07, rwrwrw, uint16, 16 bit, "NotchFilter1_Band" 0x2004:08, rwrwrw, uint16, 16 bit, "NotchFilter2_Freq" 0x2004:09, rwrwrw, uint16, 16 bit, "NotchFilter2_Deep" 0x2004:0a, rwrwrw, uint16, 16 bit, "NotchFilter2_Band" 0x2004:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x2004:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2004:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2004:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2004:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2004:10, ------, type 0000, 0 bit, "SubIndex 016" 0x2004:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2004:12, rwrwrw, uint16, 16 bit, "SpdFdbFilterTime" SDO 0x2005, "P5 Group Function Code" 0x2005:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2005:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2005:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2005:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2005:04, ------, type 0000, 0 bit, "SubIndex 004" 0x2005:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2005:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2005:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2005:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2005:09, ------, type 0000, 0 bit, "SubIndex 009" 0x2005:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x2005:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x2005:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2005:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2005:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2005:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2005:10, rwrwrw, uint16, 16 bit, "RotateSpdDtTh" 0x2005:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2005:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2005:13, rwrwrw, uint16, 16 bit, "SpdZeroOutTh " 0x2005:14, rwrwrw, uint16, 16 bit, "ToqCoinTh" 0x2005:15, rwrwrw, uint16, 16 bit, "ToqCoinHysteresis" 0x2005:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2005:17, rwrwrw, uint16, 16 bit, "TouchProbe1FilterConstant" 0x2005:18, rwrwrw, uint16, 16 bit, "TouchProbe2FilterConstant" 0x2005:19, rwrwrw, int16, 16 bit, "touchProbeDIOnCompTime" 0x2005:1a, rwrwrw, int16, 16 bit, "touchProbeDIOffCompTime" SDO 0x2006, "P6 Group Function Code" 0x2006:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2006:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2006:02, rwrwrw, uint16, 16 bit, "Di1FunSel" 0x2006:03, rwrwrw, uint16, 16 bit, "Di1LogSel" 0x2006:04, rwrwrw, uint16, 16 bit, "Di1SrcSel" 0x2006:05, rwrwrw, uint16, 16 bit, "Di2FunSel" 0x2006:06, rwrwrw, uint16, 16 bit, "Di2LogSel" 0x2006:07, rwrwrw, uint16, 16 bit, "Di2SrcSel" 0x2006:08, rwrwrw, uint16, 16 bit, "Di3FunSel" 0x2006:09, rwrwrw, uint16, 16 bit, "Di3LogSel" 0x2006:0a, rwrwrw, uint16, 16 bit, "Di3SrcSel" 0x2006:0b, rwrwrw, uint16, 16 bit, "Di4FunSel" 0x2006:0c, rwrwrw, uint16, 16 bit, "Di4LogSel" 0x2006:0d, rwrwrw, uint16, 16 bit, "Di4SrcSel" 0x2006:0e, rwrwrw, uint16, 16 bit, "Di5FunSel" 0x2006:0f, rwrwrw, uint16, 16 bit, "Di5LogSel" 0x2006:10, rwrwrw, uint16, 16 bit, "Di5SrcSel" 0x2006:11, rwrwrw, uint16, 16 bit, "Di6FunSel" 0x2006:12, rwrwrw, uint16, 16 bit, "Di6LogSel" 0x2006:13, rwrwrw, uint16, 16 bit, "Di6SrcSel" 0x2006:14, ------, type 0000, 0 bit, "SubIndex 020" 0x2006:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2006:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2006:17, ------, type 0000, 0 bit, "SubIndex 023" 0x2006:18, ------, type 0000, 0 bit, "SubIndex 024" 0x2006:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2006:1a, rwrwrw, uint16, 16 bit, "Do1FunSel" 0x2006:1b, rwrwrw, uint16, 16 bit, "Do1LogSel" 0x2006:1c, rwrwrw, uint16, 16 bit, "Do2FunSel" 0x2006:1d, rwrwrw, uint16, 16 bit, "Do2LogSel" 0x2006:1e, rwrwrw, uint16, 16 bit, "Do3FunSel" 0x2006:1f, rwrwrw, uint16, 16 bit, "Do3LogSel" 0x2006:20, ------, type 0000, 0 bit, "SubIndex 032" 0x2006:21, ------, type 0000, 0 bit, "SubIndex 033" 0x2006:22, r-r-r-, uint16, 16 bit, "EcatForceDoStatus" SDO 0x200a, "P10 Group Function Code" 0x200a:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x200a:01, rwrwrw, uint16, 16 bit, "SpdRefJOG" 0x200a:02, rwrwrw, uint16, 16 bit, "RstFuncFac" 0x200a:03, rwrwrw, uint16, 16 bit, "ServoErrClear" 0x200a:04, rwrwrw, uint16, 16 bit, "MotOLProtect_Coef" 0x200a:05, rwrwrw, uint16, 16 bit, "MotoTypeSel" 0x200a:06, rwrwrw, uint16, 16 bit, "AbsEncRst" 0x200a:07, rwrwrw, uint16, 16 bit, "ManualSetMotoCode" 0x200a:08, ------, type 0000, 0 bit, "SubIndex 008" 0x200a:09, ------, type 0000, 0 bit, "SubIndex 009" 0x200a:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x200a:0b, rwrwrw, uint16, 16 bit, "P10_11_MtStuckErrEn" SDO 0x200d, "P13 Group Function Code" 0x200d:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x200d:01, rwrwrw, uint16, 16 bit, "CommVdi_1" 0x200d:02, rwrwrw, uint16, 16 bit, "CommVdi_2" 0x200d:03, rwrwrw, uint16, 16 bit, "CommVdi_3" 0x200d:04, rwrwrw, uint16, 16 bit, "CommVdi_4" 0x200d:05, rwrwrw, uint16, 16 bit, "CommVdi_5" 0x200d:06, rwrwrw, uint16, 16 bit, "CommVdi_6" 0x200d:07, ------, type 0000, 0 bit, "SubIndex 007" 0x200d:08, ------, type 0000, 0 bit, "SubIndex 008" 0x200d:09, ------, type 0000, 0 bit, "SubIndex 009" 0x200d:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x200d:0b, rwrwrw, uint16, 16 bit, "CommVdo_1" 0x200d:0c, rwrwrw, uint16, 16 bit, "CommVdo_2" 0x200d:0d, rwrwrw, uint16, 16 bit, "CommVdo_3" SDO 0x201e, "U0 Group monitor" 0x201e:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x201e:01, r-r-r-, int16, 16 bit, "SrvStatus" 0x201e:02, r-r-r-, int16, 16 bit, "SpeedDis " 0x201e:03, r-r-r-, int16, 16 bit, "SpdCmd " 0x201e:04, r-r-r-, int16, 16 bit, "PosCmdToSpd " 0x201e:05, r-r-r-, int32, 32 bit, "PulsErr" 0x201e:06, ------, type 0000, 0 bit, "SubIndex 006" 0x201e:07, ------, type 0000, 0 bit, "SubIndex 007" 0x201e:08, ------, type 0000, 0 bit, "SubIndex 008" 0x201e:09, r-r-r-, int32, 32 bit, "PulsTotal_LowWord" 0x201e:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x201e:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x201e:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x201e:0d, r-r-r-, int32, 32 bit, "EncTotal_LowWord" 0x201e:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x201e:0f, r-r-r-, int32, 32 bit, "EncTotal_HighWord" 0x201e:10, ------, type 0000, 0 bit, "SubIndex 016" 0x201e:11, r-r-r-, uint16, 16 bit, "DiData1 " 0x201e:12, ------, type 0000, 0 bit, "SubIndex 018" 0x201e:13, r-r-r-, uint16, 16 bit, "DoData1 " 0x201e:14, r-r-r-, uint16, 16 bit, "InerRatioReal" 0x201e:15, ------, type 0000, 0 bit, "SubIndex 021" 0x201e:16, ------, type 0000, 0 bit, "SubIndex 022" 0x201e:17, r-r-r-, uint16, 16 bit, "DisVibFreq" 0x201e:18, r-r-r-, uint16, 16 bit, "DisVibMag" 0x201e:19, r-r-r-, int16, 16 bit, "PToqLimitDis" 0x201e:1a, r-r-r-, int16, 16 bit, "NToqLimitDis" 0x201e:1b, r-r-r-, int16, 16 bit, "PSpdLimitDis" 0x201e:1c, r-r-r-, int16, 16 bit, "NSpdLimitDis" 0x201e:1d, r-r-r-, int16, 16 bit, "MachineAngle " 0x201e:1e, r-r-r-, int16, 16 bit, "ElecAngle " 0x201e:1f, r-r-r-, uint16, 16 bit, "DcBusVoltDisp " 0x201e:20, r-r-r-, int16, 16 bit, "Temperature_IPM" 0x201e:21, r-r-r-, uint16, 16 bit, "OutputPowerInst" 0x201e:22, r-r-r-, uint16, 16 bit, "OutputPowerAverage" 0x201e:23, r-r-r-, uint16, 16 bit, "HourTotalRun " 0x201e:24, ------, type 0000, 0 bit, "SubIndex 036" 0x201e:25, r-r-r-, uint16, 16 bit, "MinTotalRun " 0x201e:26, r-r-r-, uint16, 16 bit, "SecTotalRun " 0x201e:27, r-r-r-, uint16, 16 bit, "ToqOutRate" 0x201e:28, r-r-r-, uint16, 16 bit, "HourCurrentRun " 0x201e:29, ------, type 0000, 0 bit, "SubIndex 041" 0x201e:2a, r-r-r-, uint16, 16 bit, "MinCurrentRun " 0x201e:2b, r-r-r-, uint16, 16 bit, "SecCurrentRun " 0x201e:2c, r-r-r-, uint16, 16 bit, "DisPwrInst" 0x201e:2d, ------, type 0000, 0 bit, "SubIndex 045" 0x201e:2e, r-r-r-, uint16, 16 bit, "DisPwrAvg" 0x201e:2f, ------, type 0000, 0 bit, "SubIndex 047" 0x201e:30, r-r-r-, uint16, 16 bit, "PwrUpCount" 0x201e:31, r-r-r-, uint16, 16 bit, "u16MotOLCnt" 0x201e:32, r-r-r-, uint32, 32 bit, "MotoTotal_LowWord" 0x201e:33, r-r-r-, uint32, 32 bit, "MotoTotal_HighWord" 0x201e:34, r-r-r-, uint16, 16 bit, "u16EncoderBit" 0x201e:35, r-r-r-, uint16, 16 bit, "MotoModel" 0x201e:36, r-r-r-, uint32, 32 bit, "AbsEncIn1Cycle" 0x201e:37, r-r-r-, uint32, 32 bit, "AbsEncMultiTurn" 0x201e:38, r-r-r-, int32, 32 bit, "EncTotal_CmdUnit" 0x201e:39, r-r-r-, int32, 32 bit, "EncTotal_CmdUnit_HighWord" SDO 0x201f, "U1 Group Monitor" 0x201f:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x201f:01, r-r-r-, uint16, 16 bit, "NowErrorCode" 0x201f:02, r-r-r-, uint16, 16 bit, "NowWarmCode" 0x201f:03, r-r-r-, int16, 16 bit, "IuWarmOccur" 0x201f:04, r-r-r-, int16, 16 bit, "IvWarmOccur" 0x201f:05, r-r-r-, uint16, 16 bit, "UdcWarmOccur" 0x201f:06, r-r-r-, int16, 16 bit, "T_IPMWarmOccur" 0x201f:07, r-r-r-, int16, 16 bit, "IqWarmOccur" 0x201f:08, r-r-r-, int16, 16 bit, "IdWarmOccur" 0x201f:09, r-r-r-, int32, 32 bit, "PosErrWarmOccur" 0x201f:0a, r-r-r-, int16, 16 bit, "SpdWarmOccur" 0x201f:0b, r-r-r-, uint16, 16 bit, "Time1WarmOccur" 0x201f:0c, r-r-r-, uint16, 16 bit, "ErrCntCurRun" 0x201f:0d, r-r-r-, uint16, 16 bit, "WarmCntCurRun" 0x201f:0e, r-r-r-, uint16, 16 bit, "ErrorTotalCnt" 0x201f:0f, r-r-r-, uint16, 16 bit, "WarmTotalCnt" 0x201f:10, r-r-r-, uint16, 16 bit, "ErrCodeLast1st" 0x201f:11, r-r-r-, uint16, 16 bit, "ErrCodeLast2nd" 0x201f:12, r-r-r-, uint16, 16 bit, "ErrCodeLast3rd" 0x201f:13, r-r-r-, uint16, 16 bit, "ErrCodeLast4th" 0x201f:14, r-r-r-, uint16, 16 bit, "ErrCodeLast5th" 0x201f:15, r-r-r-, uint16, 16 bit, "WarmCodeLast1st" 0x201f:16, r-r-r-, uint16, 16 bit, "WarmCodeLast2nd" 0x201f:17, r-r-r-, uint16, 16 bit, "WarmCodeLast3rd" 0x201f:18, r-r-r-, uint16, 16 bit, "WarmCodeLast4th" 0x201f:19, r-r-r-, uint16, 16 bit, "WarmCodeLast5th" SDO 0x2020, "U2 Group Monitor" 0x2020:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2020:01, r-r-r-, uint16, 16 bit, "ProductSer" 0x2020:02, r-r-r-, uint16, 16 bit, "Model1" 0x2020:03, r-r-r-, uint16, 16 bit, "Model2" 0x2020:04, r-r-r-, uint16, 16 bit, "FirewareVer" 0x2020:05, r-r-r-, uint16, 16 bit, "HardwareVer" 0x2020:06, r-r-r-, uint16, 16 bit, "ExFactoryYear" 0x2020:07, r-r-r-, uint16, 16 bit, "ExFactoryMonth" 0x2020:08, r-r-r-, uint16, 16 bit, "ExFactoryDay" 0x2020:09, r-r-r-, uint16, 16 bit, "DeviceSerNum1" 0x2020:0a, r-r-r-, uint16, 16 bit, "DeviceSerNum2" 0x2020:0b, r-r-r-, uint16, 16 bit, "DeviceSerNum3" 0x2020:0c, r-r-r-, uint16, 16 bit, "DeviceSerNum4" 0x2020:0d, r-r-r-, uint16, 16 bit, "DeviceSerNum5" 0x2020:0e, r-r-r-, uint16, 16 bit, "DeviceSerNum6" 0x2020:0f, r-r-r-, uint16, 16 bit, "DeviceSerNum7" 0x2020:10, r-r-r-, uint16, 16 bit, "DeviceSerNum8" SDO 0x603f, "Error Code" 0x603f:00, r-r-r-, uint16, 16 bit, "Error Code" SDO 0x6040, "ControlWord" 0x6040:00, rwrwrw, uint16, 16 bit, "ControlWord" SDO 0x6041, "statusWord" 0x6041:00, r-r-r-, uint16, 16 bit, "statusWord" SDO 0x605a, "Quick-stop option code" 0x605a:00, rwrwrw, int16, 16 bit, "Quick-stop option code" SDO 0x605b, "Shutdown option code " 0x605b:00, rwrwrw, int16, 16 bit, "Shutdown option code " SDO 0x605c, "Disable operation option code" 0x605c:00, rwrwrw, int16, 16 bit, "Disable operation option code" SDO 0x605d, "Halt option code " 0x605d:00, rwrwrw, int16, 16 bit, "Halt option code " SDO 0x605e, "Fault reaction option code " 0x605e:00, rwrwrw, int16, 16 bit, "Fault reaction option code " SDO 0x6060, "Modes of operation" 0x6060:00, rwrwrw, int8, 8 bit, "Modes of operation" SDO 0x6061, "Modes of operation display" 0x6061:00, r-r-r-, int8, 8 bit, "Modes of operation display" SDO 0x6062, "Position demand value " 0x6062:00, r-r-r-, int32, 32 bit, "Position demand value " SDO 0x6063, "Position actual internal value" 0x6063:00, r-r-r-, int32, 32 bit, "Position actual internal value" SDO 0x6064, "Position actual value" 0x6064:00, r-r-r-, int32, 32 bit, "Position actual value" SDO 0x6065, "Following error window" 0x6065:00, rwrwrw, uint32, 32 bit, "Following error window" SDO 0x6066, "Following error time out[ms]" 0x6066:00, rwrwrw, uint16, 16 bit, "Following error time out[ms]" SDO 0x6067, "Position window " 0x6067:00, rwrwrw, uint32, 32 bit, "Position window " SDO 0x6068, "Position window time " 0x6068:00, rwrwrw, uint16, 16 bit, "Position window time " SDO 0x6069, "Velocity sensor actual value" 0x6069:00, r-r-r-, int32, 32 bit, "Velocity sensor actual value" SDO 0x606b, "Velocity demand value " 0x606b:00, r-r-r-, int32, 32 bit, "Velocity demand value " SDO 0x606c, "Velocity actual value" 0x606c:00, r-r-r-, int32, 32 bit, "Velocity actual value" SDO 0x606d, "Velocity window " 0x606d:00, rwrwrw, uint16, 16 bit, "Velocity window " SDO 0x606e, "Velocity window time " 0x606e:00, rwrwrw, uint16, 16 bit, "Velocity window time " SDO 0x606f, "Velocity threshold " 0x606f:00, rwrwrw, uint16, 16 bit, "Velocity threshold " SDO 0x6070, "Velocity threshold time " 0x6070:00, rwrwrw, uint16, 16 bit, "Velocity threshold time " SDO 0x6071, "Target torque" 0x6071:00, rwrwrw, int16, 16 bit, "Target torque" SDO 0x6072, "Max torque" 0x6072:00, rwrwrw, uint16, 16 bit, "Max torque" SDO 0x6073, "Max current " 0x6073:00, rwrwrw, uint16, 16 bit, "Max current " SDO 0x6074, "Torque demand " 0x6074:00, r-r-r-, int16, 16 bit, "Torque demand " SDO 0x6075, "Motor rated current " 0x6075:00, rwrwrw, uint32, 32 bit, "Motor rated current " SDO 0x6076, "Motor rated torque" 0x6076:00, rwrwrw, uint32, 32 bit, "Motor rated torque" SDO 0x6077, "Torque actual value" 0x6077:00, r-r-r-, int16, 16 bit, "Torque actual value" SDO 0x6078, "Current actual value " 0x6078:00, r-r-r-, int16, 16 bit, "Current actual value " SDO 0x6079, "DC link circuit voltage " 0x6079:00, r-r-r-, uint32, 32 bit, "DC link circuit voltage " SDO 0x607a, "Target position" 0x607a:00, rwrwrw, int32, 32 bit, "Target position" SDO 0x607b, "Position range limit" 0x607b:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x607b:01, rwrwrw, int32, 32 bit, "Min position range limit" 0x607b:02, rwrwrw, int32, 32 bit, "Max position range limit" SDO 0x607c, "Home Offset" 0x607c:00, rwrwrw, int32, 32 bit, "Home Offset" SDO 0x607d, "Software position limit" 0x607d:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x607d:01, rwrwrw, int32, 32 bit, "Min position limit" 0x607d:02, rwrwrw, int32, 32 bit, "Max position limit" SDO 0x607e, "Polarity" 0x607e:00, rwrwrw, uint8, 8 bit, "Polarity" SDO 0x607f, "Max profile velocity " 0x607f:00, rwrwrw, uint32, 32 bit, "Max profile velocity " SDO 0x6080, "Max motor speed" 0x6080:00, rwrwrw, uint32, 32 bit, "Max motor speed" SDO 0x6081, "Profile velocity " 0x6081:00, rwrwrw, uint32, 32 bit, "Profile velocity " SDO 0x6082, "End velocity " 0x6082:00, rwrwrw, uint32, 32 bit, "End velocity " SDO 0x6083, "Profile acceleration " 0x6083:00, rwrwrw, uint32, 32 bit, "Profile acceleration " SDO 0x6084, "Profile deceleration " 0x6084:00, rwrwrw, uint32, 32 bit, "Profile deceleration " SDO 0x6085, "Quick-stop deceleration" 0x6085:00, rwrwrw, uint32, 32 bit, "Quick-stop deceleration" SDO 0x6086, "Motion profile type" 0x6086:00, rwrwrw, int16, 16 bit, "Motion profile type" SDO 0x6087, "Torque slope " 0x6087:00, rwrwrw, uint32, 32 bit, "Torque slope " SDO 0x6088, "Torque profile type " 0x6088:00, rwrwrw, int16, 16 bit, "Torque profile type " SDO 0x6091, "Gear ratio " 0x6091:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6091:01, rwrwrw, uint32, 32 bit, "Motor revolutions" 0x6091:02, rwrwrw, uint32, 32 bit, "Shaft revolutions" SDO 0x6098, "Homing method" 0x6098:00, rwrwrw, int8, 8 bit, "Homing method" SDO 0x6099, "Homing speed" 0x6099:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6099:01, rwrwrw, uint32, 32 bit, "Speed during search for switch" 0x6099:02, rwrwrw, uint32, 32 bit, "Speed during search for zero" SDO 0x609a, "Homing acceleration" 0x609a:00, rwrwrw, uint32, 32 bit, "Homing acceleration" SDO 0x60a2, "Jerk factor" 0x60a2:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60a2:01, rwrwrw, uint32, 32 bit, "Numerator" 0x60a2:02, rwrwrw, uint32, 32 bit, "divisor" SDO 0x60b0, "Position offset" 0x60b0:00, rwrwrw, int32, 32 bit, "Position offset" SDO 0x60b1, "Velocity offset" 0x60b1:00, rwrwrw, int32, 32 bit, "Velocity offset" SDO 0x60b2, "Torque offset" 0x60b2:00, rwrwrw, int16, 16 bit, "Torque offset" SDO 0x60b8, "Touch probe function" 0x60b8:00, rwrwrw, uint16, 16 bit, "Touch probe function" SDO 0x60b9, "Touch probe status" 0x60b9:00, r-r-r-, uint16, 16 bit, "Touch probe status" SDO 0x60ba, "Touch probe position1 positive value" 0x60ba:00, r-r-r-, int32, 32 bit, "Touch probe position1 positive value" SDO 0x60bb, "Touch probe position1 negative value" 0x60bb:00, r-r-r-, int32, 32 bit, "Touch probe position1 negative value" SDO 0x60bc, "Touch probe position2 positive value" 0x60bc:00, r-r-r-, int32, 32 bit, "Touch probe position2 positive value" SDO 0x60bd, "Touch probe position2 negative value" 0x60bd:00, r-r-r-, int32, 32 bit, "Touch probe position2 negative value" SDO 0x60c2, "Interpolation time period" 0x60c2:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60c2:01, rwrwrw, uint8, 8 bit, "Interpolation time period value" 0x60c2:02, rwrwrw, int8, 8 bit, "Interpolation time index" SDO 0x60c5, "Max acceleration" 0x60c5:00, rwrwrw, uint32, 32 bit, "Max acceleration" SDO 0x60c6, "Max deceleration" 0x60c6:00, rwrwrw, uint32, 32 bit, "Max deceleration" SDO 0x60d5, "Touch probe 1 positive edge counter" 0x60d5:00, r-r-r-, uint16, 16 bit, "Touch probe 1 positive edge counter" SDO 0x60d6, "Touch probe 1 negative edge counter" 0x60d6:00, r-r-r-, uint16, 16 bit, "Touch probe 1 negative edge counter" SDO 0x60d7, "Touch probe 2 positive edge counter" 0x60d7:00, r-r-r-, uint16, 16 bit, "Touch probe 2 positive edge counter" SDO 0x60d8, "Touch probe 2 negative edge counter" 0x60d8:00, r-r-r-, uint16, 16 bit, "Touch probe 2 negative edge counter" SDO 0x60e0, "Positive torque limit value" 0x60e0:00, rwrwrw, uint16, 16 bit, "Positive torque limit value" SDO 0x60e1, "Negative torque limit value" 0x60e1:00, rwrwrw, uint16, 16 bit, "Negative torque limit value" SDO 0x60f4, "Following error actual value" 0x60f4:00, r-r-r-, int32, 32 bit, "Following error actual value" SDO 0x60fc, "Position demand internal value " 0x60fc:00, r-r-r-, int32, 32 bit, "Position demand internal value " SDO 0x60fd, "Digital inputs " 0x60fd:00, r-r-r-, uint32, 32 bit, "Digital inputs " SDO 0x60fe, "Digital outputs " 0x60fe:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60fe:01, rwrwrw, uint32, 32 bit, "Digital Output status" 0x60fe:02, rwrwrw, uint32, 32 bit, "Digital Output Mask" SDO 0x60ff, "Target velocity" 0x60ff:00, rwrwrw, int32, 32 bit, "Target velocity" SDO 0x6502, "Supported Driver Modes" 0x6502:00, r-r-r-, uint32, 32 bit, "Supported Driver Modes" SDO 0xf000, "Modular Device Profile" 0xf000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0xf000:01, r-r-r-, uint16, 16 bit, "Index distance " 0xf000:02, r-r-r-, uint16, 16 bit, "Maximum number of modules " === Master 0, Slave 2 === SDO 0x1000, "Device type" 0x1000:00, r-r-r-, uint32, 32 bit, "Device type" SDO 0x1001, "Error register" 0x1001:00, r-r-r-, uint8, 8 bit, "Error register" SDO 0x1008, "Device name" 0x1008:00, r-r-r-, string, 200 bit, "Device name" SDO 0x1009, "Manufacturer Hardware version" 0x1009:00, r-r-r-, string, 120 bit, "Manufacturer Hardware version" SDO 0x100a, "Manufacturer Software version" 0x100a:00, r-r-r-, string, 40 bit, "Manufacturer Software version" SDO 0x1018, "Identity Object" 0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID" 0x1018:02, r-r-r-, uint32, 32 bit, "Product Code" 0x1018:03, r-r-r-, uint32, 32 bit, "Revision Number" 0x1018:04, r-r-r-, uint32, 32 bit, "Serial Number" SDO 0x10f1, "Error Settings" 0x10f1:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x10f1:01, r-r-r-, uint32, 32 bit, "Local Error Reaction" 0x10f1:02, rwrwrw, uint16, 16 bit, "Sync Error Counter Limit" SDO 0x10f8, "Timestamp Object" 0x10f8:00, rwrwrw, uint64, 64 bit, "Timestamp Object" SDO 0x1600, "RxPDO" 0x1600:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1600:01, rwrwrw, uint32, 32 bit, "RXPDO_SI1" 0x1600:02, rwrwrw, uint32, 32 bit, "RXPDO_SI2" 0x1600:03, rwrwrw, uint32, 32 bit, "RXPDO_SI3" 0x1600:04, rwrwrw, uint32, 32 bit, "RXPDO_SI4" 0x1600:05, rwrwrw, uint32, 32 bit, "RXPDO_SI5" 0x1600:06, rwrwrw, uint32, 32 bit, "RXPDO_SI6" 0x1600:07, rwrwrw, uint32, 32 bit, "RXPDO_SI7" 0x1600:08, rwrwrw, uint32, 32 bit, "RXPDO_SI8" 0x1600:09, rwrwrw, uint32, 32 bit, "RXPDO_SI9" 0x1600:0a, rwrwrw, uint32, 32 bit, "RXPDO_SI10" SDO 0x1701, "RxPDO" 0x1701:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1701:01, rwrwrw, uint32, 32 bit, "SI1" 0x1701:02, rwrwrw, uint32, 32 bit, "SI2" 0x1701:03, rwrwrw, uint32, 32 bit, "SI3" 0x1701:04, rwrwrw, uint32, 32 bit, "SI4" 0x1701:05, rwrwrw, uint32, 32 bit, "SI5" 0x1701:06, rwrwrw, uint32, 32 bit, "SI6" 0x1701:07, rwrwrw, uint32, 32 bit, "SI7" 0x1701:08, rwrwrw, uint32, 32 bit, "SI8" 0x1701:09, rwrwrw, uint32, 32 bit, "SI9" 0x1701:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1702, "RxPDO" 0x1702:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1702:01, rwrwrw, uint32, 32 bit, "SI1" 0x1702:02, rwrwrw, uint32, 32 bit, "SI2" 0x1702:03, rwrwrw, uint32, 32 bit, "SI3" 0x1702:04, rwrwrw, uint32, 32 bit, "SI4" 0x1702:05, rwrwrw, uint32, 32 bit, "SI5" 0x1702:06, rwrwrw, uint32, 32 bit, "SI6" 0x1702:07, rwrwrw, uint32, 32 bit, "SI7" 0x1702:08, rwrwrw, uint32, 32 bit, "SI8" 0x1702:09, rwrwrw, uint32, 32 bit, "SI9" 0x1702:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1a00, "TxPDO" 0x1a00:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1a00:01, rwrwrw, uint32, 32 bit, "SI1" 0x1a00:02, rwrwrw, uint32, 32 bit, "SI2" 0x1a00:03, rwrwrw, uint32, 32 bit, "SI3" 0x1a00:04, rwrwrw, uint32, 32 bit, "SI4" 0x1a00:05, rwrwrw, uint32, 32 bit, "SI5" 0x1a00:06, rwrwrw, uint32, 32 bit, "SI6" 0x1a00:07, rwrwrw, uint32, 32 bit, "SI7" 0x1a00:08, rwrwrw, uint32, 32 bit, "SI8" 0x1a00:09, rwrwrw, uint32, 32 bit, "SI9" 0x1a00:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1b01, "TxPDO" 0x1b01:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1b01:01, rwrwrw, uint32, 32 bit, "SI1" 0x1b01:02, rwrwrw, uint32, 32 bit, "SI2" 0x1b01:03, rwrwrw, uint32, 32 bit, "SI3" 0x1b01:04, rwrwrw, uint32, 32 bit, "SI4" 0x1b01:05, rwrwrw, uint32, 32 bit, "SI5" 0x1b01:06, rwrwrw, uint32, 32 bit, "SI6" 0x1b01:07, rwrwrw, uint32, 32 bit, "SI7" 0x1b01:08, rwrwrw, uint32, 32 bit, "SI8" 0x1b01:09, rwrwrw, uint32, 32 bit, "SI9" 0x1b01:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1c00, "Sync manager type" 0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001" 0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002" 0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003" 0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004" SDO 0x1c12, "RxPDO assign" 0x1c12:00, rwr-r-, uint8, 8 bit, "SubIndex 000" 0x1c12:01, rwr-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c13, "TxPDO assign" 0x1c13:00, rwr-r-, uint8, 8 bit, "SubIndex 000" 0x1c13:01, rwr-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c32, "SM output parameter" 0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c32:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c32:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c32:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c32:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c32:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c32:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c32:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c32:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c32:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c32:0d, r-r-r-, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c32:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c32:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c32:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c32:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c32:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c32:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c32:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c32:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c32:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c32:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c32:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c32:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c32:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c32:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c32:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c32:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c32:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c32:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c32:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x1c33, "SM input parameter" 0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c33:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c33:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c33:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c33:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c33:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c33:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c33:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c33:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c33:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c33:0d, r-r-r-, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c33:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c33:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c33:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c33:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c33:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c33:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c33:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c33:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c33:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c33:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c33:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c33:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c33:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c33:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c33:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c33:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c33:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c33:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c33:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x2000, "P0 Group Function Code" 0x2000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2000:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2000:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2000:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2000:04, rwrwrw, uint16, 16 bit, "RotationDir" 0x2000:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2000:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2000:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2000:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2000:09, rwrwrw, uint16, 16 bit, "ExtResSel" 0x2000:0a, rwrwrw, uint16, 16 bit, "ExtResVal" 0x2000:0b, rwrwrw, uint16, 16 bit, "ExtResPwr" 0x2000:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2000:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2000:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2000:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2000:10, ------, type 0000, 0 bit, "SubIndex 016" 0x2000:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2000:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2000:13, ------, type 0000, 0 bit, "SubIndex 019" 0x2000:14, ------, type 0000, 0 bit, "SubIndex 020" 0x2000:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2000:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2000:17, rwrwrw, uint16, 16 bit, "PulseOutPcPolarity" 0x2000:18, rwrwrw, uint16, 16 bit, "PulseOutZWidth" 0x2000:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2000:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x2000:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x2000:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x2000:1d, rwrwrw, uint32, 32 bit, "PulseCntEqu" 0x2000:1e, rwrwrw, uint16, 16 bit, "EncBatErrMask" 0x2000:1f, rwrwrw, uint16, 16 bit, "EncCommWarmThreshold" 0x2000:20, rwrwrw, uint16, 16 bit, "EscPdoTout" SDO 0x2001, "P1 Group Function Code" 0x2001:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2001:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2001:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2001:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2001:04, ------, type 0000, 0 bit, "SubIndex 004" 0x2001:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2001:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2001:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2001:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2001:09, rwrwrw, uint16, 16 bit, "ToqModeSpdSrc" 0x2001:0a, rwrwrw, uint16, 16 bit, "MaxSpeedLimit" 0x2001:0b, rwrwrw, uint16, 16 bit, "WarmSpeedTh" 0x2001:0c, rwrwrw, uint16, 16 bit, "PosSpeedTh " 0x2001:0d, rwrwrw, uint16, 16 bit, "NegSpeedTh " 0x2001:0e, rwrwrw, uint16, 16 bit, "ToqLimitSrc" 0x2001:0f, rwrwrw, uint16, 16 bit, "PToqLim" 0x2001:10, rwrwrw, uint16, 16 bit, "NToqLim" 0x2001:11, rwrwrw, uint16, 16 bit, "PToqmodSpdlimit" 0x2001:12, rwrwrw, uint16, 16 bit, "NToqmodSpdlimit" 0x2001:13, rwrwrw, uint16, 16 bit, "ToqLimTime " 0x2001:14, rwrwrw, uint16, 16 bit, "SoftOvCurrentCnt" 0x2001:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2001:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2001:17, ------, type 0000, 0 bit, "SubIndex 023" 0x2001:18, ------, type 0000, 0 bit, "SubIndex 024" 0x2001:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2001:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x2001:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x2001:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x2001:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x2001:1e, rwrwrw, uint16, 16 bit, "BK_ONtoCmdEnaDelay" 0x2001:1f, rwrwrw, uint16, 16 bit, "BK_OFFtoPwmOFFDelay" 0x2001:20, rwrwrw, uint16, 16 bit, "BK_OFFSpdTh" 0x2001:21, rwrwrw, uint16, 16 bit, "BK_OFFSinceSoffDelay" 0x2001:22, ------, type 0000, 0 bit, "SubIndex 034" 0x2001:23, ------, type 0000, 0 bit, "SubIndex 035" 0x2001:24, ------, type 0000, 0 bit, "SubIndex 036" 0x2001:25, rwrwrw, uint16, 16 bit, "SpdRefJOGAccTime" 0x2001:26, rwrwrw, uint16, 16 bit, "SpdRefJOGDecTime" SDO 0x2002, "P2 Group Function Code" 0x2002:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2002:01, rwrwrw, uint16, 16 bit, "PosLoop1stGain " 0x2002:02, rwrwrw, uint16, 16 bit, "SpdLoop1stGain " 0x2002:03, rwrwrw, uint16, 16 bit, "SpdLoop1stIntgTime " 0x2002:04, rwrwrw, uint16, 16 bit, "PosLoop2ndGain " 0x2002:05, rwrwrw, uint16, 16 bit, "SpdLoop2ndGain " 0x2002:06, rwrwrw, uint16, 16 bit, "SpdLoop2ndIntgTime " 0x2002:07, rwrwrw, uint16, 16 bit, "SecondGainSwMode" 0x2002:08, rwrwrw, uint16, 16 bit, "SecondGainFunSel" 0x2002:09, rwrwrw, uint16, 16 bit, "SpdFeedForwardGain " 0x2002:0a, rwrwrw, uint16, 16 bit, "SpdFeedForwardFilter " 0x2002:0b, rwrwrw, uint16, 16 bit, "ToqFeedForwardGain " 0x2002:0c, rwrwrw, uint16, 16 bit, "ToqFeedForwardFilter " 0x2002:0d, rwrwrw, uint16, 16 bit, "SecondGainSwTime" 0x2002:0e, rwrwrw, uint16, 16 bit, "SecondGainSwLevel" 0x2002:0f, rwrwrw, uint16, 16 bit, "SecondGainHysteresis" 0x2002:10, rwrwrw, uint16, 16 bit, "SecondGainPosSwTime" 0x2002:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2002:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2002:13, ------, type 0000, 0 bit, "SubIndex 019" 0x2002:14, rwrwrw, uint16, 16 bit, "Mfc_Enable" 0x2002:15, rwrwrw, uint16, 16 bit, "Mfc_Gain" 0x2002:16, rwrwrw, uint16, 16 bit, "Mfc_Zeta" 0x2002:17, rwrwrw, uint16, 16 bit, "Mfc_Ptff" 0x2002:18, rwrwrw, uint16, 16 bit, "Mfc_Ntff" 0x2002:19, rwrwrw, uint16, 16 bit, "Mfc_Vff" 0x2002:1a, rwrwrw, uint16, 16 bit, "Mfc_Gain2nd" 0x2002:1b, rwrwrw, uint16, 16 bit, "Mfc_Zeta2nd" 0x2002:1c, rwrwrw, uint16, 16 bit, "Mfc_AntFreq" 0x2002:1d, rwrwrw, uint16, 16 bit, "Mfc_ResFreq" SDO 0x2003, "P3 Group Function Code" 0x2003:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2003:01, rwrwrw, uint16, 16 bit, "LoadInerRatio" 0x2003:02, rwrwrw, uint16, 16 bit, "RigiditySel" 0x2003:03, rwrwrw, uint16, 16 bit, "SelfAdjustMode" 0x2003:04, rwrwrw, uint16, 16 bit, "InerIdOnline" 0x2003:05, rwrwrw, uint16, 16 bit, "InerIdCircle" 0x2003:06, rwrwrw, uint16, 16 bit, "InerIdMaxSpd" 0x2003:07, rwrwrw, uint16, 16 bit, "InerIdRollMode" 0x2003:08, rwrwrw, uint16, 16 bit, "InerIdWaitTime" SDO 0x2004, "P4 Group Function Code" 0x2004:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2004:01, rwrwrw, uint16, 16 bit, "PulseFilterType" 0x2004:02, rwrwrw, uint16, 16 bit, "LowpassFilterTime" 0x2004:03, rwrwrw, uint16, 16 bit, "AveragingFilterTime" 0x2004:04, rwrwrw, uint16, 16 bit, "TogFiltertTime" 0x2004:05, rwrwrw, uint16, 16 bit, "NotchFilter1_Freq" 0x2004:06, rwrwrw, uint16, 16 bit, "NotchFilter1_Deep" 0x2004:07, rwrwrw, uint16, 16 bit, "NotchFilter1_Band" 0x2004:08, rwrwrw, uint16, 16 bit, "NotchFilter2_Freq" 0x2004:09, rwrwrw, uint16, 16 bit, "NotchFilter2_Deep" 0x2004:0a, rwrwrw, uint16, 16 bit, "NotchFilter2_Band" 0x2004:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x2004:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2004:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2004:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2004:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2004:10, ------, type 0000, 0 bit, "SubIndex 016" 0x2004:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2004:12, rwrwrw, uint16, 16 bit, "SpdFdbFilterTime" SDO 0x2005, "P5 Group Function Code" 0x2005:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2005:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2005:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2005:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2005:04, ------, type 0000, 0 bit, "SubIndex 004" 0x2005:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2005:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2005:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2005:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2005:09, ------, type 0000, 0 bit, "SubIndex 009" 0x2005:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x2005:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x2005:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2005:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2005:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2005:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2005:10, rwrwrw, uint16, 16 bit, "RotateSpdDtTh" 0x2005:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2005:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2005:13, rwrwrw, uint16, 16 bit, "SpdZeroOutTh " 0x2005:14, rwrwrw, uint16, 16 bit, "ToqCoinTh" 0x2005:15, rwrwrw, uint16, 16 bit, "ToqCoinHysteresis" 0x2005:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2005:17, rwrwrw, uint16, 16 bit, "TouchProbe1FilterConstant" 0x2005:18, rwrwrw, uint16, 16 bit, "TouchProbe2FilterConstant" 0x2005:19, rwrwrw, int16, 16 bit, "touchProbeDIOnCompTime" 0x2005:1a, rwrwrw, int16, 16 bit, "touchProbeDIOffCompTime" SDO 0x2006, "P6 Group Function Code" 0x2006:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2006:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2006:02, rwrwrw, uint16, 16 bit, "Di1FunSel" 0x2006:03, rwrwrw, uint16, 16 bit, "Di1LogSel" 0x2006:04, rwrwrw, uint16, 16 bit, "Di1SrcSel" 0x2006:05, rwrwrw, uint16, 16 bit, "Di2FunSel" 0x2006:06, rwrwrw, uint16, 16 bit, "Di2LogSel" 0x2006:07, rwrwrw, uint16, 16 bit, "Di2SrcSel" 0x2006:08, rwrwrw, uint16, 16 bit, "Di3FunSel" 0x2006:09, rwrwrw, uint16, 16 bit, "Di3LogSel" 0x2006:0a, rwrwrw, uint16, 16 bit, "Di3SrcSel" 0x2006:0b, rwrwrw, uint16, 16 bit, "Di4FunSel" 0x2006:0c, rwrwrw, uint16, 16 bit, "Di4LogSel" 0x2006:0d, rwrwrw, uint16, 16 bit, "Di4SrcSel" 0x2006:0e, rwrwrw, uint16, 16 bit, "Di5FunSel" 0x2006:0f, rwrwrw, uint16, 16 bit, "Di5LogSel" 0x2006:10, rwrwrw, uint16, 16 bit, "Di5SrcSel" 0x2006:11, rwrwrw, uint16, 16 bit, "Di6FunSel" 0x2006:12, rwrwrw, uint16, 16 bit, "Di6LogSel" 0x2006:13, rwrwrw, uint16, 16 bit, "Di6SrcSel" 0x2006:14, ------, type 0000, 0 bit, "SubIndex 020" 0x2006:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2006:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2006:17, ------, type 0000, 0 bit, "SubIndex 023" 0x2006:18, ------, type 0000, 0 bit, "SubIndex 024" 0x2006:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2006:1a, rwrwrw, uint16, 16 bit, "Do1FunSel" 0x2006:1b, rwrwrw, uint16, 16 bit, "Do1LogSel" 0x2006:1c, rwrwrw, uint16, 16 bit, "Do2FunSel" 0x2006:1d, rwrwrw, uint16, 16 bit, "Do2LogSel" 0x2006:1e, rwrwrw, uint16, 16 bit, "Do3FunSel" 0x2006:1f, rwrwrw, uint16, 16 bit, "Do3LogSel" 0x2006:20, ------, type 0000, 0 bit, "SubIndex 032" 0x2006:21, ------, type 0000, 0 bit, "SubIndex 033" 0x2006:22, r-r-r-, uint16, 16 bit, "EcatForceDoStatus" SDO 0x200a, "P10 Group Function Code" 0x200a:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x200a:01, rwrwrw, uint16, 16 bit, "SpdRefJOG" 0x200a:02, rwrwrw, uint16, 16 bit, "RstFuncFac" 0x200a:03, rwrwrw, uint16, 16 bit, "ServoErrClear" 0x200a:04, rwrwrw, uint16, 16 bit, "MotOLProtect_Coef" 0x200a:05, rwrwrw, uint16, 16 bit, "MotoTypeSel" 0x200a:06, rwrwrw, uint16, 16 bit, "AbsEncRst" 0x200a:07, rwrwrw, uint16, 16 bit, "ManualSetMotoCode" 0x200a:08, ------, type 0000, 0 bit, "SubIndex 008" 0x200a:09, ------, type 0000, 0 bit, "SubIndex 009" 0x200a:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x200a:0b, rwrwrw, uint16, 16 bit, "P10_11_MtStuckErrEn" SDO 0x200d, "P13 Group Function Code" 0x200d:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x200d:01, rwrwrw, uint16, 16 bit, "CommVdi_1" 0x200d:02, rwrwrw, uint16, 16 bit, "CommVdi_2" 0x200d:03, rwrwrw, uint16, 16 bit, "CommVdi_3" 0x200d:04, rwrwrw, uint16, 16 bit, "CommVdi_4" 0x200d:05, rwrwrw, uint16, 16 bit, "CommVdi_5" 0x200d:06, rwrwrw, uint16, 16 bit, "CommVdi_6" 0x200d:07, ------, type 0000, 0 bit, "SubIndex 007" 0x200d:08, ------, type 0000, 0 bit, "SubIndex 008" 0x200d:09, ------, type 0000, 0 bit, "SubIndex 009" 0x200d:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x200d:0b, rwrwrw, uint16, 16 bit, "CommVdo_1" 0x200d:0c, rwrwrw, uint16, 16 bit, "CommVdo_2" 0x200d:0d, rwrwrw, uint16, 16 bit, "CommVdo_3" SDO 0x201e, "U0 Group monitor" 0x201e:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x201e:01, r-r-r-, int16, 16 bit, "SrvStatus" 0x201e:02, r-r-r-, int16, 16 bit, "SpeedDis " 0x201e:03, r-r-r-, int16, 16 bit, "SpdCmd " 0x201e:04, r-r-r-, int16, 16 bit, "PosCmdToSpd " 0x201e:05, r-r-r-, int32, 32 bit, "PulsErr" 0x201e:06, ------, type 0000, 0 bit, "SubIndex 006" 0x201e:07, ------, type 0000, 0 bit, "SubIndex 007" 0x201e:08, ------, type 0000, 0 bit, "SubIndex 008" 0x201e:09, r-r-r-, int32, 32 bit, "PulsTotal_LowWord" 0x201e:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x201e:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x201e:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x201e:0d, r-r-r-, int32, 32 bit, "EncTotal_LowWord" 0x201e:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x201e:0f, r-r-r-, int32, 32 bit, "EncTotal_HighWord" 0x201e:10, ------, type 0000, 0 bit, "SubIndex 016" 0x201e:11, r-r-r-, uint16, 16 bit, "DiData1 " 0x201e:12, ------, type 0000, 0 bit, "SubIndex 018" 0x201e:13, r-r-r-, uint16, 16 bit, "DoData1 " 0x201e:14, r-r-r-, uint16, 16 bit, "InerRatioReal" 0x201e:15, ------, type 0000, 0 bit, "SubIndex 021" 0x201e:16, ------, type 0000, 0 bit, "SubIndex 022" 0x201e:17, r-r-r-, uint16, 16 bit, "DisVibFreq" 0x201e:18, r-r-r-, uint16, 16 bit, "DisVibMag" 0x201e:19, r-r-r-, int16, 16 bit, "PToqLimitDis" 0x201e:1a, r-r-r-, int16, 16 bit, "NToqLimitDis" 0x201e:1b, r-r-r-, int16, 16 bit, "PSpdLimitDis" 0x201e:1c, r-r-r-, int16, 16 bit, "NSpdLimitDis" 0x201e:1d, r-r-r-, int16, 16 bit, "MachineAngle " 0x201e:1e, r-r-r-, int16, 16 bit, "ElecAngle " 0x201e:1f, r-r-r-, uint16, 16 bit, "DcBusVoltDisp " 0x201e:20, r-r-r-, int16, 16 bit, "Temperature_IPM" 0x201e:21, r-r-r-, uint16, 16 bit, "OutputPowerInst" 0x201e:22, r-r-r-, uint16, 16 bit, "OutputPowerAverage" 0x201e:23, r-r-r-, uint16, 16 bit, "HourTotalRun " 0x201e:24, ------, type 0000, 0 bit, "SubIndex 036" 0x201e:25, r-r-r-, uint16, 16 bit, "MinTotalRun " 0x201e:26, r-r-r-, uint16, 16 bit, "SecTotalRun " 0x201e:27, r-r-r-, uint16, 16 bit, "ToqOutRate" 0x201e:28, r-r-r-, uint16, 16 bit, "HourCurrentRun " 0x201e:29, ------, type 0000, 0 bit, "SubIndex 041" 0x201e:2a, r-r-r-, uint16, 16 bit, "MinCurrentRun " 0x201e:2b, r-r-r-, uint16, 16 bit, "SecCurrentRun " 0x201e:2c, r-r-r-, uint16, 16 bit, "DisPwrInst" 0x201e:2d, ------, type 0000, 0 bit, "SubIndex 045" 0x201e:2e, r-r-r-, uint16, 16 bit, "DisPwrAvg" 0x201e:2f, ------, type 0000, 0 bit, "SubIndex 047" 0x201e:30, r-r-r-, uint16, 16 bit, "PwrUpCount" 0x201e:31, r-r-r-, uint16, 16 bit, "u16MotOLCnt" 0x201e:32, r-r-r-, uint32, 32 bit, "MotoTotal_LowWord" 0x201e:33, r-r-r-, uint32, 32 bit, "MotoTotal_HighWord" 0x201e:34, r-r-r-, uint16, 16 bit, "u16EncoderBit" 0x201e:35, r-r-r-, uint16, 16 bit, "MotoModel" 0x201e:36, r-r-r-, uint32, 32 bit, "AbsEncIn1Cycle" 0x201e:37, r-r-r-, uint32, 32 bit, "AbsEncMultiTurn" 0x201e:38, r-r-r-, int32, 32 bit, "EncTotal_CmdUnit" 0x201e:39, r-r-r-, int32, 32 bit, "EncTotal_CmdUnit_HighWord" SDO 0x201f, "U1 Group Monitor" 0x201f:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x201f:01, r-r-r-, uint16, 16 bit, "NowErrorCode" 0x201f:02, r-r-r-, uint16, 16 bit, "NowWarmCode" 0x201f:03, r-r-r-, int16, 16 bit, "IuWarmOccur" 0x201f:04, r-r-r-, int16, 16 bit, "IvWarmOccur" 0x201f:05, r-r-r-, uint16, 16 bit, "UdcWarmOccur" 0x201f:06, r-r-r-, int16, 16 bit, "T_IPMWarmOccur" 0x201f:07, r-r-r-, int16, 16 bit, "IqWarmOccur" 0x201f:08, r-r-r-, int16, 16 bit, "IdWarmOccur" 0x201f:09, r-r-r-, int32, 32 bit, "PosErrWarmOccur" 0x201f:0a, r-r-r-, int16, 16 bit, "SpdWarmOccur" 0x201f:0b, r-r-r-, uint16, 16 bit, "Time1WarmOccur" 0x201f:0c, r-r-r-, uint16, 16 bit, "ErrCntCurRun" 0x201f:0d, r-r-r-, uint16, 16 bit, "WarmCntCurRun" 0x201f:0e, r-r-r-, uint16, 16 bit, "ErrorTotalCnt" 0x201f:0f, r-r-r-, uint16, 16 bit, "WarmTotalCnt" 0x201f:10, r-r-r-, uint16, 16 bit, "ErrCodeLast1st" 0x201f:11, r-r-r-, uint16, 16 bit, "ErrCodeLast2nd" 0x201f:12, r-r-r-, uint16, 16 bit, "ErrCodeLast3rd" 0x201f:13, r-r-r-, uint16, 16 bit, "ErrCodeLast4th" 0x201f:14, r-r-r-, uint16, 16 bit, "ErrCodeLast5th" 0x201f:15, r-r-r-, uint16, 16 bit, "WarmCodeLast1st" 0x201f:16, r-r-r-, uint16, 16 bit, "WarmCodeLast2nd" 0x201f:17, r-r-r-, uint16, 16 bit, "WarmCodeLast3rd" 0x201f:18, r-r-r-, uint16, 16 bit, "WarmCodeLast4th" 0x201f:19, r-r-r-, uint16, 16 bit, "WarmCodeLast5th" SDO 0x2020, "U2 Group Monitor" 0x2020:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2020:01, r-r-r-, uint16, 16 bit, "ProductSer" 0x2020:02, r-r-r-, uint16, 16 bit, "Model1" 0x2020:03, r-r-r-, uint16, 16 bit, "Model2" 0x2020:04, r-r-r-, uint16, 16 bit, "FirewareVer" 0x2020:05, r-r-r-, uint16, 16 bit, "HardwareVer" 0x2020:06, r-r-r-, uint16, 16 bit, "ExFactoryYear" 0x2020:07, r-r-r-, uint16, 16 bit, "ExFactoryMonth" 0x2020:08, r-r-r-, uint16, 16 bit, "ExFactoryDay" 0x2020:09, r-r-r-, uint16, 16 bit, "DeviceSerNum1" 0x2020:0a, r-r-r-, uint16, 16 bit, "DeviceSerNum2" 0x2020:0b, r-r-r-, uint16, 16 bit, "DeviceSerNum3" 0x2020:0c, r-r-r-, uint16, 16 bit, "DeviceSerNum4" 0x2020:0d, r-r-r-, uint16, 16 bit, "DeviceSerNum5" 0x2020:0e, r-r-r-, uint16, 16 bit, "DeviceSerNum6" 0x2020:0f, r-r-r-, uint16, 16 bit, "DeviceSerNum7" 0x2020:10, r-r-r-, uint16, 16 bit, "DeviceSerNum8" SDO 0x603f, "Error Code" 0x603f:00, r-r-r-, uint16, 16 bit, "Error Code" SDO 0x6040, "ControlWord" 0x6040:00, rwrwrw, uint16, 16 bit, "ControlWord" SDO 0x6041, "statusWord" 0x6041:00, r-r-r-, uint16, 16 bit, "statusWord" SDO 0x605a, "Quick-stop option code" 0x605a:00, rwrwrw, int16, 16 bit, "Quick-stop option code" SDO 0x605b, "Shutdown option code " 0x605b:00, rwrwrw, int16, 16 bit, "Shutdown option code " SDO 0x605c, "Disable operation option code" 0x605c:00, rwrwrw, int16, 16 bit, "Disable operation option code" SDO 0x605d, "Halt option code " 0x605d:00, rwrwrw, int16, 16 bit, "Halt option code " SDO 0x605e, "Fault reaction option code " 0x605e:00, rwrwrw, int16, 16 bit, "Fault reaction option code " SDO 0x6060, "Modes of operation" 0x6060:00, rwrwrw, int8, 8 bit, "Modes of operation" SDO 0x6061, "Modes of operation display" 0x6061:00, r-r-r-, int8, 8 bit, "Modes of operation display" SDO 0x6062, "Position demand value " 0x6062:00, r-r-r-, int32, 32 bit, "Position demand value " SDO 0x6063, "Position actual internal value" 0x6063:00, r-r-r-, int32, 32 bit, "Position actual internal value" SDO 0x6064, "Position actual value" 0x6064:00, r-r-r-, int32, 32 bit, "Position actual value" SDO 0x6065, "Following error window" 0x6065:00, rwrwrw, uint32, 32 bit, "Following error window" SDO 0x6066, "Following error time out[ms]" 0x6066:00, rwrwrw, uint16, 16 bit, "Following error time out[ms]" SDO 0x6067, "Position window " 0x6067:00, rwrwrw, uint32, 32 bit, "Position window " SDO 0x6068, "Position window time " 0x6068:00, rwrwrw, uint16, 16 bit, "Position window time " SDO 0x6069, "Velocity sensor actual value" 0x6069:00, r-r-r-, int32, 32 bit, "Velocity sensor actual value" SDO 0x606b, "Velocity demand value " 0x606b:00, r-r-r-, int32, 32 bit, "Velocity demand value " SDO 0x606c, "Velocity actual value" 0x606c:00, r-r-r-, int32, 32 bit, "Velocity actual value" SDO 0x606d, "Velocity window " 0x606d:00, rwrwrw, uint16, 16 bit, "Velocity window " SDO 0x606e, "Velocity window time " 0x606e:00, rwrwrw, uint16, 16 bit, "Velocity window time " SDO 0x606f, "Velocity threshold " 0x606f:00, rwrwrw, uint16, 16 bit, "Velocity threshold " SDO 0x6070, "Velocity threshold time " 0x6070:00, rwrwrw, uint16, 16 bit, "Velocity threshold time " SDO 0x6071, "Target torque" 0x6071:00, rwrwrw, int16, 16 bit, "Target torque" SDO 0x6072, "Max torque" 0x6072:00, rwrwrw, uint16, 16 bit, "Max torque" SDO 0x6073, "Max current " 0x6073:00, rwrwrw, uint16, 16 bit, "Max current " SDO 0x6074, "Torque demand " 0x6074:00, r-r-r-, int16, 16 bit, "Torque demand " SDO 0x6075, "Motor rated current " 0x6075:00, rwrwrw, uint32, 32 bit, "Motor rated current " SDO 0x6076, "Motor rated torque" 0x6076:00, rwrwrw, uint32, 32 bit, "Motor rated torque" SDO 0x6077, "Torque actual value" 0x6077:00, r-r-r-, int16, 16 bit, "Torque actual value" SDO 0x6078, "Current actual value " 0x6078:00, r-r-r-, int16, 16 bit, "Current actual value " SDO 0x6079, "DC link circuit voltage " 0x6079:00, r-r-r-, uint32, 32 bit, "DC link circuit voltage " SDO 0x607a, "Target position" 0x607a:00, rwrwrw, int32, 32 bit, "Target position" SDO 0x607b, "Position range limit" 0x607b:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x607b:01, rwrwrw, int32, 32 bit, "Min position range limit" 0x607b:02, rwrwrw, int32, 32 bit, "Max position range limit" SDO 0x607c, "Home Offset" 0x607c:00, rwrwrw, int32, 32 bit, "Home Offset" SDO 0x607d, "Software position limit" 0x607d:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x607d:01, rwrwrw, int32, 32 bit, "Min position limit" 0x607d:02, rwrwrw, int32, 32 bit, "Max position limit" SDO 0x607e, "Polarity" 0x607e:00, rwrwrw, uint8, 8 bit, "Polarity" SDO 0x607f, "Max profile velocity " 0x607f:00, rwrwrw, uint32, 32 bit, "Max profile velocity " SDO 0x6080, "Max motor speed" 0x6080:00, rwrwrw, uint32, 32 bit, "Max motor speed" SDO 0x6081, "Profile velocity " 0x6081:00, rwrwrw, uint32, 32 bit, "Profile velocity " SDO 0x6082, "End velocity " 0x6082:00, rwrwrw, uint32, 32 bit, "End velocity " SDO 0x6083, "Profile acceleration " 0x6083:00, rwrwrw, uint32, 32 bit, "Profile acceleration " SDO 0x6084, "Profile deceleration " 0x6084:00, rwrwrw, uint32, 32 bit, "Profile deceleration " SDO 0x6085, "Quick-stop deceleration" 0x6085:00, rwrwrw, uint32, 32 bit, "Quick-stop deceleration" SDO 0x6086, "Motion profile type" 0x6086:00, rwrwrw, int16, 16 bit, "Motion profile type" SDO 0x6087, "Torque slope " 0x6087:00, rwrwrw, uint32, 32 bit, "Torque slope " SDO 0x6088, "Torque profile type " 0x6088:00, rwrwrw, int16, 16 bit, "Torque profile type " SDO 0x6091, "Gear ratio " 0x6091:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6091:01, rwrwrw, uint32, 32 bit, "Motor revolutions" 0x6091:02, rwrwrw, uint32, 32 bit, "Shaft revolutions" SDO 0x6098, "Homing method" 0x6098:00, rwrwrw, int8, 8 bit, "Homing method" SDO 0x6099, "Homing speed" 0x6099:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6099:01, rwrwrw, uint32, 32 bit, "Speed during search for switch" 0x6099:02, rwrwrw, uint32, 32 bit, "Speed during search for zero" SDO 0x609a, "Homing acceleration" 0x609a:00, rwrwrw, uint32, 32 bit, "Homing acceleration" SDO 0x60a2, "Jerk factor" 0x60a2:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60a2:01, rwrwrw, uint32, 32 bit, "Numerator" 0x60a2:02, rwrwrw, uint32, 32 bit, "divisor" SDO 0x60b0, "Position offset" 0x60b0:00, rwrwrw, int32, 32 bit, "Position offset" SDO 0x60b1, "Velocity offset" 0x60b1:00, rwrwrw, int32, 32 bit, "Velocity offset" SDO 0x60b2, "Torque offset" 0x60b2:00, rwrwrw, int16, 16 bit, "Torque offset" SDO 0x60b8, "Touch probe function" 0x60b8:00, rwrwrw, uint16, 16 bit, "Touch probe function" SDO 0x60b9, "Touch probe status" 0x60b9:00, r-r-r-, uint16, 16 bit, "Touch probe status" SDO 0x60ba, "Touch probe position1 positive value" 0x60ba:00, r-r-r-, int32, 32 bit, "Touch probe position1 positive value" SDO 0x60bb, "Touch probe position1 negative value" 0x60bb:00, r-r-r-, int32, 32 bit, "Touch probe position1 negative value" SDO 0x60bc, "Touch probe position2 positive value" 0x60bc:00, r-r-r-, int32, 32 bit, "Touch probe position2 positive value" SDO 0x60bd, "Touch probe position2 negative value" 0x60bd:00, r-r-r-, int32, 32 bit, "Touch probe position2 negative value" SDO 0x60c2, "Interpolation time period" 0x60c2:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60c2:01, rwrwrw, uint8, 8 bit, "Interpolation time period value" 0x60c2:02, rwrwrw, int8, 8 bit, "Interpolation time index" SDO 0x60c5, "Max acceleration" 0x60c5:00, rwrwrw, uint32, 32 bit, "Max acceleration" SDO 0x60c6, "Max deceleration" 0x60c6:00, rwrwrw, uint32, 32 bit, "Max deceleration" SDO 0x60d5, "Touch probe 1 positive edge counter" 0x60d5:00, r-r-r-, uint16, 16 bit, "Touch probe 1 positive edge counter" SDO 0x60d6, "Touch probe 1 negative edge counter" 0x60d6:00, r-r-r-, uint16, 16 bit, "Touch probe 1 negative edge counter" SDO 0x60d7, "Touch probe 2 positive edge counter" 0x60d7:00, r-r-r-, uint16, 16 bit, "Touch probe 2 positive edge counter" SDO 0x60d8, "Touch probe 2 negative edge counter" 0x60d8:00, r-r-r-, uint16, 16 bit, "Touch probe 2 negative edge counter" SDO 0x60e0, "Positive torque limit value" 0x60e0:00, rwrwrw, uint16, 16 bit, "Positive torque limit value" SDO 0x60e1, "Negative torque limit value" 0x60e1:00, rwrwrw, uint16, 16 bit, "Negative torque limit value" SDO 0x60f4, "Following error actual value" 0x60f4:00, r-r-r-, int32, 32 bit, "Following error actual value" SDO 0x60fc, "Position demand internal value " 0x60fc:00, r-r-r-, int32, 32 bit, "Position demand internal value " SDO 0x60fd, "Digital inputs " 0x60fd:00, r-r-r-, uint32, 32 bit, "Digital inputs " SDO 0x60fe, "Digital outputs " 0x60fe:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60fe:01, rwrwrw, uint32, 32 bit, "Digital Output status" 0x60fe:02, rwrwrw, uint32, 32 bit, "Digital Output Mask" SDO 0x60ff, "Target velocity" 0x60ff:00, rwrwrw, int32, 32 bit, "Target velocity" SDO 0x6502, "Supported Driver Modes" 0x6502:00, r-r-r-, uint32, 32 bit, "Supported Driver Modes" SDO 0xf000, "Modular Device Profile" 0xf000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0xf000:01, r-r-r-, uint16, 16 bit, "Index distance " 0xf000:02, r-r-r-, uint16, 16 bit, "Maximum number of modules " === Master 0, Slave 3 === SDO 0x1000, "Device type" 0x1000:00, r-r-r-, uint32, 32 bit, "Device type" SDO 0x1001, "Error register" 0x1001:00, r-r-r-, uint8, 8 bit, "Error register" SDO 0x1008, "Device name" 0x1008:00, r-r-r-, string, 200 bit, "Device name" SDO 0x1009, "Manufacturer Hardware version" 0x1009:00, r-r-r-, string, 120 bit, "Manufacturer Hardware version" SDO 0x100a, "Manufacturer Software version" 0x100a:00, r-r-r-, string, 40 bit, "Manufacturer Software version" SDO 0x1018, "Identity Object" 0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID" 0x1018:02, r-r-r-, uint32, 32 bit, "Product Code" 0x1018:03, r-r-r-, uint32, 32 bit, "Revision Number" 0x1018:04, r-r-r-, uint32, 32 bit, "Serial Number" SDO 0x10f1, "Error Settings" 0x10f1:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x10f1:01, r-r-r-, uint32, 32 bit, "Local Error Reaction" 0x10f1:02, rwrwrw, uint16, 16 bit, "Sync Error Counter Limit" SDO 0x10f8, "Timestamp Object" 0x10f8:00, rwrwrw, uint64, 64 bit, "Timestamp Object" SDO 0x1600, "RxPDO" 0x1600:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1600:01, rwrwrw, uint32, 32 bit, "RXPDO_SI1" 0x1600:02, rwrwrw, uint32, 32 bit, "RXPDO_SI2" 0x1600:03, rwrwrw, uint32, 32 bit, "RXPDO_SI3" 0x1600:04, rwrwrw, uint32, 32 bit, "RXPDO_SI4" 0x1600:05, rwrwrw, uint32, 32 bit, "RXPDO_SI5" 0x1600:06, rwrwrw, uint32, 32 bit, "RXPDO_SI6" 0x1600:07, rwrwrw, uint32, 32 bit, "RXPDO_SI7" 0x1600:08, rwrwrw, uint32, 32 bit, "RXPDO_SI8" 0x1600:09, rwrwrw, uint32, 32 bit, "RXPDO_SI9" 0x1600:0a, rwrwrw, uint32, 32 bit, "RXPDO_SI10" SDO 0x1701, "RxPDO" 0x1701:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1701:01, rwrwrw, uint32, 32 bit, "SI1" 0x1701:02, rwrwrw, uint32, 32 bit, "SI2" 0x1701:03, rwrwrw, uint32, 32 bit, "SI3" 0x1701:04, rwrwrw, uint32, 32 bit, "SI4" 0x1701:05, rwrwrw, uint32, 32 bit, "SI5" 0x1701:06, rwrwrw, uint32, 32 bit, "SI6" 0x1701:07, rwrwrw, uint32, 32 bit, "SI7" 0x1701:08, rwrwrw, uint32, 32 bit, "SI8" 0x1701:09, rwrwrw, uint32, 32 bit, "SI9" 0x1701:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1702, "RxPDO" 0x1702:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1702:01, rwrwrw, uint32, 32 bit, "SI1" 0x1702:02, rwrwrw, uint32, 32 bit, "SI2" 0x1702:03, rwrwrw, uint32, 32 bit, "SI3" 0x1702:04, rwrwrw, uint32, 32 bit, "SI4" 0x1702:05, rwrwrw, uint32, 32 bit, "SI5" 0x1702:06, rwrwrw, uint32, 32 bit, "SI6" 0x1702:07, rwrwrw, uint32, 32 bit, "SI7" 0x1702:08, rwrwrw, uint32, 32 bit, "SI8" 0x1702:09, rwrwrw, uint32, 32 bit, "SI9" 0x1702:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1a00, "TxPDO" 0x1a00:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1a00:01, rwrwrw, uint32, 32 bit, "SI1" 0x1a00:02, rwrwrw, uint32, 32 bit, "SI2" 0x1a00:03, rwrwrw, uint32, 32 bit, "SI3" 0x1a00:04, rwrwrw, uint32, 32 bit, "SI4" 0x1a00:05, rwrwrw, uint32, 32 bit, "SI5" 0x1a00:06, rwrwrw, uint32, 32 bit, "SI6" 0x1a00:07, rwrwrw, uint32, 32 bit, "SI7" 0x1a00:08, rwrwrw, uint32, 32 bit, "SI8" 0x1a00:09, rwrwrw, uint32, 32 bit, "SI9" 0x1a00:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1b01, "TxPDO" 0x1b01:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x1b01:01, rwrwrw, uint32, 32 bit, "SI1" 0x1b01:02, rwrwrw, uint32, 32 bit, "SI2" 0x1b01:03, rwrwrw, uint32, 32 bit, "SI3" 0x1b01:04, rwrwrw, uint32, 32 bit, "SI4" 0x1b01:05, rwrwrw, uint32, 32 bit, "SI5" 0x1b01:06, rwrwrw, uint32, 32 bit, "SI6" 0x1b01:07, rwrwrw, uint32, 32 bit, "SI7" 0x1b01:08, rwrwrw, uint32, 32 bit, "SI8" 0x1b01:09, rwrwrw, uint32, 32 bit, "SI9" 0x1b01:0a, rwrwrw, uint32, 32 bit, "SI10" SDO 0x1c00, "Sync manager type" 0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001" 0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002" 0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003" 0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004" SDO 0x1c12, "RxPDO assign" 0x1c12:00, rwr-r-, uint8, 8 bit, "SubIndex 000" 0x1c12:01, rwr-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c13, "TxPDO assign" 0x1c13:00, rwr-r-, uint8, 8 bit, "SubIndex 000" 0x1c13:01, rwr-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c32, "SM output parameter" 0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c32:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c32:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c32:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c32:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c32:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c32:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c32:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c32:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c32:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c32:0d, r-r-r-, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c32:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c32:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c32:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c32:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c32:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c32:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c32:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c32:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c32:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c32:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c32:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c32:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c32:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c32:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c32:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c32:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c32:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c32:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c32:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x1c33, "SM input parameter" 0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c33:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c33:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c33:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c33:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c33:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c33:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c33:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c33:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c33:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c33:0d, r-r-r-, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c33:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c33:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c33:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c33:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c33:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c33:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c33:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c33:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c33:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c33:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c33:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c33:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c33:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c33:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c33:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c33:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c33:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c33:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c33:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x2000, "P0 Group Function Code" 0x2000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2000:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2000:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2000:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2000:04, rwrwrw, uint16, 16 bit, "RotationDir" 0x2000:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2000:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2000:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2000:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2000:09, rwrwrw, uint16, 16 bit, "ExtResSel" 0x2000:0a, rwrwrw, uint16, 16 bit, "ExtResVal" 0x2000:0b, rwrwrw, uint16, 16 bit, "ExtResPwr" 0x2000:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2000:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2000:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2000:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2000:10, ------, type 0000, 0 bit, "SubIndex 016" 0x2000:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2000:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2000:13, ------, type 0000, 0 bit, "SubIndex 019" 0x2000:14, ------, type 0000, 0 bit, "SubIndex 020" 0x2000:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2000:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2000:17, rwrwrw, uint16, 16 bit, "PulseOutPcPolarity" 0x2000:18, rwrwrw, uint16, 16 bit, "PulseOutZWidth" 0x2000:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2000:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x2000:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x2000:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x2000:1d, rwrwrw, uint32, 32 bit, "PulseCntEqu" 0x2000:1e, rwrwrw, uint16, 16 bit, "EncBatErrMask" 0x2000:1f, rwrwrw, uint16, 16 bit, "EncCommWarmThreshold" 0x2000:20, rwrwrw, uint16, 16 bit, "EscPdoTout" SDO 0x2001, "P1 Group Function Code" 0x2001:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2001:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2001:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2001:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2001:04, ------, type 0000, 0 bit, "SubIndex 004" 0x2001:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2001:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2001:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2001:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2001:09, rwrwrw, uint16, 16 bit, "ToqModeSpdSrc" 0x2001:0a, rwrwrw, uint16, 16 bit, "MaxSpeedLimit" 0x2001:0b, rwrwrw, uint16, 16 bit, "WarmSpeedTh" 0x2001:0c, rwrwrw, uint16, 16 bit, "PosSpeedTh " 0x2001:0d, rwrwrw, uint16, 16 bit, "NegSpeedTh " 0x2001:0e, rwrwrw, uint16, 16 bit, "ToqLimitSrc" 0x2001:0f, rwrwrw, uint16, 16 bit, "PToqLim" 0x2001:10, rwrwrw, uint16, 16 bit, "NToqLim" 0x2001:11, rwrwrw, uint16, 16 bit, "PToqmodSpdlimit" 0x2001:12, rwrwrw, uint16, 16 bit, "NToqmodSpdlimit" 0x2001:13, rwrwrw, uint16, 16 bit, "ToqLimTime " 0x2001:14, rwrwrw, uint16, 16 bit, "SoftOvCurrentCnt" 0x2001:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2001:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2001:17, ------, type 0000, 0 bit, "SubIndex 023" 0x2001:18, ------, type 0000, 0 bit, "SubIndex 024" 0x2001:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2001:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x2001:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x2001:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x2001:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x2001:1e, rwrwrw, uint16, 16 bit, "BK_ONtoCmdEnaDelay" 0x2001:1f, rwrwrw, uint16, 16 bit, "BK_OFFtoPwmOFFDelay" 0x2001:20, rwrwrw, uint16, 16 bit, "BK_OFFSpdTh" 0x2001:21, rwrwrw, uint16, 16 bit, "BK_OFFSinceSoffDelay" 0x2001:22, ------, type 0000, 0 bit, "SubIndex 034" 0x2001:23, ------, type 0000, 0 bit, "SubIndex 035" 0x2001:24, ------, type 0000, 0 bit, "SubIndex 036" 0x2001:25, rwrwrw, uint16, 16 bit, "SpdRefJOGAccTime" 0x2001:26, rwrwrw, uint16, 16 bit, "SpdRefJOGDecTime" SDO 0x2002, "P2 Group Function Code" 0x2002:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2002:01, rwrwrw, uint16, 16 bit, "PosLoop1stGain " 0x2002:02, rwrwrw, uint16, 16 bit, "SpdLoop1stGain " 0x2002:03, rwrwrw, uint16, 16 bit, "SpdLoop1stIntgTime " 0x2002:04, rwrwrw, uint16, 16 bit, "PosLoop2ndGain " 0x2002:05, rwrwrw, uint16, 16 bit, "SpdLoop2ndGain " 0x2002:06, rwrwrw, uint16, 16 bit, "SpdLoop2ndIntgTime " 0x2002:07, rwrwrw, uint16, 16 bit, "SecondGainSwMode" 0x2002:08, rwrwrw, uint16, 16 bit, "SecondGainFunSel" 0x2002:09, rwrwrw, uint16, 16 bit, "SpdFeedForwardGain " 0x2002:0a, rwrwrw, uint16, 16 bit, "SpdFeedForwardFilter " 0x2002:0b, rwrwrw, uint16, 16 bit, "ToqFeedForwardGain " 0x2002:0c, rwrwrw, uint16, 16 bit, "ToqFeedForwardFilter " 0x2002:0d, rwrwrw, uint16, 16 bit, "SecondGainSwTime" 0x2002:0e, rwrwrw, uint16, 16 bit, "SecondGainSwLevel" 0x2002:0f, rwrwrw, uint16, 16 bit, "SecondGainHysteresis" 0x2002:10, rwrwrw, uint16, 16 bit, "SecondGainPosSwTime" 0x2002:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2002:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2002:13, ------, type 0000, 0 bit, "SubIndex 019" 0x2002:14, rwrwrw, uint16, 16 bit, "Mfc_Enable" 0x2002:15, rwrwrw, uint16, 16 bit, "Mfc_Gain" 0x2002:16, rwrwrw, uint16, 16 bit, "Mfc_Zeta" 0x2002:17, rwrwrw, uint16, 16 bit, "Mfc_Ptff" 0x2002:18, rwrwrw, uint16, 16 bit, "Mfc_Ntff" 0x2002:19, rwrwrw, uint16, 16 bit, "Mfc_Vff" 0x2002:1a, rwrwrw, uint16, 16 bit, "Mfc_Gain2nd" 0x2002:1b, rwrwrw, uint16, 16 bit, "Mfc_Zeta2nd" 0x2002:1c, rwrwrw, uint16, 16 bit, "Mfc_AntFreq" 0x2002:1d, rwrwrw, uint16, 16 bit, "Mfc_ResFreq" SDO 0x2003, "P3 Group Function Code" 0x2003:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2003:01, rwrwrw, uint16, 16 bit, "LoadInerRatio" 0x2003:02, rwrwrw, uint16, 16 bit, "RigiditySel" 0x2003:03, rwrwrw, uint16, 16 bit, "SelfAdjustMode" 0x2003:04, rwrwrw, uint16, 16 bit, "InerIdOnline" 0x2003:05, rwrwrw, uint16, 16 bit, "InerIdCircle" 0x2003:06, rwrwrw, uint16, 16 bit, "InerIdMaxSpd" 0x2003:07, rwrwrw, uint16, 16 bit, "InerIdRollMode" 0x2003:08, rwrwrw, uint16, 16 bit, "InerIdWaitTime" SDO 0x2004, "P4 Group Function Code" 0x2004:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2004:01, rwrwrw, uint16, 16 bit, "PulseFilterType" 0x2004:02, rwrwrw, uint16, 16 bit, "LowpassFilterTime" 0x2004:03, rwrwrw, uint16, 16 bit, "AveragingFilterTime" 0x2004:04, rwrwrw, uint16, 16 bit, "TogFiltertTime" 0x2004:05, rwrwrw, uint16, 16 bit, "NotchFilter1_Freq" 0x2004:06, rwrwrw, uint16, 16 bit, "NotchFilter1_Deep" 0x2004:07, rwrwrw, uint16, 16 bit, "NotchFilter1_Band" 0x2004:08, rwrwrw, uint16, 16 bit, "NotchFilter2_Freq" 0x2004:09, rwrwrw, uint16, 16 bit, "NotchFilter2_Deep" 0x2004:0a, rwrwrw, uint16, 16 bit, "NotchFilter2_Band" 0x2004:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x2004:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2004:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2004:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2004:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2004:10, ------, type 0000, 0 bit, "SubIndex 016" 0x2004:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2004:12, rwrwrw, uint16, 16 bit, "SpdFdbFilterTime" SDO 0x2005, "P5 Group Function Code" 0x2005:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2005:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2005:02, ------, type 0000, 0 bit, "SubIndex 002" 0x2005:03, ------, type 0000, 0 bit, "SubIndex 003" 0x2005:04, ------, type 0000, 0 bit, "SubIndex 004" 0x2005:05, ------, type 0000, 0 bit, "SubIndex 005" 0x2005:06, ------, type 0000, 0 bit, "SubIndex 006" 0x2005:07, ------, type 0000, 0 bit, "SubIndex 007" 0x2005:08, ------, type 0000, 0 bit, "SubIndex 008" 0x2005:09, ------, type 0000, 0 bit, "SubIndex 009" 0x2005:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x2005:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x2005:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x2005:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x2005:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x2005:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x2005:10, rwrwrw, uint16, 16 bit, "RotateSpdDtTh" 0x2005:11, ------, type 0000, 0 bit, "SubIndex 017" 0x2005:12, ------, type 0000, 0 bit, "SubIndex 018" 0x2005:13, rwrwrw, uint16, 16 bit, "SpdZeroOutTh " 0x2005:14, rwrwrw, uint16, 16 bit, "ToqCoinTh" 0x2005:15, rwrwrw, uint16, 16 bit, "ToqCoinHysteresis" 0x2005:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2005:17, rwrwrw, uint16, 16 bit, "TouchProbe1FilterConstant" 0x2005:18, rwrwrw, uint16, 16 bit, "TouchProbe2FilterConstant" 0x2005:19, rwrwrw, int16, 16 bit, "touchProbeDIOnCompTime" 0x2005:1a, rwrwrw, int16, 16 bit, "touchProbeDIOffCompTime" SDO 0x2006, "P6 Group Function Code" 0x2006:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2006:01, ------, type 0000, 0 bit, "SubIndex 001" 0x2006:02, rwrwrw, uint16, 16 bit, "Di1FunSel" 0x2006:03, rwrwrw, uint16, 16 bit, "Di1LogSel" 0x2006:04, rwrwrw, uint16, 16 bit, "Di1SrcSel" 0x2006:05, rwrwrw, uint16, 16 bit, "Di2FunSel" 0x2006:06, rwrwrw, uint16, 16 bit, "Di2LogSel" 0x2006:07, rwrwrw, uint16, 16 bit, "Di2SrcSel" 0x2006:08, rwrwrw, uint16, 16 bit, "Di3FunSel" 0x2006:09, rwrwrw, uint16, 16 bit, "Di3LogSel" 0x2006:0a, rwrwrw, uint16, 16 bit, "Di3SrcSel" 0x2006:0b, rwrwrw, uint16, 16 bit, "Di4FunSel" 0x2006:0c, rwrwrw, uint16, 16 bit, "Di4LogSel" 0x2006:0d, rwrwrw, uint16, 16 bit, "Di4SrcSel" 0x2006:0e, rwrwrw, uint16, 16 bit, "Di5FunSel" 0x2006:0f, rwrwrw, uint16, 16 bit, "Di5LogSel" 0x2006:10, rwrwrw, uint16, 16 bit, "Di5SrcSel" 0x2006:11, rwrwrw, uint16, 16 bit, "Di6FunSel" 0x2006:12, rwrwrw, uint16, 16 bit, "Di6LogSel" 0x2006:13, rwrwrw, uint16, 16 bit, "Di6SrcSel" 0x2006:14, ------, type 0000, 0 bit, "SubIndex 020" 0x2006:15, ------, type 0000, 0 bit, "SubIndex 021" 0x2006:16, ------, type 0000, 0 bit, "SubIndex 022" 0x2006:17, ------, type 0000, 0 bit, "SubIndex 023" 0x2006:18, ------, type 0000, 0 bit, "SubIndex 024" 0x2006:19, ------, type 0000, 0 bit, "SubIndex 025" 0x2006:1a, rwrwrw, uint16, 16 bit, "Do1FunSel" 0x2006:1b, rwrwrw, uint16, 16 bit, "Do1LogSel" 0x2006:1c, rwrwrw, uint16, 16 bit, "Do2FunSel" 0x2006:1d, rwrwrw, uint16, 16 bit, "Do2LogSel" 0x2006:1e, rwrwrw, uint16, 16 bit, "Do3FunSel" 0x2006:1f, rwrwrw, uint16, 16 bit, "Do3LogSel" 0x2006:20, ------, type 0000, 0 bit, "SubIndex 032" 0x2006:21, ------, type 0000, 0 bit, "SubIndex 033" 0x2006:22, r-r-r-, uint16, 16 bit, "EcatForceDoStatus" SDO 0x200a, "P10 Group Function Code" 0x200a:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x200a:01, rwrwrw, uint16, 16 bit, "SpdRefJOG" 0x200a:02, rwrwrw, uint16, 16 bit, "RstFuncFac" 0x200a:03, rwrwrw, uint16, 16 bit, "ServoErrClear" 0x200a:04, rwrwrw, uint16, 16 bit, "MotOLProtect_Coef" 0x200a:05, rwrwrw, uint16, 16 bit, "MotoTypeSel" 0x200a:06, rwrwrw, uint16, 16 bit, "AbsEncRst" 0x200a:07, rwrwrw, uint16, 16 bit, "ManualSetMotoCode" 0x200a:08, ------, type 0000, 0 bit, "SubIndex 008" 0x200a:09, ------, type 0000, 0 bit, "SubIndex 009" 0x200a:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x200a:0b, rwrwrw, uint16, 16 bit, "P10_11_MtStuckErrEn" SDO 0x200d, "P13 Group Function Code" 0x200d:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x200d:01, rwrwrw, uint16, 16 bit, "CommVdi_1" 0x200d:02, rwrwrw, uint16, 16 bit, "CommVdi_2" 0x200d:03, rwrwrw, uint16, 16 bit, "CommVdi_3" 0x200d:04, rwrwrw, uint16, 16 bit, "CommVdi_4" 0x200d:05, rwrwrw, uint16, 16 bit, "CommVdi_5" 0x200d:06, rwrwrw, uint16, 16 bit, "CommVdi_6" 0x200d:07, ------, type 0000, 0 bit, "SubIndex 007" 0x200d:08, ------, type 0000, 0 bit, "SubIndex 008" 0x200d:09, ------, type 0000, 0 bit, "SubIndex 009" 0x200d:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x200d:0b, rwrwrw, uint16, 16 bit, "CommVdo_1" 0x200d:0c, rwrwrw, uint16, 16 bit, "CommVdo_2" 0x200d:0d, rwrwrw, uint16, 16 bit, "CommVdo_3" SDO 0x201e, "U0 Group monitor" 0x201e:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x201e:01, r-r-r-, int16, 16 bit, "SrvStatus" 0x201e:02, r-r-r-, int16, 16 bit, "SpeedDis " 0x201e:03, r-r-r-, int16, 16 bit, "SpdCmd " 0x201e:04, r-r-r-, int16, 16 bit, "PosCmdToSpd " 0x201e:05, r-r-r-, int32, 32 bit, "PulsErr" 0x201e:06, ------, type 0000, 0 bit, "SubIndex 006" 0x201e:07, ------, type 0000, 0 bit, "SubIndex 007" 0x201e:08, ------, type 0000, 0 bit, "SubIndex 008" 0x201e:09, r-r-r-, int32, 32 bit, "PulsTotal_LowWord" 0x201e:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x201e:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x201e:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x201e:0d, r-r-r-, int32, 32 bit, "EncTotal_LowWord" 0x201e:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x201e:0f, r-r-r-, int32, 32 bit, "EncTotal_HighWord" 0x201e:10, ------, type 0000, 0 bit, "SubIndex 016" 0x201e:11, r-r-r-, uint16, 16 bit, "DiData1 " 0x201e:12, ------, type 0000, 0 bit, "SubIndex 018" 0x201e:13, r-r-r-, uint16, 16 bit, "DoData1 " 0x201e:14, r-r-r-, uint16, 16 bit, "InerRatioReal" 0x201e:15, ------, type 0000, 0 bit, "SubIndex 021" 0x201e:16, ------, type 0000, 0 bit, "SubIndex 022" 0x201e:17, r-r-r-, uint16, 16 bit, "DisVibFreq" 0x201e:18, r-r-r-, uint16, 16 bit, "DisVibMag" 0x201e:19, r-r-r-, int16, 16 bit, "PToqLimitDis" 0x201e:1a, r-r-r-, int16, 16 bit, "NToqLimitDis" 0x201e:1b, r-r-r-, int16, 16 bit, "PSpdLimitDis" 0x201e:1c, r-r-r-, int16, 16 bit, "NSpdLimitDis" 0x201e:1d, r-r-r-, int16, 16 bit, "MachineAngle " 0x201e:1e, r-r-r-, int16, 16 bit, "ElecAngle " 0x201e:1f, r-r-r-, uint16, 16 bit, "DcBusVoltDisp " 0x201e:20, r-r-r-, int16, 16 bit, "Temperature_IPM" 0x201e:21, r-r-r-, uint16, 16 bit, "OutputPowerInst" 0x201e:22, r-r-r-, uint16, 16 bit, "OutputPowerAverage" 0x201e:23, r-r-r-, uint16, 16 bit, "HourTotalRun " 0x201e:24, ------, type 0000, 0 bit, "SubIndex 036" 0x201e:25, r-r-r-, uint16, 16 bit, "MinTotalRun " 0x201e:26, r-r-r-, uint16, 16 bit, "SecTotalRun " 0x201e:27, r-r-r-, uint16, 16 bit, "ToqOutRate" 0x201e:28, r-r-r-, uint16, 16 bit, "HourCurrentRun " 0x201e:29, ------, type 0000, 0 bit, "SubIndex 041" 0x201e:2a, r-r-r-, uint16, 16 bit, "MinCurrentRun " 0x201e:2b, r-r-r-, uint16, 16 bit, "SecCurrentRun " 0x201e:2c, r-r-r-, uint16, 16 bit, "DisPwrInst" 0x201e:2d, ------, type 0000, 0 bit, "SubIndex 045" 0x201e:2e, r-r-r-, uint16, 16 bit, "DisPwrAvg" 0x201e:2f, ------, type 0000, 0 bit, "SubIndex 047" 0x201e:30, r-r-r-, uint16, 16 bit, "PwrUpCount" 0x201e:31, r-r-r-, uint16, 16 bit, "u16MotOLCnt" 0x201e:32, r-r-r-, uint32, 32 bit, "MotoTotal_LowWord" 0x201e:33, r-r-r-, uint32, 32 bit, "MotoTotal_HighWord" 0x201e:34, r-r-r-, uint16, 16 bit, "u16EncoderBit" 0x201e:35, r-r-r-, uint16, 16 bit, "MotoModel" 0x201e:36, r-r-r-, uint32, 32 bit, "AbsEncIn1Cycle" 0x201e:37, r-r-r-, uint32, 32 bit, "AbsEncMultiTurn" 0x201e:38, r-r-r-, int32, 32 bit, "EncTotal_CmdUnit" 0x201e:39, r-r-r-, int32, 32 bit, "EncTotal_CmdUnit_HighWord" SDO 0x201f, "U1 Group Monitor" 0x201f:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x201f:01, r-r-r-, uint16, 16 bit, "NowErrorCode" 0x201f:02, r-r-r-, uint16, 16 bit, "NowWarmCode" 0x201f:03, r-r-r-, int16, 16 bit, "IuWarmOccur" 0x201f:04, r-r-r-, int16, 16 bit, "IvWarmOccur" 0x201f:05, r-r-r-, uint16, 16 bit, "UdcWarmOccur" 0x201f:06, r-r-r-, int16, 16 bit, "T_IPMWarmOccur" 0x201f:07, r-r-r-, int16, 16 bit, "IqWarmOccur" 0x201f:08, r-r-r-, int16, 16 bit, "IdWarmOccur" 0x201f:09, r-r-r-, int32, 32 bit, "PosErrWarmOccur" 0x201f:0a, r-r-r-, int16, 16 bit, "SpdWarmOccur" 0x201f:0b, r-r-r-, uint16, 16 bit, "Time1WarmOccur" 0x201f:0c, r-r-r-, uint16, 16 bit, "ErrCntCurRun" 0x201f:0d, r-r-r-, uint16, 16 bit, "WarmCntCurRun" 0x201f:0e, r-r-r-, uint16, 16 bit, "ErrorTotalCnt" 0x201f:0f, r-r-r-, uint16, 16 bit, "WarmTotalCnt" 0x201f:10, r-r-r-, uint16, 16 bit, "ErrCodeLast1st" 0x201f:11, r-r-r-, uint16, 16 bit, "ErrCodeLast2nd" 0x201f:12, r-r-r-, uint16, 16 bit, "ErrCodeLast3rd" 0x201f:13, r-r-r-, uint16, 16 bit, "ErrCodeLast4th" 0x201f:14, r-r-r-, uint16, 16 bit, "ErrCodeLast5th" 0x201f:15, r-r-r-, uint16, 16 bit, "WarmCodeLast1st" 0x201f:16, r-r-r-, uint16, 16 bit, "WarmCodeLast2nd" 0x201f:17, r-r-r-, uint16, 16 bit, "WarmCodeLast3rd" 0x201f:18, r-r-r-, uint16, 16 bit, "WarmCodeLast4th" 0x201f:19, r-r-r-, uint16, 16 bit, "WarmCodeLast5th" SDO 0x2020, "U2 Group Monitor" 0x2020:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x2020:01, r-r-r-, uint16, 16 bit, "ProductSer" 0x2020:02, r-r-r-, uint16, 16 bit, "Model1" 0x2020:03, r-r-r-, uint16, 16 bit, "Model2" 0x2020:04, r-r-r-, uint16, 16 bit, "FirewareVer" 0x2020:05, r-r-r-, uint16, 16 bit, "HardwareVer" 0x2020:06, r-r-r-, uint16, 16 bit, "ExFactoryYear" 0x2020:07, r-r-r-, uint16, 16 bit, "ExFactoryMonth" 0x2020:08, r-r-r-, uint16, 16 bit, "ExFactoryDay" 0x2020:09, r-r-r-, uint16, 16 bit, "DeviceSerNum1" 0x2020:0a, r-r-r-, uint16, 16 bit, "DeviceSerNum2" 0x2020:0b, r-r-r-, uint16, 16 bit, "DeviceSerNum3" 0x2020:0c, r-r-r-, uint16, 16 bit, "DeviceSerNum4" 0x2020:0d, r-r-r-, uint16, 16 bit, "DeviceSerNum5" 0x2020:0e, r-r-r-, uint16, 16 bit, "DeviceSerNum6" 0x2020:0f, r-r-r-, uint16, 16 bit, "DeviceSerNum7" 0x2020:10, r-r-r-, uint16, 16 bit, "DeviceSerNum8" SDO 0x603f, "Error Code" 0x603f:00, r-r-r-, uint16, 16 bit, "Error Code" SDO 0x6040, "ControlWord" 0x6040:00, rwrwrw, uint16, 16 bit, "ControlWord" SDO 0x6041, "statusWord" 0x6041:00, r-r-r-, uint16, 16 bit, "statusWord" SDO 0x605a, "Quick-stop option code" 0x605a:00, rwrwrw, int16, 16 bit, "Quick-stop option code" SDO 0x605b, "Shutdown option code " 0x605b:00, rwrwrw, int16, 16 bit, "Shutdown option code " SDO 0x605c, "Disable operation option code" 0x605c:00, rwrwrw, int16, 16 bit, "Disable operation option code" SDO 0x605d, "Halt option code " 0x605d:00, rwrwrw, int16, 16 bit, "Halt option code " SDO 0x605e, "Fault reaction option code " 0x605e:00, rwrwrw, int16, 16 bit, "Fault reaction option code " SDO 0x6060, "Modes of operation" 0x6060:00, rwrwrw, int8, 8 bit, "Modes of operation" SDO 0x6061, "Modes of operation display" 0x6061:00, r-r-r-, int8, 8 bit, "Modes of operation display" SDO 0x6062, "Position demand value " 0x6062:00, r-r-r-, int32, 32 bit, "Position demand value " SDO 0x6063, "Position actual internal value" 0x6063:00, r-r-r-, int32, 32 bit, "Position actual internal value" SDO 0x6064, "Position actual value" 0x6064:00, r-r-r-, int32, 32 bit, "Position actual value" SDO 0x6065, "Following error window" 0x6065:00, rwrwrw, uint32, 32 bit, "Following error window" SDO 0x6066, "Following error time out[ms]" 0x6066:00, rwrwrw, uint16, 16 bit, "Following error time out[ms]" SDO 0x6067, "Position window " 0x6067:00, rwrwrw, uint32, 32 bit, "Position window " SDO 0x6068, "Position window time " 0x6068:00, rwrwrw, uint16, 16 bit, "Position window time " SDO 0x6069, "Velocity sensor actual value" 0x6069:00, r-r-r-, int32, 32 bit, "Velocity sensor actual value" SDO 0x606b, "Velocity demand value " 0x606b:00, r-r-r-, int32, 32 bit, "Velocity demand value " SDO 0x606c, "Velocity actual value" 0x606c:00, r-r-r-, int32, 32 bit, "Velocity actual value" SDO 0x606d, "Velocity window " 0x606d:00, rwrwrw, uint16, 16 bit, "Velocity window " SDO 0x606e, "Velocity window time " 0x606e:00, rwrwrw, uint16, 16 bit, "Velocity window time " SDO 0x606f, "Velocity threshold " 0x606f:00, rwrwrw, uint16, 16 bit, "Velocity threshold " SDO 0x6070, "Velocity threshold time " 0x6070:00, rwrwrw, uint16, 16 bit, "Velocity threshold time " SDO 0x6071, "Target torque" 0x6071:00, rwrwrw, int16, 16 bit, "Target torque" SDO 0x6072, "Max torque" 0x6072:00, rwrwrw, uint16, 16 bit, "Max torque" SDO 0x6073, "Max current " 0x6073:00, rwrwrw, uint16, 16 bit, "Max current " SDO 0x6074, "Torque demand " 0x6074:00, r-r-r-, int16, 16 bit, "Torque demand " SDO 0x6075, "Motor rated current " 0x6075:00, rwrwrw, uint32, 32 bit, "Motor rated current " SDO 0x6076, "Motor rated torque" 0x6076:00, rwrwrw, uint32, 32 bit, "Motor rated torque" SDO 0x6077, "Torque actual value" 0x6077:00, r-r-r-, int16, 16 bit, "Torque actual value" SDO 0x6078, "Current actual value " 0x6078:00, r-r-r-, int16, 16 bit, "Current actual value " SDO 0x6079, "DC link circuit voltage " 0x6079:00, r-r-r-, uint32, 32 bit, "DC link circuit voltage " SDO 0x607a, "Target position" 0x607a:00, rwrwrw, int32, 32 bit, "Target position" SDO 0x607b, "Position range limit" 0x607b:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x607b:01, rwrwrw, int32, 32 bit, "Min position range limit" 0x607b:02, rwrwrw, int32, 32 bit, "Max position range limit" SDO 0x607c, "Home Offset" 0x607c:00, rwrwrw, int32, 32 bit, "Home Offset" SDO 0x607d, "Software position limit" 0x607d:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x607d:01, rwrwrw, int32, 32 bit, "Min position limit" 0x607d:02, rwrwrw, int32, 32 bit, "Max position limit" SDO 0x607e, "Polarity" 0x607e:00, rwrwrw, uint8, 8 bit, "Polarity" SDO 0x607f, "Max profile velocity " 0x607f:00, rwrwrw, uint32, 32 bit, "Max profile velocity " SDO 0x6080, "Max motor speed" 0x6080:00, rwrwrw, uint32, 32 bit, "Max motor speed" SDO 0x6081, "Profile velocity " 0x6081:00, rwrwrw, uint32, 32 bit, "Profile velocity " SDO 0x6082, "End velocity " 0x6082:00, rwrwrw, uint32, 32 bit, "End velocity " SDO 0x6083, "Profile acceleration " 0x6083:00, rwrwrw, uint32, 32 bit, "Profile acceleration " SDO 0x6084, "Profile deceleration " 0x6084:00, rwrwrw, uint32, 32 bit, "Profile deceleration " SDO 0x6085, "Quick-stop deceleration" 0x6085:00, rwrwrw, uint32, 32 bit, "Quick-stop deceleration" SDO 0x6086, "Motion profile type" 0x6086:00, rwrwrw, int16, 16 bit, "Motion profile type" SDO 0x6087, "Torque slope " 0x6087:00, rwrwrw, uint32, 32 bit, "Torque slope " SDO 0x6088, "Torque profile type " 0x6088:00, rwrwrw, int16, 16 bit, "Torque profile type " SDO 0x6091, "Gear ratio " 0x6091:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6091:01, rwrwrw, uint32, 32 bit, "Motor revolutions" 0x6091:02, rwrwrw, uint32, 32 bit, "Shaft revolutions" SDO 0x6098, "Homing method" 0x6098:00, rwrwrw, int8, 8 bit, "Homing method" SDO 0x6099, "Homing speed" 0x6099:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6099:01, rwrwrw, uint32, 32 bit, "Speed during search for switch" 0x6099:02, rwrwrw, uint32, 32 bit, "Speed during search for zero" SDO 0x609a, "Homing acceleration" 0x609a:00, rwrwrw, uint32, 32 bit, "Homing acceleration" SDO 0x60a2, "Jerk factor" 0x60a2:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60a2:01, rwrwrw, uint32, 32 bit, "Numerator" 0x60a2:02, rwrwrw, uint32, 32 bit, "divisor" SDO 0x60b0, "Position offset" 0x60b0:00, rwrwrw, int32, 32 bit, "Position offset" SDO 0x60b1, "Velocity offset" 0x60b1:00, rwrwrw, int32, 32 bit, "Velocity offset" SDO 0x60b2, "Torque offset" 0x60b2:00, rwrwrw, int16, 16 bit, "Torque offset" SDO 0x60b8, "Touch probe function" 0x60b8:00, rwrwrw, uint16, 16 bit, "Touch probe function" SDO 0x60b9, "Touch probe status" 0x60b9:00, r-r-r-, uint16, 16 bit, "Touch probe status" SDO 0x60ba, "Touch probe position1 positive value" 0x60ba:00, r-r-r-, int32, 32 bit, "Touch probe position1 positive value" SDO 0x60bb, "Touch probe position1 negative value" 0x60bb:00, r-r-r-, int32, 32 bit, "Touch probe position1 negative value" SDO 0x60bc, "Touch probe position2 positive value" 0x60bc:00, r-r-r-, int32, 32 bit, "Touch probe position2 positive value" SDO 0x60bd, "Touch probe position2 negative value" 0x60bd:00, r-r-r-, int32, 32 bit, "Touch probe position2 negative value" SDO 0x60c2, "Interpolation time period" 0x60c2:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60c2:01, rwrwrw, uint8, 8 bit, "Interpolation time period value" 0x60c2:02, rwrwrw, int8, 8 bit, "Interpolation time index" SDO 0x60c5, "Max acceleration" 0x60c5:00, rwrwrw, uint32, 32 bit, "Max acceleration" SDO 0x60c6, "Max deceleration" 0x60c6:00, rwrwrw, uint32, 32 bit, "Max deceleration" SDO 0x60d5, "Touch probe 1 positive edge counter" 0x60d5:00, r-r-r-, uint16, 16 bit, "Touch probe 1 positive edge counter" SDO 0x60d6, "Touch probe 1 negative edge counter" 0x60d6:00, r-r-r-, uint16, 16 bit, "Touch probe 1 negative edge counter" SDO 0x60d7, "Touch probe 2 positive edge counter" 0x60d7:00, r-r-r-, uint16, 16 bit, "Touch probe 2 positive edge counter" SDO 0x60d8, "Touch probe 2 negative edge counter" 0x60d8:00, r-r-r-, uint16, 16 bit, "Touch probe 2 negative edge counter" SDO 0x60e0, "Positive torque limit value" 0x60e0:00, rwrwrw, uint16, 16 bit, "Positive torque limit value" SDO 0x60e1, "Negative torque limit value" 0x60e1:00, rwrwrw, uint16, 16 bit, "Negative torque limit value" SDO 0x60f4, "Following error actual value" 0x60f4:00, r-r-r-, int32, 32 bit, "Following error actual value" SDO 0x60fc, "Position demand internal value " 0x60fc:00, r-r-r-, int32, 32 bit, "Position demand internal value " SDO 0x60fd, "Digital inputs " 0x60fd:00, r-r-r-, uint32, 32 bit, "Digital inputs " SDO 0x60fe, "Digital outputs " 0x60fe:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x60fe:01, rwrwrw, uint32, 32 bit, "Digital Output status" 0x60fe:02, rwrwrw, uint32, 32 bit, "Digital Output Mask" SDO 0x60ff, "Target velocity" 0x60ff:00, rwrwrw, int32, 32 bit, "Target velocity" SDO 0x6502, "Supported Driver Modes" 0x6502:00, r-r-r-, uint32, 32 bit, "Supported Driver Modes" SDO 0xf000, "Modular Device Profile" 0xf000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0xf000:01, r-r-r-, uint16, 16 bit, "Index distance " 0xf000:02, r-r-r-, uint16, 16 bit, "Maximum number of modules "