#x0AB5 Green IOT 格睿物联 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C30E0000C30E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00011A61188D388FFFFFFFFFFFFFFFFFF33B33388D388FFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFF88D38855C055EEF9EEFFFFFF77CD7755C055FFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFEEF9EE88D388FFFFFFAAE0AA11A611FFFFFFFFFFFFFFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFBBE6BBEEF9EEEEF9EE00A00088D388FFFFFFFFFFFFFFFFFF00A00000A00000A00044BA4499D99900A00000A00000A00000A000BBE6BB55C05533B33322AD2299D999FFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88D38811A61188D38866C66622AD22D9FECD00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9FECDD9FECDFFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFFAAE0AA66C666CCECCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00000A00077CD77DDF3DDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF Stepper Driver Stepper Driver 步进电机驱动器 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C30E0000C30E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00011A61188D388FFFFFFFFFFFFFFFFFF33B33388D388FFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFF88D38855C055EEF9EEFFFFFF77CD7755C055FFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFEEF9EE88D388FFFFFFAAE0AA11A611FFFFFFFFFFFFFFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFBBE6BBEEF9EEEEF9EE00A00088D388FFFFFFFFFFFFFFFFFF00A00000A00000A00044BA4499D99900A00000A00000A00000A000BBE6BB55C05533B33322AD2299D999FFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88D38811A61188D38866C66622AD22D9FECD00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9FECDD9FECDFFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFFAAE0AA66C666CCECCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00000A00077CD77DDF3DDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF EC-57A-7 2000 9000 5000 200 100 2000 false Stepper Driver 402 STRING(3) 24 STRING(7) 56 SINT 8 USINT 8 DINT 32 UDINT 32 INT 16 UINT 16 BOOL 1 DT1010 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1011 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 rw o 2 Sync Error Counter Limit UINT 16 48 rw o DT1600 272 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw DT1601 272 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw DT1602 272 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw DT1603 272 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw DT1A00 272 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw DT1A01 272 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw DT1A02 272 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UINT 16 16 rw 2 SubIndex 002 UINT 16 32 rw 3 SubIndex 003 UINT 16 48 rw 4 SubIndex 004 UINT 16 64 rw DT1C13ARR UINT 16 1 1 DT1C13 80 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UINT 16 16 rw 2 SubIndex 002 UINT 16 32 rw 3 SubIndex 003 UINT 16 48 rw 4 SubIndex 004 UINT 16 64 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT2003 48 0 Number of Entries USINT 8 0 ro 1 Standby Time UINT 16 16 rw TR 2 Standby Current Percentage UINT 16 32 rw TR DT201A 64 0 Number of Entries USINT 8 0 ro 1 Drive Soft Version UINT 16 16 ro TR 2 Drive Hard Version UINT 16 32 ro TR 3 ECAT Soft Version UINT 16 48 ro TR DT201C 160 0 Number of Entries USINT 8 0 ro 1 fault list0 UINT 16 16 ro TR 2 fault list1 UINT 16 32 ro TR 3 fault list2 UINT 16 48 ro TR 4 fault list3 UINT 16 64 ro TR 5 fault list4 UINT 16 80 ro TR 6 fault list5 UINT 16 96 ro TR 7 fault list6 UINT 16 112 ro TR 8 fault list7 UINT 16 128 ro TR 9 fault list8 UINT 16 144 ro TR DT2022 96 0 Inputs Function USINT 8 0 ro 1 Inputs Function0 UINT 16 16 rw TR 2 Inputs Function1 UINT 16 32 rw TR 3 Inputs Function2 UINT 16 48 rw TR 4 Inputs Function3 UINT 16 64 rw TR 5 Inputs Function4 UINT 16 80 rw TR DT2023 96 0 Inputs Filter Time USINT 8 0 ro 1 Inputs Filter Time0 UINT 16 16 rw TR 2 Inputs Filter Time1 UINT 16 32 rw TR 3 Inputs Filter Time2 UINT 16 48 rw TR 4 Inputs Filter Time3 UINT 16 64 rw TR 5 Inputs Filter Time4 UINT 16 80 rw TR DT2025 64 0 Outputs Function USINT 8 0 ro 1 Outputs Function0 UINT 16 16 rw TR 2 Outputs Function1 UINT 16 32 rw TR 3 Outputs Function2 UINT 16 48 rw TR DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw TR 2 Speed during search for zero UDINT 32 48 rw TR DT60FE 80 0 SubIndex 000 USINT 8 0 ro o 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device type UDINT 32 91010204 ro m #x1001 Error register USINT 8 ro T #x1008 Device name STRING(7) 56 ro o #x1009 Hardware version STRING(3) 24 ro o #x100A Software version STRING(3) 24 ro o #x1010 Save Parameter DT1010 144 ro #x1011 Recover Parameter DT1011 144 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 ro #x1600 CSP RxPDO1 DT1600 272 rw #x1601 PP RxPDO2 DT1602 272 rw #x1602 PV RxPDO3 DT1602 272 rw #x1603 HM RxPDO4 DT1602 272 rw #x1A00 CSP TxPDO1 DT1A00 272 rw #x1A01 Touch TxPDO2 DT1A01 272 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 rw #x1C13 SyncManager 3 assignment DT1C13 80 rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x2000 Slave Alias UINT 16 rw TR #x2001 Slave Alias Source UINT 16 rw TR #x2002 Motor Direction UINT 16 rw TR #x2003 Standby Time DT2003 48 rw TR #x2004 Peak Current UINT 16 rw TR #x2005 Motor Resolution UINT 16 rw TR #x2006 Device Disable UINT 16 rw TR #x2007 Autotune Enable UINT 16 rw TR #x2008 Current Loop Kp UINT 16 rw TR #x2009 Current Loop Ki UINT 16 rw TR #x200A Current Loop Kc UINT 16 rw TR #x200B Soft Start Time UINT 16 rw TR #x200C Enable Soft Start UINT 16 rw TR #x200D Bus Voltage UINT 16 ro TR #x200E OutofTolerances Enable UINT 16 rw TR #x200F OutofTolerances alarm vlaue UINT 16 rw TR #x2010 Sum of Pluse Input_H UINT 16 ro TR #x2011 Sum of Pluse Input_L UINT 16 ro TR #x2012 Stop for Position Limit UINT 16 rw TR #x2013 Motor Return After Power On UINT 16 rw TR #x2014 Physical Inputs Leve UINT 16 rw TR #x2015 Filter Enable UINT 16 rw TR #x2016 Filter Time UINT 16 rw TR #x2017 Speed Reference UINT 16 ro TR #x2018 Delt Position UINT 16 ro TR #x2019 Control_Mode UINT 16 ro TR #x201A Drive Soft Version DT201A 64 ro TR #x201B Fault Detect Configure UINT 16 rw TR #x201C fault_list DT201C 160 ro TR #x201D Clear Fault Record UINT 16 rw TR #x201E Clean Alarm UINT 16 rw TR #x201F Reason of Not Run UINT 16 ro TR #x2020 PP PV Mode in palce UINT 16 ro TR #x2021 Inputs Polarity UINT 16 rw TR #x2022 Inputs Function DT2022 96 rw TR #x2023 Inputs Filter Time DT2023 96 rw TR #x2024 Outputs Polarity UINT 16 rw TR #x2025 Outputs Function DT2025 64 rw TR #x603F Last Error Code UINT 16 ro T #x6040 Control word UINT 16 rw TR #x6041 Status word UINT 16 ro T #x605A Quick Stop UINT 16 rw TR #x6060 Operation Mode SINT 8 rw TR #x6061 Modes of Operation Display SINT 8 ro T #x6064 Position actual value DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Target Position DINT 32 rw TR #x607C Home offset DINT 32 rw TR #x6080 Max motor speed UDINT 32 rw TR #x6081 Profile velocity UDINT 32 rw TR #x6082 Start velocity UDINT 32 rw TR #x6083 Profile acceleration UDINT 32 rw TR #x6084 Profile deceleration UDINT 32 rw TR #x6085 Quick Stop deceleration UDINT 32 rw TR #x6098 Homing Method SINT 08 rw TR #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw TR #x60B8 Touch probe control UINT 16 rw TR #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe pos1 pos value DINT 32 ro T #x60BB Touch probe pos1 neg value DINT 32 ro T #x60BC Touch probe pos2 pos value DINT 32 ro T #x60BD Touch probe pos2 neg value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target Velocity DINT 32 rw TR #x6502 Support Mode UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CSP RxPDO1 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6060 0 8 Operation Mode SINT #x1601 PP RxPDO2 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6081 0 32 Profile velocity UDINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1602 PV RxPDO2 #x1603 #x1601 #x6040 0 16 Control word UINT #x60FF 0 32 Target Velocity DINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1603 HM IO RxPDO4 #x1601 #x1602 #x6040 0 16 Control word UINT #x607C 0 32 Home offset DINT #x6099 1 32 Homing Max speeds UDINT #x6099 2 32 Homing Mix speeds UDINT #x609A 0 32 Homing acceleration UDINT #x6060 0 8 Operation Mode SINT #x6098 0 8 Homing Method SINT #x1a00 CSP TxPDO1 #x603f 0 16 Last Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Actual Velocity DINT #x60FD 0 32 Digital inputs UDINT #x6061 0 8 Modes of Operation Display SINT #x1a01 Touch TxPDO1 #x60B9 #x00 16 Touch probe status UINT #x60BA #x00 32 Touch probe pos1 pos value DINT #x60BB #x0 32 Touch probe pos1 neg value DINT #x60BC #x0 32 Touch probe pos2 pos value DINT #x60BD #x0 32 Touch probe pos2 neg value DINT PS #x6060 0 08 Modes of Operation Display DC DC-Synchron #x300 0 0 0 Free Run Free Run #x0 2048 003c0000ff0100000000 0010000100120001 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C30E0000C30E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00011A61188D388FFFFFFFFFFFFFFFFFF33B33388D388FFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFF88D38855C055EEF9EEFFFFFF77CD7755C055FFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFEEF9EE88D388FFFFFFAAE0AA11A611FFFFFFFFFFFFFFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFBBE6BBEEF9EEEEF9EE00A00088D388FFFFFFFFFFFFFFFFFF00A00000A00000A00044BA4499D99900A00000A00000A00000A000BBE6BB55C05533B33322AD2299D999FFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88D38811A61188D38866C66622AD22D9FECD00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9FECDD9FECDFFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFFAAE0AA66C666CCECCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00000A00077CD77DDF3DDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF EC1-510 2000 9000 5000 200 100 2000 false Stepper Driver 402 STRING(3) 24 STRING(7) 56 SINT 8 USINT 8 DINT 32 UDINT 32 INT 16 UINT 16 ULINT 64 BOOL 1 DT1010 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1011 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT160x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1A0x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT2002 64 0 Number of Entries USINT 8 0 ro 1 Drive Soft Version UINT 16 16 ro TR 2 Drive Hard Version UINT 16 32 ro TR 3 ECAT Soft Version UINT 16 48 ro TR DT2003 64 0 Number of Entries USINT 8 0 ro 1 Min Synchronizing Cycle UINT 16 16 ro TR 2 Max Synchronizing Cycle UINT 16 32 ro TR 3 Cur Synchronizing Cycle UINT 16 48 ro TR DT2005 64 0 Number of Entries USINT 8 0 ro 1 Real Current Runing UINT 16 16 ro TR 2 Real Current A UINT 16 32 ro TR 3 Real Current B UINT 16 48 ro TR DT2301 48 0 Number of Entries USINT 8 0 ro 1 Standby Time UINT 16 16 rw TR 2 Standby Current Percentage UINT 16 32 rw TR DT2302 48 0 Number of Entries USINT 8 0 ro 1 time of duration UINT 16 16 rw TR 2 duration selection UINT 16 32 rw TR DT2303 64 0 Number of Entries USINT 8 0 ro 1 enable UINT 16 16 rw TR 2 Kp UINT 16 32 rw TR 3 Ki UINT 16 48 rw TR DT2304 64 0 Number of Entries USINT 8 0 ro 1 Lock enable UINT 16 16 rw TR 2 Lock Kp UINT 16 32 rw TR 3 Lock Ki UINT 16 48 rw TR DT2306 96 0 Number of Entries USINT 8 0 ro 1 Middle Frequency enable UINT 16 16 rw TR 2 Middle Frequency Coefficient UINT 16 32 rw TR 3 Begin Speed UINT 16 48 rw TR 4 End Speed UINT 16 64 rw TR 5 Motor winding resistance UINT 16 80 rw TR DT2307 96 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Gain enable UINT 16 16 rw TR 2 SelfAdjust Gain Coefficient UINT 16 32 rw TR 3 SelfAdjust Gain V1 UINT 16 48 rw TR 4 SelfAdjust Gain V2 UINT 16 64 rw TR 5 SelfAdjust Gain Set Limit UINT 16 80 rw TR DT2308 80 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Current enable UINT 16 16 rw TR 2 SelfAdjust Current V1 UINT 16 32 rw TR 3 SelfAdjust Current V2 UINT 16 48 rw TR 4 SelfAdjust Current Set Limit UINT 16 64 rw TR DT2702 64 0 Inputs Function USINT 8 0 ro 1 Inputs Function0 UINT 16 16 rw TR 2 Inputs Function1 UINT 16 32 rw TR 3 Inputs Function2 UINT 16 48 rw TR DT2703 64 0 Inputs Filter Time USINT 8 0 ro 1 Inputs Filter Time0 UINT 16 16 rw TR 2 Inputs Filter Time1 UINT 16 32 rw TR 3 Inputs Filter Time2 UINT 16 48 rw TR DT2705 32 0 Outputs Function USINT 8 0 ro 1 Outputs Function0 UINT 16 16 rw TR DT2707 160 0 Number of Entries USINT 8 0 ro 1 Fault List0 UINT 16 16 ro TR 2 Fault List1 UINT 16 32 ro TR 3 Fault List2 UINT 16 48 ro TR 4 Fault List3 UINT 16 64 ro TR 5 Fault List4 UINT 16 80 ro TR 6 Fault List5 UINT 16 96 ro TR 7 Fault List6 UINT 16 112 ro TR 8 Fault List7 UINT 16 128 ro TR 9 Fault List8 UINT 16 144 ro TR DT607D 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position limit UDINT 32 16 rw TR 2 Max position limit UDINT 32 48 rw TR DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw TR 2 Speed during search for zero UDINT 32 48 rw TR DT60FE 80 0 SubIndex 000 USINT 8 0 ro o 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device type UDINT 32 91010204 ro m #x1001 Error register USINT 8 ro T #x1008 Device name STRING(7) 56 ro o #x1009 Hardware version STRING(3) 24 ro o #x100A Software version STRING(3) 24 ro o #x1010 Save Parameter DT1010 144 ro #x1011 Recover Parameter DT1011 144 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 ro #x1600 CSP RxPDO1 DT160x 400 rw #x1601 PP RxPDO2 DT160x 400 rw #x1602 PV RxPDO3 DT160x 400 rw #x1603 HM RxPDO4 DT160x 400 rw #x1A00 CSP TxPDO1 DT1A0x 400 rw #x1A01 Touch TxPDO2 DT1A0x 400 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 rw #x1C13 SyncManager 3 assignment DT1C13 48 rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x2000 MSG Slave Alias UINT 16 rw TR #x2001 MSG Slave Alias Source UINT 16 rw TR #x2002 MSG Drive Soft Version DT2002 64 ro TR #x2003 MSG Synchronizing Cycle DT2003 64 ro TR #x2004 MSG Bus Voltage UINT 16 ro TR #x2005 MSG Real Current DT2005 64 ro TR #x2006 MSG Device temperature UINT 16 ro TR #x2100 OC Control_Mode UINT 16 ro TR #x2101 OC Motor Direction UINT 16 rw TR #x2102 OC Motor Resolution UINT 16 rw TR #x2103 OC Motor type selection UINT 16 rw TR #x2104 OC OverRun Stop Mode UINT 16 rw TR #x2105 OC Upper Computer Control UINT 16 rw TR #x2300 OP Peak Current UINT 16 rw TR #x2301 OP Standby Time DT2301 48 rw TR #x2302 OP PowerOn lock shaft time setting DT2302 48 rw TR #x2303 OP current loop gain DT2303 64 rw TR #x2304 OP Lock gain DT2304 64 rw TR #x2305 OP algorithm selection UINT 16 rw TR #x2306 OP Middle Frequency DT2306 96 rw TR #x2307 OP SelfAdjust Gain Set DT2307 96 rw TR #x2308 OP SelfAdjust Current Set DT2308 80 rw TR #x2700 FUN Physical Inputs Leve UINT 16 ro TR #x2701 FUN Inputs Polarity UINT 16 rw TR #x2702 FUN Inputs Function DT2702 64 rw TR #x2703 FUN Inputs Filter Time DT2703 64 rw TR #x2704 FUN Outputs Polarity UINT 16 rw TR #x2705 FUN Outputs Function DT2705 32 rw TR #x2706 FUN Fault Detect Configure UINT 16 rw TR #x2707 FUN Fault List DT2707 160 ro TR #x2708 FUN Clear Fault Record UINT 16 rw TR #x2709 FUN Clean Alarm UINT 16 rw TR #x603F Last Error Code UINT 16 ro T #x6040 Control word UINT 16 rw TR #x6041 Status word UINT 16 ro T #x605A Quick Stop UINT 16 rw TR #x6060 Operation Mode SINT 8 rw TR #x6061 Modes of Operation Display SINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Target Position DINT 32 rw TR #x607C Home offset DINT 32 rw TR #x607D Software position limit DT607D 80 SubIndex 000 #x02 Min position limit #x80000000 #x7FFFFFFF #x80000000 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro #x6080 Max motor speed UDINT 32 rw TR #x6081 Profile velocity UDINT 32 rw TR #x6082 Start velocity UDINT 32 rw TR #x6083 Profile acceleration UDINT 32 rw TR #x6084 Profile deceleration UDINT 32 rw TR #x6085 Quick Stop deceleration UDINT 32 rw TR #x6098 Homing Method SINT 08 rw TR #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw TR #x60B8 Touch probe control UINT 16 rw TR #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe pos1 pos value DINT 32 ro T #x60BB Touch probe pos1 neg value DINT 32 ro T #x60BC Touch probe pos2 pos value DINT 32 ro T #x60BD Touch probe pos2 neg value DINT 32 ro T #x60D5 Touch Probe 1 Positive Counter UINT 16 ro T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target Velocity DINT 32 rw TR #x6502 Support Mode UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CSP RxPDO1 #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6060 0 8 Operation Mode SINT #x1601 PP RxPDO2 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6081 0 32 Profile velocity UDINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1602 PV RxPDO2 #x1603 #x1601 #x6040 0 16 Control word UINT #x60FF 0 32 Target Velocity DINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1603 HM IO RxPDO4 #x1601 #x1602 #x6040 0 16 Control word UINT #x607C 0 32 Home offset DINT #x6099 1 32 Homing Max speeds UDINT #x6099 2 32 Homing Mix speeds UDINT #x609A 0 32 Homing acceleration UDINT #x6060 0 8 Operation Mode SINT #x6098 0 8 Homing Method SINT #x1a00 CSP TxPDO1 #x603f 0 16 Last Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Actual Velocity DINT #x60FD 0 32 Digital inputs UDINT #x6061 0 8 Modes of Operation Display SINT #x1a01 Touch TxPDO1 #x60B9 #x00 16 Touch probe status UINT #x60BA #x00 32 Touch probe pos1 pos value DINT #x60BB #x0 32 Touch probe pos1 neg value DINT #x60BC #x0 32 Touch probe pos2 pos value DINT #x60BD #x0 32 Touch probe pos2 neg value DINT PS #x6060 0 08 Modes of Operation Display DC DC-Synchron #x300 0 0 0 Free Run Free Run #x0 2048 003c0000ff0100000000 0010000100120001 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C30E0000C30E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00011A61188D388FFFFFFFFFFFFFFFFFF33B33388D388FFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFF88D38855C055EEF9EEFFFFFF77CD7755C055FFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFEEF9EE88D388FFFFFFAAE0AA11A611FFFFFFFFFFFFFFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFBBE6BBEEF9EEEEF9EE00A00088D388FFFFFFFFFFFFFFFFFF00A00000A00000A00044BA4499D99900A00000A00000A00000A000BBE6BB55C05533B33322AD2299D999FFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88D38811A61188D38866C66622AD22D9FECD00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9FECDD9FECDFFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFFAAE0AA66C666CCECCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00000A00077CD77DDF3DDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF EC1-530 2000 9000 5000 200 100 2000 false Stepper Driver 402 STRING(3) 24 STRING(7) 56 SINT 8 USINT 8 DINT 32 UDINT 32 INT 16 UINT 16 ULINT 64 BOOL 1 DT1010 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1011 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT160x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1A0x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT2002 64 0 Number of Entries USINT 8 0 ro 1 Drive Soft Version UINT 16 16 ro TR 2 Drive Hard Version UINT 16 32 ro TR 3 ECAT Soft Version UINT 16 48 ro TR DT2003 64 0 Number of Entries USINT 8 0 ro 1 Min Synchronizing Cycle UINT 16 16 ro TR 2 Max Synchronizing Cycle UINT 16 32 ro TR 3 Cur Synchronizing Cycle UINT 16 48 ro TR DT2005 64 0 Number of Entries USINT 8 0 ro 1 Real Current Runing UINT 16 16 ro TR 2 Real Current A UINT 16 32 ro TR 3 Real Current B UINT 16 48 ro TR DT2301 48 0 Number of Entries USINT 8 0 ro 1 Standby Time UINT 16 16 rw TR 2 Standby Current Percentage UINT 16 32 rw TR DT2302 48 0 Number of Entries USINT 8 0 ro 1 time of duration UINT 16 16 rw TR 2 duration selection UINT 16 32 rw TR DT2303 64 0 Number of Entries USINT 8 0 ro 1 enable UINT 16 16 rw TR 2 Kp UINT 16 32 rw TR 3 Ki UINT 16 48 rw TR DT2304 64 0 Number of Entries USINT 8 0 ro 1 Lock enable UINT 16 16 rw TR 2 Lock Kp UINT 16 32 rw TR 3 Lock Ki UINT 16 48 rw TR DT2306 96 0 Number of Entries USINT 8 0 ro 1 Middle Frequency enable UINT 16 16 rw TR 2 Middle Frequency Coefficient UINT 16 32 rw TR 3 Begin Speed UINT 16 48 rw TR 4 End Speed UINT 16 64 rw TR 5 Motor winding resistance UINT 16 80 rw TR DT2307 96 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Gain enable UINT 16 16 rw TR 2 SelfAdjust Gain Coefficient UINT 16 32 rw TR 3 SelfAdjust Gain V1 UINT 16 48 rw TR 4 SelfAdjust Gain V2 UINT 16 64 rw TR 5 SelfAdjust Gain Set Limit UINT 16 80 rw TR DT2308 80 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Current enable UINT 16 16 rw TR 2 SelfAdjust Current V1 UINT 16 32 rw TR 3 SelfAdjust Current V2 UINT 16 48 rw TR 4 SelfAdjust Current Set Limit UINT 16 64 rw TR DT2702 64 0 Inputs Function USINT 8 0 ro 1 Inputs Function0 UINT 16 16 rw TR 2 Inputs Function1 UINT 16 32 rw TR 3 Inputs Function2 UINT 16 48 rw TR DT2703 64 0 Inputs Filter Time USINT 8 0 ro 1 Inputs Filter Time0 UINT 16 16 rw TR 2 Inputs Filter Time1 UINT 16 32 rw TR 3 Inputs Filter Time2 UINT 16 48 rw TR DT2705 32 0 Outputs Function USINT 8 0 ro 1 Outputs Function0 UINT 16 16 rw TR DT2707 160 0 Number of Entries USINT 8 0 ro 1 Fault List0 UINT 16 16 ro TR 2 Fault List1 UINT 16 32 ro TR 3 Fault List2 UINT 16 48 ro TR 4 Fault List3 UINT 16 64 ro TR 5 Fault List4 UINT 16 80 ro TR 6 Fault List5 UINT 16 96 ro TR 7 Fault List6 UINT 16 112 ro TR 8 Fault List7 UINT 16 128 ro TR 9 Fault List8 UINT 16 144 ro TR DT607D 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position limit UDINT 32 16 rw TR 2 Max position limit UDINT 32 48 rw TR DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw TR 2 Speed during search for zero UDINT 32 48 rw TR DT60FE 80 0 SubIndex 000 USINT 8 0 ro o 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device type UDINT 32 91010204 ro m #x1001 Error register USINT 8 ro T #x1008 Device name STRING(7) 56 ro o #x1009 Hardware version STRING(3) 24 ro o #x100A Software version STRING(3) 24 ro o #x1010 Save Parameter DT1010 144 ro #x1011 Recover Parameter DT1011 144 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 ro #x1600 CSP RxPDO1 DT160x 400 rw #x1601 PP RxPDO2 DT160x 400 rw #x1602 PV RxPDO3 DT160x 400 rw #x1603 HM RxPDO4 DT160x 400 rw #x1A00 CSP TxPDO1 DT1A0x 400 rw #x1A01 Touch TxPDO2 DT1A0x 400 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 rw #x1C13 SyncManager 3 assignment DT1C13 48 rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x2000 MSG Slave Alias UINT 16 rw TR #x2001 MSG Slave Alias Source UINT 16 rw TR #x2002 MSG Drive Soft Version DT2002 64 ro TR #x2003 MSG Synchronizing Cycle DT2003 64 ro TR #x2004 MSG Bus Voltage UINT 16 ro TR #x2005 MSG Real Current DT2005 64 ro TR #x2006 MSG Device temperature UINT 16 ro TR #x2100 OC Control_Mode UINT 16 ro TR #x2101 OC Motor Direction UINT 16 rw TR #x2102 OC Motor Resolution UINT 16 rw TR #x2103 OC Motor type selection UINT 16 rw TR #x2104 OC OverRun Stop Mode UINT 16 rw TR #x2105 OC Upper Computer Control UINT 16 rw TR #x2300 OP Peak Current UINT 16 rw TR #x2301 OP Standby Time DT2301 48 rw TR #x2302 OP PowerOn lock shaft time setting DT2302 48 rw TR #x2303 OP current loop gain DT2303 64 rw TR #x2304 OP Lock gain DT2304 64 rw TR #x2305 OP algorithm selection UINT 16 rw TR #x2306 OP Middle Frequency DT2306 96 rw TR #x2307 OP SelfAdjust Gain Set DT2307 96 rw TR #x2308 OP SelfAdjust Current Set DT2308 80 rw TR #x2700 FUN Physical Inputs Leve UINT 16 ro TR #x2701 FUN Inputs Polarity UINT 16 rw TR #x2702 FUN Inputs Function DT2702 64 rw TR #x2703 FUN Inputs Filter Time DT2703 64 rw TR #x2704 FUN Outputs Polarity UINT 16 rw TR #x2705 FUN Outputs Function DT2705 32 rw TR #x2706 FUN Fault Detect Configure UINT 16 rw TR #x2707 FUN Fault List DT2707 160 ro TR #x2708 FUN Clear Fault Record UINT 16 rw TR #x2709 FUN Clean Alarm UINT 16 rw TR #x603F Last Error Code UINT 16 ro T #x6040 Control word UINT 16 rw TR #x6041 Status word UINT 16 ro T #x605A Quick Stop UINT 16 rw TR #x6060 Operation Mode SINT 8 rw TR #x6061 Modes of Operation Display SINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Target Position DINT 32 rw TR #x607C Home offset DINT 32 rw TR #x607D Software position limit DT607D 80 SubIndex 000 #x02 Min position limit #x80000000 #x7FFFFFFF #x80000000 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro #x6080 Max motor speed UDINT 32 rw TR #x6081 Profile velocity UDINT 32 rw TR #x6082 Start velocity UDINT 32 rw TR #x6083 Profile acceleration UDINT 32 rw TR #x6084 Profile deceleration UDINT 32 rw TR #x6085 Quick Stop deceleration UDINT 32 rw TR #x6098 Homing Method SINT 08 rw TR #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw TR #x60B8 Touch probe control UINT 16 rw TR #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe pos1 pos value DINT 32 ro T #x60BB Touch probe pos1 neg value DINT 32 ro T #x60BC Touch probe pos2 pos value DINT 32 ro T #x60BD Touch probe pos2 neg value DINT 32 ro T #x60D5 Touch Probe 1 Positive Counter UINT 16 ro T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target Velocity DINT 32 rw TR #x6502 Support Mode UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CSP RxPDO1 #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6060 0 8 Operation Mode SINT #x1601 PP RxPDO2 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6081 0 32 Profile velocity UDINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1602 PV RxPDO2 #x1603 #x1601 #x6040 0 16 Control word UINT #x60FF 0 32 Target Velocity DINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1603 HM IO RxPDO4 #x1601 #x1602 #x6040 0 16 Control word UINT #x607C 0 32 Home offset DINT #x6099 1 32 Homing Max speeds UDINT #x6099 2 32 Homing Mix speeds UDINT #x609A 0 32 Homing acceleration UDINT #x6060 0 8 Operation Mode SINT #x6098 0 8 Homing Method SINT #x1a00 CSP TxPDO1 #x603f 0 16 Last Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Actual Velocity DINT #x60FD 0 32 Digital inputs UDINT #x6061 0 8 Modes of Operation Display SINT #x1a01 Touch TxPDO1 #x60B9 #x00 16 Touch probe status UINT #x60BA #x00 32 Touch probe pos1 pos value DINT #x60BB #x0 32 Touch probe pos1 neg value DINT #x60BC #x0 32 Touch probe pos2 pos value DINT #x60BD #x0 32 Touch probe pos2 neg value DINT PS #x6060 0 08 Modes of Operation Display DC DC-Synchron #x300 0 0 0 Free Run Free Run #x0 2048 003c0000ff0100000000 0010000100120001 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C30E0000C30E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00011A61188D388FFFFFFFFFFFFFFFFFF33B33388D388FFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFF88D38855C055EEF9EEFFFFFF77CD7755C055FFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFEEF9EE88D388FFFFFFAAE0AA11A611FFFFFFFFFFFFFFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFBBE6BBEEF9EEEEF9EE00A00088D388FFFFFFFFFFFFFFFFFF00A00000A00000A00044BA4499D99900A00000A00000A00000A000BBE6BB55C05533B33322AD2299D999FFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88D38811A61188D38866C66622AD22D9FECD00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9FECDD9FECDFFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFFAAE0AA66C666CCECCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00000A00077CD77DDF3DDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF EC1-570 2000 9000 5000 200 100 2000 false Stepper Driver 402 STRING(3) 24 STRING(7) 56 SINT 8 USINT 8 DINT 32 UDINT 32 INT 16 UINT 16 ULINT 64 BOOL 1 DT1010 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1011 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT160x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1A0x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT2002 64 0 Number of Entries USINT 8 0 ro 1 Drive Soft Version UINT 16 16 ro TR 2 Drive Hard Version UINT 16 32 ro TR 3 ECAT Soft Version UINT 16 48 ro TR DT2003 64 0 Number of Entries USINT 8 0 ro 1 Min Synchronizing Cycle UINT 16 16 ro TR 2 Max Synchronizing Cycle UINT 16 32 ro TR 3 Cur Synchronizing Cycle UINT 16 48 ro TR DT2005 64 0 Number of Entries USINT 8 0 ro 1 Real Current Runing UINT 16 16 ro TR 2 Real Current A UINT 16 32 ro TR 3 Real Current B UINT 16 48 ro TR DT2301 48 0 Number of Entries USINT 8 0 ro 1 Standby Time UINT 16 16 rw TR 2 Standby Current Percentage UINT 16 32 rw TR DT2302 48 0 Number of Entries USINT 8 0 ro 1 time of duration UINT 16 16 rw TR 2 duration selection UINT 16 32 rw TR DT2303 64 0 Number of Entries USINT 8 0 ro 1 enable UINT 16 16 rw TR 2 Kp UINT 16 32 rw TR 3 Ki UINT 16 48 rw TR DT2304 64 0 Number of Entries USINT 8 0 ro 1 Lock enable UINT 16 16 rw TR 2 Lock Kp UINT 16 32 rw TR 3 Lock Ki UINT 16 48 rw TR DT2306 96 0 Number of Entries USINT 8 0 ro 1 Middle Frequency enable UINT 16 16 rw TR 2 Middle Frequency Coefficient UINT 16 32 rw TR 3 Begin Speed UINT 16 48 rw TR 4 End Speed UINT 16 64 rw TR 5 Motor winding resistance UINT 16 80 rw TR DT2307 96 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Gain enable UINT 16 16 rw TR 2 SelfAdjust Gain Coefficient UINT 16 32 rw TR 3 SelfAdjust Gain V1 UINT 16 48 rw TR 4 SelfAdjust Gain V2 UINT 16 64 rw TR 5 SelfAdjust Gain Set Limit UINT 16 80 rw TR DT2308 80 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Current enable UINT 16 16 rw TR 2 SelfAdjust Current V1 UINT 16 32 rw TR 3 SelfAdjust Current V2 UINT 16 48 rw TR 4 SelfAdjust Current Set Limit UINT 16 64 rw TR DT2702 64 0 Inputs Function USINT 8 0 ro 1 Inputs Function0 UINT 16 16 rw TR 2 Inputs Function1 UINT 16 32 rw TR 3 Inputs Function2 UINT 16 48 rw TR DT2703 64 0 Inputs Filter Time USINT 8 0 ro 1 Inputs Filter Time0 UINT 16 16 rw TR 2 Inputs Filter Time1 UINT 16 32 rw TR 3 Inputs Filter Time2 UINT 16 48 rw TR DT2705 32 0 Outputs Function USINT 8 0 ro 1 Outputs Function0 UINT 16 16 rw TR DT2707 160 0 Number of Entries USINT 8 0 ro 1 Fault List0 UINT 16 16 ro TR 2 Fault List1 UINT 16 32 ro TR 3 Fault List2 UINT 16 48 ro TR 4 Fault List3 UINT 16 64 ro TR 5 Fault List4 UINT 16 80 ro TR 6 Fault List5 UINT 16 96 ro TR 7 Fault List6 UINT 16 112 ro TR 8 Fault List7 UINT 16 128 ro TR 9 Fault List8 UINT 16 144 ro TR DT607D 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position limit UDINT 32 16 rw TR 2 Max position limit UDINT 32 48 rw TR DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw TR 2 Speed during search for zero UDINT 32 48 rw TR DT60FE 80 0 SubIndex 000 USINT 8 0 ro o 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device type UDINT 32 91010204 ro m #x1001 Error register USINT 8 ro T #x1008 Device name STRING(7) 56 ro o #x1009 Hardware version STRING(3) 24 ro o #x100A Software version STRING(3) 24 ro o #x1010 Save Parameter DT1010 144 ro #x1011 Recover Parameter DT1011 144 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 ro #x1600 CSP RxPDO1 DT160x 400 rw #x1601 PP RxPDO2 DT160x 400 rw #x1602 PV RxPDO3 DT160x 400 rw #x1603 HM RxPDO4 DT160x 400 rw #x1A00 CSP TxPDO1 DT1A0x 400 rw #x1A01 Touch TxPDO2 DT1A0x 400 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 rw #x1C13 SyncManager 3 assignment DT1C13 48 rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x2000 MSG Slave Alias UINT 16 rw TR #x2001 MSG Slave Alias Source UINT 16 rw TR #x2002 MSG Drive Soft Version DT2002 64 ro TR #x2003 MSG Synchronizing Cycle DT2003 64 ro TR #x2004 MSG Bus Voltage UINT 16 ro TR #x2005 MSG Real Current DT2005 64 ro TR #x2006 MSG Device temperature UINT 16 ro TR #x2100 OC Control_Mode UINT 16 ro TR #x2101 OC Motor Direction UINT 16 rw TR #x2102 OC Motor Resolution UINT 16 rw TR #x2103 OC Motor type selection UINT 16 rw TR #x2104 OC OverRun Stop Mode UINT 16 rw TR #x2105 OC Upper Computer Control UINT 16 rw TR #x2300 OP Peak Current UINT 16 rw TR #x2301 OP Standby Time DT2301 48 rw TR #x2302 OP PowerOn lock shaft time setting DT2302 48 rw TR #x2303 OP current loop gain DT2303 64 rw TR #x2304 OP Lock gain DT2304 64 rw TR #x2305 OP algorithm selection UINT 16 rw TR #x2306 OP Middle Frequency DT2306 96 rw TR #x2307 OP SelfAdjust Gain Set DT2307 96 rw TR #x2308 OP SelfAdjust Current Set DT2308 80 rw TR #x2700 FUN Physical Inputs Leve UINT 16 ro TR #x2701 FUN Inputs Polarity UINT 16 rw TR #x2702 FUN Inputs Function DT2702 64 rw TR #x2703 FUN Inputs Filter Time DT2703 64 rw TR #x2704 FUN Outputs Polarity UINT 16 rw TR #x2705 FUN Outputs Function DT2705 32 rw TR #x2706 FUN Fault Detect Configure UINT 16 rw TR #x2707 FUN Fault List DT2707 160 ro TR #x2708 FUN Clear Fault Record UINT 16 rw TR #x2709 FUN Clean Alarm UINT 16 rw TR #x603F Last Error Code UINT 16 ro T #x6040 Control word UINT 16 rw TR #x6041 Status word UINT 16 ro T #x605A Quick Stop UINT 16 rw TR #x6060 Operation Mode SINT 8 rw TR #x6061 Modes of Operation Display SINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Target Position DINT 32 rw TR #x607C Home offset DINT 32 rw TR #x607D Software position limit DT607D 80 SubIndex 000 #x02 Min position limit #x80000000 #x7FFFFFFF #x80000000 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro #x6080 Max motor speed UDINT 32 rw TR #x6081 Profile velocity UDINT 32 rw TR #x6082 Start velocity UDINT 32 rw TR #x6083 Profile acceleration UDINT 32 rw TR #x6084 Profile deceleration UDINT 32 rw TR #x6085 Quick Stop deceleration UDINT 32 rw TR #x6098 Homing Method SINT 08 rw TR #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw TR #x60B8 Touch probe control UINT 16 rw TR #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe pos1 pos value DINT 32 ro T #x60BB Touch probe pos1 neg value DINT 32 ro T #x60BC Touch probe pos2 pos value DINT 32 ro T #x60BD Touch probe pos2 neg value DINT 32 ro T #x60D5 Touch Probe 1 Positive Counter UINT 16 ro T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target Velocity DINT 32 rw TR #x6502 Support Mode UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CSP RxPDO1 #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6060 0 8 Operation Mode SINT #x1601 PP RxPDO2 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6081 0 32 Profile velocity UDINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1602 PV RxPDO2 #x1603 #x1601 #x6040 0 16 Control word UINT #x60FF 0 32 Target Velocity DINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1603 HM IO RxPDO4 #x1601 #x1602 #x6040 0 16 Control word UINT #x607C 0 32 Home offset DINT #x6099 1 32 Homing Max speeds UDINT #x6099 2 32 Homing Mix speeds UDINT #x609A 0 32 Homing acceleration UDINT #x6060 0 8 Operation Mode SINT #x6098 0 8 Homing Method SINT #x1a00 CSP TxPDO1 #x603f 0 16 Last Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Actual Velocity DINT #x60FD 0 32 Digital inputs UDINT #x6061 0 8 Modes of Operation Display SINT #x1a01 Touch TxPDO1 #x60B9 #x00 16 Touch probe status UINT #x60BA #x00 32 Touch probe pos1 pos value DINT #x60BB #x0 32 Touch probe pos1 neg value DINT #x60BC #x0 32 Touch probe pos2 pos value DINT #x60BD #x0 32 Touch probe pos2 neg value DINT PS #x6060 0 08 Modes of Operation Display DC DC-Synchron #x300 0 0 0 Free Run Free Run #x0 2048 003c0000ff0100000000 0010000100120001 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C30E0000C30E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00011A61188D388FFFFFFFFFFFFFFFFFF33B33388D388FFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFF88D38855C055EEF9EEFFFFFF77CD7755C055FFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFEEF9EE88D388FFFFFFAAE0AA11A611FFFFFFFFFFFFFFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFBBE6BBEEF9EEEEF9EE00A00088D388FFFFFFFFFFFFFFFFFF00A00000A00000A00044BA4499D99900A00000A00000A00000A000BBE6BB55C05533B33322AD2299D999FFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88D38811A61188D38866C66622AD22D9FECD00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9FECDD9FECDFFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFFAAE0AA66C666CCECCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00000A00077CD77DDF3DDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF EC1-872 2000 9000 5000 200 100 2000 false Stepper Driver 402 STRING(3) 24 STRING(7) 56 SINT 8 USINT 8 DINT 32 UDINT 32 INT 16 UINT 16 ULINT 64 BOOL 1 DT1010 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1011 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT160x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1A0x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT2002 64 0 Number of Entries USINT 8 0 ro 1 Drive Soft Version UINT 16 16 ro TR 2 Drive Hard Version UINT 16 32 ro TR 3 ECAT Soft Version UINT 16 48 ro TR DT2003 64 0 Number of Entries USINT 8 0 ro 1 Min Synchronizing Cycle UINT 16 16 ro TR 2 Max Synchronizing Cycle UINT 16 32 ro TR 3 Cur Synchronizing Cycle UINT 16 48 ro TR DT2005 64 0 Number of Entries USINT 8 0 ro 1 Real Current Runing UINT 16 16 ro TR 2 Real Current A UINT 16 32 ro TR 3 Real Current B UINT 16 48 ro TR DT2301 48 0 Number of Entries USINT 8 0 ro 1 Standby Time UINT 16 16 rw TR 2 Standby Current Percentage UINT 16 32 rw TR DT2302 48 0 Number of Entries USINT 8 0 ro 1 time of duration UINT 16 16 rw TR 2 duration selection UINT 16 32 rw TR DT2303 64 0 Number of Entries USINT 8 0 ro 1 enable UINT 16 16 rw TR 2 Kp UINT 16 32 rw TR 3 Ki UINT 16 48 rw TR DT2304 64 0 Number of Entries USINT 8 0 ro 1 Lock enable UINT 16 16 rw TR 2 Lock Kp UINT 16 32 rw TR 3 Lock Ki UINT 16 48 rw TR DT2306 96 0 Number of Entries USINT 8 0 ro 1 Middle Frequency enable UINT 16 16 rw TR 2 Middle Frequency Coefficient UINT 16 32 rw TR 3 Begin Speed UINT 16 48 rw TR 4 End Speed UINT 16 64 rw TR 5 Motor winding resistance UINT 16 80 rw TR DT2307 96 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Gain enable UINT 16 16 rw TR 2 SelfAdjust Gain Coefficient UINT 16 32 rw TR 3 SelfAdjust Gain V1 UINT 16 48 rw TR 4 SelfAdjust Gain V2 UINT 16 64 rw TR 5 SelfAdjust Gain Set Limit UINT 16 80 rw TR DT2308 80 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Current enable UINT 16 16 rw TR 2 SelfAdjust Current V1 UINT 16 32 rw TR 3 SelfAdjust Current V2 UINT 16 48 rw TR 4 SelfAdjust Current Set Limit UINT 16 64 rw TR DT2702 64 0 Inputs Function USINT 8 0 ro 1 Inputs Function0 UINT 16 16 rw TR 2 Inputs Function1 UINT 16 32 rw TR 3 Inputs Function2 UINT 16 48 rw TR DT2703 64 0 Inputs Filter Time USINT 8 0 ro 1 Inputs Filter Time0 UINT 16 16 rw TR 2 Inputs Filter Time1 UINT 16 32 rw TR 3 Inputs Filter Time2 UINT 16 48 rw TR DT2705 32 0 Outputs Function USINT 8 0 ro 1 Outputs Function0 UINT 16 16 rw TR DT2707 160 0 Number of Entries USINT 8 0 ro 1 Fault List0 UINT 16 16 ro TR 2 Fault List1 UINT 16 32 ro TR 3 Fault List2 UINT 16 48 ro TR 4 Fault List3 UINT 16 64 ro TR 5 Fault List4 UINT 16 80 ro TR 6 Fault List5 UINT 16 96 ro TR 7 Fault List6 UINT 16 112 ro TR 8 Fault List7 UINT 16 128 ro TR 9 Fault List8 UINT 16 144 ro TR DT607D 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position limit UDINT 32 16 rw TR 2 Max position limit UDINT 32 48 rw TR DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw TR 2 Speed during search for zero UDINT 32 48 rw TR DT60FE 80 0 SubIndex 000 USINT 8 0 ro o 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device type UDINT 32 91010204 ro m #x1001 Error register USINT 8 ro T #x1008 Device name STRING(7) 56 ro o #x1009 Hardware version STRING(3) 24 ro o #x100A Software version STRING(3) 24 ro o #x1010 Save Parameter DT1010 144 ro #x1011 Recover Parameter DT1011 144 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 ro #x1600 CSP RxPDO1 DT160x 400 rw #x1601 PP RxPDO2 DT160x 400 rw #x1602 PV RxPDO3 DT160x 400 rw #x1603 HM RxPDO4 DT160x 400 rw #x1A00 CSP TxPDO1 DT1A0x 400 rw #x1A01 Touch TxPDO2 DT1A0x 400 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 rw #x1C13 SyncManager 3 assignment DT1C13 48 rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x2000 MSG Slave Alias UINT 16 rw TR #x2001 MSG Slave Alias Source UINT 16 rw TR #x2002 MSG Drive Soft Version DT2002 64 ro TR #x2003 MSG Synchronizing Cycle DT2003 64 ro TR #x2004 MSG Bus Voltage UINT 16 ro TR #x2005 MSG Real Current DT2005 64 ro TR #x2006 MSG Device temperature UINT 16 ro TR #x2100 OC Control_Mode UINT 16 ro TR #x2101 OC Motor Direction UINT 16 rw TR #x2102 OC Motor Resolution UINT 16 rw TR #x2103 OC Motor type selection UINT 16 rw TR #x2104 OC OverRun Stop Mode UINT 16 rw TR #x2105 OC Upper Computer Control UINT 16 rw TR #x2300 OP Peak Current UINT 16 rw TR #x2301 OP Standby Time DT2301 48 rw TR #x2302 OP PowerOn lock shaft time setting DT2302 48 rw TR #x2303 OP current loop gain DT2303 64 rw TR #x2304 OP Lock gain DT2304 64 rw TR #x2305 OP algorithm selection UINT 16 rw TR #x2306 OP Middle Frequency DT2306 96 rw TR #x2307 OP SelfAdjust Gain Set DT2307 96 rw TR #x2308 OP SelfAdjust Current Set DT2308 80 rw TR #x2700 FUN Physical Inputs Leve UINT 16 ro TR #x2701 FUN Inputs Polarity UINT 16 rw TR #x2702 FUN Inputs Function DT2702 64 rw TR #x2703 FUN Inputs Filter Time DT2703 64 rw TR #x2704 FUN Outputs Polarity UINT 16 rw TR #x2705 FUN Outputs Function DT2705 32 rw TR #x2706 FUN Fault Detect Configure UINT 16 rw TR #x2707 FUN Fault List DT2707 160 ro TR #x2708 FUN Clear Fault Record UINT 16 rw TR #x2709 FUN Clean Alarm UINT 16 rw TR #x603F Last Error Code UINT 16 ro T #x6040 Control word UINT 16 rw TR #x6041 Status word UINT 16 ro T #x605A Quick Stop UINT 16 rw TR #x6060 Operation Mode SINT 8 rw TR #x6061 Modes of Operation Display SINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Target Position DINT 32 rw TR #x607C Home offset DINT 32 rw TR #x607D Software position limit DT607D 80 SubIndex 000 #x02 Min position limit #x80000000 #x7FFFFFFF #x80000000 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro #x6080 Max motor speed UDINT 32 rw TR #x6081 Profile velocity UDINT 32 rw TR #x6082 Start velocity UDINT 32 rw TR #x6083 Profile acceleration UDINT 32 rw TR #x6084 Profile deceleration UDINT 32 rw TR #x6085 Quick Stop deceleration UDINT 32 rw TR #x6098 Homing Method SINT 08 rw TR #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw TR #x60B8 Touch probe control UINT 16 rw TR #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe pos1 pos value DINT 32 ro T #x60BB Touch probe pos1 neg value DINT 32 ro T #x60BC Touch probe pos2 pos value DINT 32 ro T #x60BD Touch probe pos2 neg value DINT 32 ro T #x60D5 Touch Probe 1 Positive Counter UINT 16 ro T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target Velocity DINT 32 rw TR #x6502 Support Mode UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CSP RxPDO1 #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6060 0 8 Operation Mode SINT #x1601 PP RxPDO2 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6081 0 32 Profile velocity UDINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1602 PV RxPDO2 #x1603 #x1601 #x6040 0 16 Control word UINT #x60FF 0 32 Target Velocity DINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1603 HM IO RxPDO4 #x1601 #x1602 #x6040 0 16 Control word UINT #x607C 0 32 Home offset DINT #x6099 1 32 Homing Max speeds UDINT #x6099 2 32 Homing Mix speeds UDINT #x609A 0 32 Homing acceleration UDINT #x6060 0 8 Operation Mode SINT #x6098 0 8 Homing Method SINT #x1a00 CSP TxPDO1 #x603f 0 16 Last Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Actual Velocity DINT #x60FD 0 32 Digital inputs UDINT #x6061 0 8 Modes of Operation Display SINT #x1a01 Touch TxPDO1 #x60B9 #x00 16 Touch probe status UINT #x60BA #x00 32 Touch probe pos1 pos value DINT #x60BB #x0 32 Touch probe pos1 neg value DINT #x60BC #x0 32 Touch probe pos2 pos value DINT #x60BD #x0 32 Touch probe pos2 neg value DINT PS #x6060 0 08 Modes of Operation Display DC DC-Synchron #x300 0 0 0 Free Run Free Run #x0 2048 003c0000ff0100000000 0010000100120001 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C30E0000C30E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00011A61188D388FFFFFFFFFFFFFFFFFF33B33388D388FFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFF88D38855C055EEF9EEFFFFFF77CD7755C055FFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFEEF9EE88D388FFFFFFAAE0AA11A611FFFFFFFFFFFFFFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFBBE6BBEEF9EEEEF9EE00A00088D388FFFFFFFFFFFFFFFFFF00A00000A00000A00044BA4499D99900A00000A00000A00000A000BBE6BB55C05533B33322AD2299D999FFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88D38811A61188D38866C66622AD22D9FECD00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9FECDD9FECDFFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFFAAE0AA66C666CCECCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00000A00077CD77DDF3DDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF EC1-57E 2000 9000 5000 200 100 2000 false Stepper Driver 402 STRING(3) 24 STRING(8) 64 SINT 8 USINT 8 DINT 32 UDINT 32 INT 16 UINT 16 ULINT 64 BOOL 1 DT1010 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1011 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT160x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1A0x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT2002 64 0 Number of Entries USINT 8 0 ro 1 Drive Soft Version UINT 16 16 ro TR 2 Drive Hard Version UINT 16 32 ro TR 3 ECAT Soft Version UINT 16 48 ro TR DT2003 64 0 Number of Entries USINT 8 0 ro 1 Min Synchronizing Cycle UINT 16 16 ro TR 2 Max Synchronizing Cycle UINT 16 32 ro TR 3 Cur Synchronizing Cycle UINT 16 48 ro TR DT2005 64 0 Number of Entries USINT 8 0 ro 1 Real Current Runing UINT 16 16 ro TR 2 Real Current A UINT 16 32 ro TR 3 Real Current B UINT 16 48 ro TR DT2301 48 0 Number of Entries USINT 8 0 ro 1 Standby Time UINT 16 16 rw TR 2 Standby Current Percentage UINT 16 32 rw TR DT2302 48 0 Number of Entries USINT 8 0 ro 1 time of duration UINT 16 16 rw TR 2 duration selection UINT 16 32 rw TR DT2303 64 0 Number of Entries USINT 8 0 ro 1 enable UINT 16 16 rw TR 2 Kp UINT 16 32 rw TR 3 Ki UINT 16 48 rw TR DT2304 64 0 Number of Entries USINT 8 0 ro 1 Lock enable UINT 16 16 rw TR 2 Lock Kp UINT 16 32 rw TR 3 Lock Ki UINT 16 48 rw TR DT2306 96 0 Number of Entries USINT 8 0 ro 1 Middle Frequency enable UINT 16 16 rw TR 2 Middle Frequency Coefficient UINT 16 32 rw TR 3 Begin Speed UINT 16 48 rw TR 4 End Speed UINT 16 64 rw TR 5 Motor winding resistance UINT 16 80 rw TR DT2307 96 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Gain enable UINT 16 16 rw TR 2 SelfAdjust Gain Coefficient UINT 16 32 rw TR 3 SelfAdjust Gain V1 UINT 16 48 rw TR 4 SelfAdjust Gain V2 UINT 16 64 rw TR 5 SelfAdjust Gain Set Limit UINT 16 80 rw TR DT2308 80 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Current enable UINT 16 16 rw TR 2 SelfAdjust Current V1 UINT 16 32 rw TR 3 SelfAdjust Current V2 UINT 16 48 rw TR 4 SelfAdjust Current Set Limit UINT 16 64 rw TR DT2500 48 0 Number of Entries USINT 8 0 ro 1 CL Run Peak Min Current Set UINT 16 16 rw TR 2 CL Run Peak Max Current Set UINT 16 32 rw TR DT2501 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Min Peak Current Set UINT 16 16 rw TR 2 CL Lock Max Peak Current Set UINT 16 32 rw TR DT2502 48 0 Number of Entries USINT 8 0 ro 1 CL Current SoftBoot Time1 UINT 16 16 rw TR 2 CL Current SoftBoot Time2 UINT 16 32 rw TR DT2503 48 0 Number of Entries USINT 8 0 ro 1 CL Current Loop Gain Kp UINT 16 16 rw TR 2 CL Current Loop Gain Ki UINT 16 32 rw TR DT2504 48 0 Number of Entries USINT 8 0 ro 1 CL Velocity Loop Gain Kp UINT 16 16 rw TR 2 CL Velocity Loop Gain Qk UINT 16 32 rw TR DT2505 48 0 Number of Entries USINT 8 0 ro 1 CL Position Loop Gain Kp UINT 16 16 rw TR 2 CL Position Loop Gain Ki UINT 16 32 rw TR DT2506 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Current Gain Kp UINT 16 16 rw TR 2 CL Lock Current Gain Ki UINT 16 32 rw TR DT2507 80 0 Number of Entries USINT 8 0 ro 1 CL Velocity Ref Filtering Coefficient F1 UINT 16 16 rw TR 2 CL Velocity Ref Filtering Coefficient F2 UINT 16 32 rw TR 3 CL Velocity Fdb Filtering Coefficient F1 UINT 16 48 rw TR 4 CL Velocity Fdb Filtering Coefficient F2 UINT 16 64 rw TR DT2508 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Accuracy Threshold1 UINT 16 16 rw TR 2 CL Lock Accuracy Threshold2 UINT 16 32 rw TR DT2509 64 0 Number of Entries USINT 8 0 ro 1 CL Position Over Alarm Enable UINT 16 16 rw TR 2 CL Position Over Alarm Value UINT 16 32 rw TR 3 CL Position Over Alarm Time UINT 16 48 rw TR DT250A 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Current Dynamic Set Value1 UINT 16 16 rw TR 2 CL Lock Current Dynamic Set Value2 UINT 16 32 rw TR DT250B 64 0 Number of Entries USINT 8 0 ro 1 CL Stalled Home Set RetainTim UINT 16 16 rw TR 2 CL Stalled Home Set Current UINT 16 32 rw TR 3 CL Stalled Home Set Limit Value UINT 16 48 rw TR DT250C 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Velocity Loop Set Enable UINT 16 16 rw TR 2 CL Lock Velocity Loop Set Limit UINT 16 32 rw TR DT250D 48 0 Number of Entries USINT 8 0 ro 1 CL LockB Algorithm Threshold 1 UINT 16 16 rw TR 2 CL LockB Algorithm Threshold 2 UINT 16 32 rw TR DT2702 64 0 Inputs Function USINT 8 0 ro 1 Inputs Function0 UINT 16 16 rw TR 2 Inputs Function1 UINT 16 32 rw TR 3 Inputs Function2 UINT 16 48 rw TR DT2703 64 0 Inputs Filter Time USINT 8 0 ro 1 Inputs Filter Time0 UINT 16 16 rw TR 2 Inputs Filter Time1 UINT 16 32 rw TR 3 Inputs Filter Time2 UINT 16 48 rw TR DT2705 32 0 Outputs Function USINT 8 0 ro 1 Outputs Function0 UINT 16 16 rw TR DT2707 160 0 Number of Entries USINT 8 0 ro 1 Fault List0 UINT 16 16 ro TR 2 Fault List1 UINT 16 32 ro TR 3 Fault List2 UINT 16 48 ro TR 4 Fault List3 UINT 16 64 ro TR 5 Fault List4 UINT 16 80 ro TR 6 Fault List5 UINT 16 96 ro TR 7 Fault List6 UINT 16 112 ro TR 8 Fault List7 UINT 16 128 ro TR 9 Fault List8 UINT 16 144 ro TR DT270A 48 0 Number of Entries USINT 8 0 ro 1 FUN Phase Memory Enable UINT 16 16 rw TR 2 FUN Phase Memory Time UINT 16 32 rw TR DT607D 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position limit UDINT 32 16 rw TR 2 Max position limit UDINT 32 48 rw TR DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw TR 2 Speed during search for zero UDINT 32 48 rw TR DT60FE 80 0 SubIndex 000 USINT 8 0 ro o 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device type UDINT 32 91010204 ro m #x1001 Error register USINT 8 ro T #x1008 Device name STRING(8) 64 ro o #x1009 Hardware version STRING(3) 24 ro o #x100A Software version STRING(3) 24 ro o #x1010 Save Parameter DT1010 144 ro #x1011 Recover Parameter DT1011 144 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 ro #x1600 CSP RxPDO1 DT160x 400 rw #x1601 PP RxPDO2 DT160x 400 rw #x1602 PV RxPDO3 DT160x 400 rw #x1603 HM RxPDO4 DT160x 400 rw #x1A00 CSP TxPDO1 DT1A0x 400 rw #x1A01 Touch TxPDO2 DT1A0x 400 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 rw #x1C13 SyncManager 3 assignment DT1C13 48 rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x2000 MSG Slave Alias UINT 16 rw TR #x2001 MSG Slave Alias Source UINT 16 rw TR #x2002 MSG Drive Soft Version DT2002 64 ro TR #x2003 MSG Synchronizing Cycle DT2003 64 ro TR #x2004 MSG Bus Voltage UINT 16 ro TR #x2005 MSG Real Current DT2005 64 ro TR #x2100 OC Control_Mode UINT 16 ro TR #x2101 OC Motor Direction UINT 16 rw TR #x2102 OC Motor Resolution UINT 16 rw TR #x2103 OC Motor type selection UINT 16 rw TR #x2104 OC OverRun Stop Mode UINT 16 rw TR #x2300 OP Peak Current UINT 16 rw TR #x2301 OP Standby Time DT2301 48 rw TR #x2302 OP PowerOn lock shaft time setting DT2302 48 rw TR #x2303 OP current loop gain DT2303 64 rw TR #x2304 OP Lock gain DT2304 64 rw TR #x2305 OP algorithm selection UINT 16 rw TR #x2306 OP Middle Frequency DT2306 96 rw TR #x2307 OP SelfAdjust Gain Set DT2307 96 rw TR #x2308 OP SelfAdjust Current Set DT2308 80 rw TR #x2500 CL Run Peak Current Set DT2500 48 rw TR #x2501 CL Lock Peak Current Set DT2501 48 rw TR #x2502 CL Current SoftBoot Time DT2502 48 rw TR #x2503 CL Current Loop Gain DT2503 48 rw TR #x2504 CL Velocity Loop Gain DT2504 48 rw TR #x2505 CL Position Loop Gain DT2505 48 rw TR #x2506 CL Lock Current Gain DT2506 48 rw TR #x2507 CL Velocity Filtering coefficient DT2507 80 rw TR #x2508 CL Lock Accuracy Threshold DT2508 48 rw TR #x2509 CL Position Over Alarm DT2509 64 rw TR #x250A CL Lock Current Dynamic Set DT250A 48 rw TR #x250B CL Stalled Home Set DT250B 64 rw TR #x250C CL Lock Velocity Loop Set DT250C 48 rw TR #x250D CL LockB Algorithm Threshold DT250D 48 rw TR #x250E CL Current Control Divisor UINT 16 rw TR #x250F CL Encoder Num UINT 16 rw TR #x2510 CL Arithmetic Select UINT 16 rw TR #x2700 FUN Physical Inputs Leve UINT 16 ro TR #x2701 FUN Inputs Polarity UINT 16 rw TR #x2702 FUN Inputs Function DT2702 64 rw TR #x2703 FUN Inputs Filter Time DT2703 64 rw TR #x2704 FUN Outputs Polarity UINT 16 rw TR #x2705 FUN Outputs Function DT2705 32 rw TR #x2706 FUN Fault Detect Configure UINT 16 rw TR #x2707 FUN Fault List DT2707 160 ro TR #x2708 FUN Clear Fault Record UINT 16 rw TR #x2709 FUN Clean Alarm UINT 16 rw TR #x270A FUN Phase Memory DT270A 48 rw TR #x270B FUN Break Ctrl Duty UINT 16 ro TR #x270C FUN External DIP UINT 16 rw TR #x603F Last Error Code UINT 16 ro T #x6040 Control word UINT 16 rw TR #x6041 Status word UINT 16 ro T #x605A Quick Stop UINT 16 rw TR #x6060 Operation Mode SINT 8 rw TR #x6061 Modes of Operation Display SINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Target Position DINT 32 rw TR #x607C Home offset DINT 32 rw TR #x607D Software position limit DT607D 80 SubIndex 000 #x02 Min position limit #x80000000 #x7FFFFFFF #x80000000 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro #x6080 Max motor speed UDINT 32 rw TR #x6081 Profile velocity UDINT 32 rw TR #x6082 Start velocity UDINT 32 rw TR #x6083 Profile acceleration UDINT 32 rw TR #x6084 Profile deceleration UDINT 32 rw TR #x6085 Quick Stop deceleration UDINT 32 rw TR #x6098 Homing Method SINT 08 rw TR #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw TR #x60B8 Touch probe control UINT 16 rw TR #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe pos1 pos value DINT 32 ro T #x60BB Touch probe pos1 neg value DINT 32 ro T #x60BC Touch probe pos2 pos value DINT 32 ro T #x60BD Touch probe pos2 neg value DINT 32 ro T #x60D5 Touch Probe 1 Positive Counter UINT 16 ro T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target Velocity DINT 32 rw TR #x6502 Support Mode UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CSP RxPDO1 #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6060 0 8 Operation Mode SINT #x1601 PP RxPDO2 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6081 0 32 Profile velocity UDINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1602 PV RxPDO2 #x1603 #x1601 #x6040 0 16 Control word UINT #x60FF 0 32 Target Velocity DINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1603 HM IO RxPDO4 #x1601 #x1602 #x6040 0 16 Control word UINT #x607C 0 32 Home offset DINT #x6099 1 32 Homing Max speeds UDINT #x6099 2 32 Homing Mix speeds UDINT #x609A 0 32 Homing acceleration UDINT #x6060 0 8 Operation Mode SINT #x6098 0 8 Homing Method SINT #x1a00 CSP TxPDO1 #x603f 0 16 Last Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Actual Velocity DINT #x60FD 0 32 Digital inputs UDINT #x6061 0 8 Modes of Operation Display SINT #x1a01 Touch TxPDO1 #x60B9 #x00 16 Touch probe status UINT #x60BA #x00 32 Touch probe pos1 pos value DINT #x60BB #x0 32 Touch probe pos1 neg value DINT #x60BC #x0 32 Touch probe pos2 pos value DINT #x60BD #x0 32 Touch probe pos2 neg value DINT PS #x6060 0 08 Modes of Operation Display DC DC-Synchron #x300 0 0 0 Free Run Free Run #x0 2048 003c0000ff0100000000 0010000100120001 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C30E0000C30E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00011A61188D388FFFFFFFFFFFFFFFFFF33B33388D388FFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFF88D38855C055EEF9EEFFFFFF77CD7755C055FFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFEEF9EE88D388FFFFFFAAE0AA11A611FFFFFFFFFFFFFFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFBBE6BBEEF9EEEEF9EE00A00088D388FFFFFFFFFFFFFFFFFF00A00000A00000A00044BA4499D99900A00000A00000A00000A000BBE6BB55C05533B33322AD2299D999FFFFFFFFFFFF00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88D38811A61188D38866C66622AD22D9FECD00A00000A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9FECDD9FECDFFFFFFFFFFFFFFFFFFFFFFFF11A61100A00000A00044BA44FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBBE6BB00A00000A00044BA44FFFFFFFFFFFFAAE0AA66C666CCECCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDF3DD66C66600A00000A00000A00077CD77DDF3DDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF ECA1-86E 2000 9000 5000 200 100 2000 false Stepper Driver 402 STRING(3) 24 STRING(8) 64 SINT 8 USINT 8 DINT 32 UDINT 32 INT 16 UINT 16 ULINT 64 BOOL 1 DT1010 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1011 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT160x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1A0x 400 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 005 UDINT 32 144 rw 6 SubIndex 006 UDINT 32 176 rw 7 SubIndex 007 UDINT 32 208 rw 8 SubIndex 008 UDINT 32 240 rw 9 SubIndex 009 UDINT 32 272 rw 10 SubIndex 010 UDINT 32 304 rw 11 SubIndex 011 UDINT 32 336 rw 12 SubIndex 012 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro c DT2002 64 0 Number of Entries USINT 8 0 ro 1 Drive Soft Version UINT 16 16 ro TR 2 Drive Hard Version UINT 16 32 ro TR 3 ECAT Soft Version UINT 16 48 ro TR DT2003 64 0 Number of Entries USINT 8 0 ro 1 Min Synchronizing Cycle UINT 16 16 ro TR 2 Max Synchronizing Cycle UINT 16 32 ro TR 3 Cur Synchronizing Cycle UINT 16 48 ro TR DT2005 64 0 Number of Entries USINT 8 0 ro 1 Real Current Runing UINT 16 16 ro TR 2 Real Current A UINT 16 32 ro TR 3 Real Current B UINT 16 48 ro TR DT2301 48 0 Number of Entries USINT 8 0 ro 1 Standby Time UINT 16 16 rw TR 2 Standby Current Percentage UINT 16 32 rw TR DT2302 48 0 Number of Entries USINT 8 0 ro 1 time of duration UINT 16 16 rw TR 2 duration selection UINT 16 32 rw TR DT2303 64 0 Number of Entries USINT 8 0 ro 1 enable UINT 16 16 rw TR 2 Kp UINT 16 32 rw TR 3 Ki UINT 16 48 rw TR DT2304 64 0 Number of Entries USINT 8 0 ro 1 Lock enable UINT 16 16 rw TR 2 Lock Kp UINT 16 32 rw TR 3 Lock Ki UINT 16 48 rw TR DT2306 96 0 Number of Entries USINT 8 0 ro 1 Middle Frequency enable UINT 16 16 rw TR 2 Middle Frequency Coefficient UINT 16 32 rw TR 3 Begin Speed UINT 16 48 rw TR 4 End Speed UINT 16 64 rw TR 5 Motor winding resistance UINT 16 80 rw TR DT2307 96 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Gain enable UINT 16 16 rw TR 2 SelfAdjust Gain Coefficient UINT 16 32 rw TR 3 SelfAdjust Gain V1 UINT 16 48 rw TR 4 SelfAdjust Gain V2 UINT 16 64 rw TR 5 SelfAdjust Gain Set Limit UINT 16 80 rw TR DT2308 80 0 Number of Entries USINT 8 0 ro 1 SelfAdjust Current enable UINT 16 16 rw TR 2 SelfAdjust Current V1 UINT 16 32 rw TR 3 SelfAdjust Current V2 UINT 16 48 rw TR 4 SelfAdjust Current Set Limit UINT 16 64 rw TR DT2500 48 0 Number of Entries USINT 8 0 ro 1 CL Run Peak Min Current Set UINT 16 16 rw TR 2 CL Run Peak Max Current Set UINT 16 32 rw TR DT2501 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Min Peak Current Set UINT 16 16 rw TR 2 CL Lock Max Peak Current Set UINT 16 32 rw TR DT2502 48 0 Number of Entries USINT 8 0 ro 1 CL Current SoftBoot Time1 UINT 16 16 rw TR 2 CL Current SoftBoot Time2 UINT 16 32 rw TR DT2503 48 0 Number of Entries USINT 8 0 ro 1 CL Current Loop Gain Kp UINT 16 16 rw TR 2 CL Current Loop Gain Ki UINT 16 32 rw TR DT2504 48 0 Number of Entries USINT 8 0 ro 1 CL Velocity Loop Gain Kp UINT 16 16 rw TR 2 CL Velocity Loop Gain Qk UINT 16 32 rw TR DT2505 48 0 Number of Entries USINT 8 0 ro 1 CL Position Loop Gain Kp UINT 16 16 rw TR 2 CL Position Loop Gain Ki UINT 16 32 rw TR DT2506 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Current Gain Kp UINT 16 16 rw TR 2 CL Lock Current Gain Ki UINT 16 32 rw TR DT2507 80 0 Number of Entries USINT 8 0 ro 1 CL Velocity Ref Filtering Coefficient F1 UINT 16 16 rw TR 2 CL Velocity Ref Filtering Coefficient F2 UINT 16 32 rw TR 3 CL Velocity Fdb Filtering Coefficient F1 UINT 16 48 rw TR 4 CL Velocity Fdb Filtering Coefficient F2 UINT 16 64 rw TR DT2508 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Accuracy Threshold1 UINT 16 16 rw TR 2 CL Lock Accuracy Threshold2 UINT 16 32 rw TR DT2509 64 0 Number of Entries USINT 8 0 ro 1 CL Position Over Alarm Enable UINT 16 16 rw TR 2 CL Position Over Alarm Value UINT 16 32 rw TR 3 CL Position Over Alarm Time UINT 16 48 rw TR DT250A 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Current Dynamic Set Value1 UINT 16 16 rw TR 2 CL Lock Current Dynamic Set Value2 UINT 16 32 rw TR DT250B 64 0 Number of Entries USINT 8 0 ro 1 CL Stalled Home Set RetainTim UINT 16 16 rw TR 2 CL Stalled Home Set Current UINT 16 32 rw TR 3 CL Stalled Home Set Limit Value UINT 16 48 rw TR DT250C 48 0 Number of Entries USINT 8 0 ro 1 CL Lock Velocity Loop Set Enable UINT 16 16 rw TR 2 CL Lock Velocity Loop Set Limit UINT 16 32 rw TR DT250D 48 0 Number of Entries USINT 8 0 ro 1 CL LockB Algorithm Threshold 1 UINT 16 16 rw TR 2 CL LockB Algorithm Threshold 2 UINT 16 32 rw TR DT2702 64 0 Inputs Function USINT 8 0 ro 1 Inputs Function0 UINT 16 16 rw TR 2 Inputs Function1 UINT 16 32 rw TR 3 Inputs Function2 UINT 16 48 rw TR DT2703 64 0 Inputs Filter Time USINT 8 0 ro 1 Inputs Filter Time0 UINT 16 16 rw TR 2 Inputs Filter Time1 UINT 16 32 rw TR 3 Inputs Filter Time2 UINT 16 48 rw TR DT2705 32 0 Outputs Function USINT 8 0 ro 1 Outputs Function0 UINT 16 16 rw TR DT2707 160 0 Number of Entries USINT 8 0 ro 1 Fault List0 UINT 16 16 ro TR 2 Fault List1 UINT 16 32 ro TR 3 Fault List2 UINT 16 48 ro TR 4 Fault List3 UINT 16 64 ro TR 5 Fault List4 UINT 16 80 ro TR 6 Fault List5 UINT 16 96 ro TR 7 Fault List6 UINT 16 112 ro TR 8 Fault List7 UINT 16 128 ro TR 9 Fault List8 UINT 16 144 ro TR DT270A 48 0 Number of Entries USINT 8 0 ro 1 FUN Phase Memory Enable UINT 16 16 rw TR 2 FUN Phase Memory Time UINT 16 32 rw TR DT607D 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position limit UDINT 32 16 rw TR 2 Max position limit UDINT 32 48 rw TR DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw TR 2 Speed during search for zero UDINT 32 48 rw TR DT60FE 80 0 SubIndex 000 USINT 8 0 ro o 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device type UDINT 32 91010204 ro m #x1001 Error register USINT 8 ro T #x1008 Device name STRING(8) 64 ro o #x1009 Hardware version STRING(3) 24 ro o #x100A Software version STRING(3) 24 ro o #x1010 Save Parameter DT1010 144 ro #x1011 Recover Parameter DT1011 144 ro #x1018 Identity DT1018 144 ro #x10F1 Error Settings DT10F1 64 ro #x1600 CSP RxPDO1 DT160x 400 rw #x1601 PP RxPDO2 DT160x 400 rw #x1602 PV RxPDO3 DT160x 400 rw #x1603 HM RxPDO4 DT160x 400 rw #x1A00 CSP TxPDO1 DT1A0x 400 rw #x1A01 Touch TxPDO2 DT1A0x 400 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 rw #x1C13 SyncManager 3 assignment DT1C13 48 rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x2000 MSG Slave Alias UINT 16 rw TR #x2001 MSG Slave Alias Source UINT 16 rw TR #x2002 MSG Drive Soft Version DT2002 64 ro TR #x2003 MSG Synchronizing Cycle DT2003 64 ro TR #x2004 MSG Bus Voltage UINT 16 ro TR #x2005 MSG Real Current DT2005 64 ro TR #x2100 OC Control_Mode UINT 16 ro TR #x2101 OC Motor Direction UINT 16 rw TR #x2102 OC Motor Resolution UINT 16 rw TR #x2103 OC Motor type selection UINT 16 rw TR #x2104 OC OverRun Stop Mode UINT 16 rw TR #x2300 OP Peak Current UINT 16 rw TR #x2301 OP Standby Time DT2301 48 rw TR #x2302 OP PowerOn lock shaft time setting DT2302 48 rw TR #x2303 OP current loop gain DT2303 64 rw TR #x2304 OP Lock gain DT2304 64 rw TR #x2305 OP algorithm selection UINT 16 rw TR #x2306 OP Middle Frequency DT2306 96 rw TR #x2307 OP SelfAdjust Gain Set DT2307 96 rw TR #x2308 OP SelfAdjust Current Set DT2308 80 rw TR #x2500 CL Run Peak Current Set DT2500 48 rw TR #x2501 CL Lock Peak Current Set DT2501 48 rw TR #x2502 CL Current SoftBoot Time DT2502 48 rw TR #x2503 CL Current Loop Gain DT2503 48 rw TR #x2504 CL Velocity Loop Gain DT2504 48 rw TR #x2505 CL Position Loop Gain DT2505 48 rw TR #x2506 CL Lock Current Gain DT2506 48 rw TR #x2507 CL Velocity Filtering coefficient DT2507 80 rw TR #x2508 CL Lock Accuracy Threshold DT2508 48 rw TR #x2509 CL Position Over Alarm DT2509 64 rw TR #x250A CL Lock Current Dynamic Set DT250A 48 rw TR #x250B CL Stalled Home Set DT250B 64 rw TR #x250C CL Lock Velocity Loop Set DT250C 48 rw TR #x250D CL LockB Algorithm Threshold DT250D 48 rw TR #x250E CL Current Control Divisor UINT 16 rw TR #x250F CL Encoder Num UINT 16 rw TR #x2510 CL Arithmetic Select UINT 16 rw TR #x2700 FUN Physical Inputs Leve UINT 16 ro TR #x2701 FUN Inputs Polarity UINT 16 rw TR #x2702 FUN Inputs Function DT2702 64 rw TR #x2703 FUN Inputs Filter Time DT2703 64 rw TR #x2704 FUN Outputs Polarity UINT 16 rw TR #x2705 FUN Outputs Function DT2705 32 rw TR #x2706 FUN Fault Detect Configure UINT 16 rw TR #x2707 FUN Fault List DT2707 160 ro TR #x2708 FUN Clear Fault Record UINT 16 rw TR #x2709 FUN Clean Alarm UINT 16 rw TR #x270A FUN Phase Memory DT270A 48 rw TR #x270B FUN Break Ctrl Duty UINT 16 ro TR #x270C FUN External DIP UINT 16 rw TR #x603F Last Error Code UINT 16 ro T #x6040 Control word UINT 16 rw TR #x6041 Status word UINT 16 ro T #x605A Quick Stop UINT 16 rw TR #x6060 Operation Mode SINT 8 rw TR #x6061 Modes of Operation Display SINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Target Position DINT 32 rw TR #x607C Home offset DINT 32 rw TR #x607D Software position limit DT607D 80 SubIndex 000 #x02 Min position limit #x80000000 #x7FFFFFFF #x80000000 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro #x6080 Max motor speed UDINT 32 rw TR #x6081 Profile velocity UDINT 32 rw TR #x6082 Start velocity UDINT 32 rw TR #x6083 Profile acceleration UDINT 32 rw TR #x6084 Profile deceleration UDINT 32 rw TR #x6085 Quick Stop deceleration UDINT 32 rw TR #x6098 Homing Method SINT 08 rw TR #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw TR #x60B8 Touch probe control UINT 16 rw TR #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe pos1 pos value DINT 32 ro T #x60BB Touch probe pos1 neg value DINT 32 ro T #x60BC Touch probe pos2 pos value DINT 32 ro T #x60BD Touch probe pos2 neg value DINT 32 ro T #x60D5 Touch Probe 1 Positive Counter UINT 16 ro T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target Velocity DINT 32 rw TR #x6502 Support Mode UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CSP RxPDO1 #x1601 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6060 0 8 Operation Mode SINT #x1601 PP RxPDO2 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6081 0 32 Profile velocity UDINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1602 PV RxPDO2 #x1603 #x1601 #x6040 0 16 Control word UINT #x60FF 0 32 Target Velocity DINT #x6082 0 32 Start velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x6060 0 8 Operation Mode SINT #x1603 HM IO RxPDO4 #x1601 #x1602 #x6040 0 16 Control word UINT #x607C 0 32 Home offset DINT #x6099 1 32 Homing Max speeds UDINT #x6099 2 32 Homing Mix speeds UDINT #x609A 0 32 Homing acceleration UDINT #x6060 0 8 Operation Mode SINT #x6098 0 8 Homing Method SINT #x1a00 CSP TxPDO1 #x603f 0 16 Last Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x606C 0 32 Actual Velocity DINT #x60FD 0 32 Digital inputs UDINT #x6061 0 8 Modes of Operation Display SINT #x1a01 Touch TxPDO1 #x60B9 #x00 16 Touch probe status UINT #x60BA #x00 32 Touch probe pos1 pos value DINT #x60BB #x0 32 Touch probe pos1 neg value DINT #x60BC #x0 32 Touch probe pos2 pos value DINT #x60BD #x0 32 Touch probe pos2 neg value DINT PS #x6060 0 08 Modes of Operation Display DC DC-Synchron #x300 0 0 0 Free Run Free Run #x0 2048 003c0000ff0100000000 0010000100120001 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