laurent@2045:  laurent@2045: laurent@2045: laurent@2045: #x00000625 laurent@2045: HIGEN Motor Co., Ltd. laurent@2045: 424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: Drives laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7001 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7002 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7004 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7005 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: EDA7010 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7015 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7020 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7030 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: EDA7045 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7075 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7110 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: EDA7150 CoE Drive laurent@2045: laurent@2045: http://www.higenmotor.com/info/infodata03.asp?exec=3 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Drive laurent@2045: laurent@2045: 402 laurent@2045: laurent@2045: laurent@2045: laurent@2045: BOOLEAN laurent@2045: 1 laurent@2045: laurent@2045: laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Vendor ID laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Product code laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1600 laurent@2045: 1008 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: 1st mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: 2nd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: 3rd mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 80 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: 4th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 112 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: 5th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 144 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: 6th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 176 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 7 laurent@2045: 7th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 208 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: 8th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 240 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: 9th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 272 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: 10th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 304 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: 11th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 336 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: 12th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 368 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: 13th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 400 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 14 laurent@2045: 14th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 432 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 15 laurent@2045: 15th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 464 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 16 laurent@2045: 16th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 496 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 17 laurent@2045: 17th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 528 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 18 laurent@2045: 18th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 560 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 19 laurent@2045: 19th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 592 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 20 laurent@2045: 20th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 624 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 21 laurent@2045: 21th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 656 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 22 laurent@2045: 22th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 688 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 23 laurent@2045: 23th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 720 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 24 laurent@2045: 24th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 752 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 25 laurent@2045: 25th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 784 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 26 laurent@2045: 26th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 816 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 27 laurent@2045: 27th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 848 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 28 laurent@2045: 28th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 880 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 29 laurent@2045: 29th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 912 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 30 laurent@2045: 30th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 944 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 31 laurent@2045: 31th mapping data laurent@2045: UDINT laurent@2045: 32 laurent@2045: 976 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C12 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Assign1 laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Assign2 laurent@2045: UINT laurent@2045: 16 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Assign3 laurent@2045: UINT laurent@2045: 16 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Assign4 laurent@2045: UINT laurent@2045: 16 laurent@2045: 64 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Sync mode laurent@2045: UINT laurent@2045: 16 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 32 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 3 laurent@2045: Shift time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 64 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 4 laurent@2045: Sync modes supported laurent@2045: UINT laurent@2045: 16 laurent@2045: 80 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 5 laurent@2045: Minimum cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 96 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 6 laurent@2045: Calc and copy time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 128 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 8 laurent@2045: Get cycle time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 192 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 9 laurent@2045: Delay time laurent@2045: UDINT laurent@2045: 32 laurent@2045: 224 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 10 laurent@2045: Sync0 time laurent@2045: UINT laurent@2045: 16 laurent@2045: 240 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 11 laurent@2045: Cycle exceeded counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 256 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 12 laurent@2045: SM event missed counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 272 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 13 laurent@2045: Shift too short counter laurent@2045: UINT laurent@2045: 16 laurent@2045: 288 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 32 laurent@2045: Sync error laurent@2045: UINT laurent@2045: 16 laurent@2045: 304 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Minimum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Muximum position limit laurent@2045: DINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Speed during search for switch laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2 laurent@2045: Speed during search for zero laurent@2045: UDINT laurent@2045: 32 laurent@2045: 48 laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: 0 laurent@2045: largest sub-index supported laurent@2045: USINT laurent@2045: 8 laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1 laurent@2045: Physical output laurent@2045: UDINT laurent@2045: 32 laurent@2045: 16 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1000 laurent@2045: Device type laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 92010200 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1001 laurent@2045: Error register laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x100A laurent@2045: Manufacturer Software Version laurent@2045: STRING(0) laurent@2045: 0 laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1018 laurent@2045: Identity object laurent@2045: DT1018 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Vendor ID laurent@2045: laurent@2045: 00000625 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Product code laurent@2045: laurent@2045: 69686555 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1600 laurent@2045: 1st receive PDO mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004060 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: 1st transmit PDO-Mapping laurent@2045: DT1600 laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 1st mapping data laurent@2045: laurent@2045: 10004160 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C12 laurent@2045: RxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 0016 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C13 laurent@2045: TxPDO assign laurent@2045: DT1C12 laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign1 laurent@2045: laurent@2045: 001A laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign2 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign3 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Assign4 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C32 laurent@2045: SM output parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 400D0300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1C33 laurent@2045: SM input parameter laurent@2045: DT1C32 laurent@2045: 304 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 32 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync mode laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift time laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync modes supported laurent@2045: laurent@2045: 0740 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum cycle time laurent@2045: laurent@2045: 20A10700 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Calc and copy time laurent@2045: laurent@2045: 24F40000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Get cycle time laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Delay time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync0 time laurent@2045: laurent@2045: 30750000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Cycle exceeded counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: SM event missed counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Shift too short counter laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Sync error laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2000 laurent@2045: Drive ID (P01-11) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2001 laurent@2045: Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 09 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2002 laurent@2045: Pulse Out Rate (P01-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00020000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2003 laurent@2045: Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0100 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2004 laurent@2045: ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2010 laurent@2045: Mode Change Time (x0.1ms) (P02-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2011 laurent@2045: Internal CCW Speed Limit (x0.1rpm) (P02-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2012 laurent@2045: Internal CW Speed Limit (x0.1rpm) (P02-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2013 laurent@2045: Brake Speed (x0.1rpm) (P02-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000001F4 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2014 laurent@2045: Brake Time (x0.1ms) (P02-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000032 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2015 laurent@2045: Servo OFF Delay Time (x0.1ms) (P02-30) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2016 laurent@2045: Notch Filter 1 Mode (P02-10) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2017 laurent@2045: Notch Filter 1 Frequency (x0.1Hz) (P02-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000BB8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2018 laurent@2045: Notch Filter 1 Bandwidth (x0.1%) (P02-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2019 laurent@2045: Notch Filter 2 Mode (P02-13) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201A laurent@2045: Notch Filter 2 Frequency (x0.1Hz) (P02-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001388 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201B laurent@2045: Notch Filter 2 Bandwidth (x0.1%) (P02-15) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003B6 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201C laurent@2045: Torque Filter Time Constant (x0.1ms) (P02-16) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201D laurent@2045: Auto Tuning Mode (P02-17) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201E laurent@2045: System Response (P02-18) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x201F laurent@2045: Inertia Ratio (x0.1) (P02-19) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000014 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2020 laurent@2045: Gain Adjust Speed 1 (x0.1rpm) (P02-20) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00001F40 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2021 laurent@2045: Gain Adjust Speed 2 (x0.1rpm) (P02-21) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2022 laurent@2045: Gain Adjust Torque 1 (x0.1%) (P02-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2023 laurent@2045: Gain Adjust Torque 2 (x0.1%) (P02-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000005DC laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2024 laurent@2045: Contact Gain Time Constant (x0.1ms) (P02-24) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2025 laurent@2045: Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 00000003 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2026 laurent@2045: Parameter Initialization (P02-29) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2030 laurent@2045: Speed Gain Mode (P03-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2031 laurent@2045: PI-IP Control Ratio (x0.1%) (P03-02) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 000003E8 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2032 laurent@2045: Friction Compensation Torque Ratio (x0.1%) (P03-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2033 laurent@2045: Load Compensation Torque Ratio (x0.1%) (P03-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2034 laurent@2045: Speed Control Loop Gain 1 (x0.1Hz) (P03-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2035 laurent@2045: Speed Control Time Constant 1 (x0.1ms) (P03-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2036 laurent@2045: Speed Control Loop Gain 2 (x0.1Hz) (P03-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2037 laurent@2045: Speed Control Time Constant 2 (x0.1ms) (P03-08) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2038 laurent@2045: S-Mode Time Constant (x0.1ms) (P03-12) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2039 laurent@2045: Zero Velocity Window (x0.1rpm) (P03-14) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000064 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203A laurent@2045: Speed Feedback Time Constant (x0.1ms) (P03-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203B laurent@2045: Zero Velocity Vibration Control (x0.1rpm) (P03-23) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x203C laurent@2045: Feedforward Torque Mode (P03-24) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2040 laurent@2045: Position Gain Mode (P05-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2041 laurent@2045: Position Feedforward Ratio (x0.1%) (P05-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2042 laurent@2045: Position Control P Gain 1 (x0.1Hz) (P05-05) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2043 laurent@2045: Position Control P Gain 2 (x0.1Hz) (P05-06) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2044 laurent@2045: Position PI-P Pulse Error (ppr) (P05-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2045 laurent@2045: Position Command Time Constant (x0.1ms) (P05-10) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2046 laurent@2045: Position Control Feedforward Time Constant (x0.1ms) (P05-11) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2047 laurent@2045: Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2048 laurent@2045: Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000001 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2049 laurent@2045: Position Control Bias Speed Compensation (x0.1rpm) (P05-20) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204A laurent@2045: Position Control Bias Pulse Band (ppr) (P05-21) laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x204B laurent@2045: Position Control Backlash Pulse Compensation (ppr) (P05-22) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2050 laurent@2045: Torque S-Mode Time Constant (x0.1ms) (P06-04) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2070 laurent@2045: Monitor 1 Select (P09-01) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2071 laurent@2045: Monitor 1 Absolute (P09-02) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2072 laurent@2045: Monitor 1 Scale (x0.1) (P09-03) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2073 laurent@2045: Monitor 1 Offset (mV) (P09-04) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2074 laurent@2045: Monitor 2 Select (P09-05) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2075 laurent@2045: Monitor 2 Absolute (P09-06) laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2076 laurent@2045: Monitor 2 Scale (x0.1) (P09-07) laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 0000000A laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x2077 laurent@2045: Monitor 2 Offset (mV) (P09-08) laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x603F laurent@2045: Error Code laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6040 laurent@2045: Controlword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: m laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6041 laurent@2045: Statusword laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605A laurent@2045: Quick Stop Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605C laurent@2045: Disable Operation Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x605E laurent@2045: Fault Reaction Option Code laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0300 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: Modes Of Operation laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: Modes Of Operation Display laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: Position Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6065 laurent@2045: Following Error Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 404B4C00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6067 laurent@2045: Position Window laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: F4010000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606C laurent@2045: Velocity Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x606D laurent@2045: Velocity Window laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: 3200 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: Target Torque laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: Torque Actual Value laurent@2045: INT laurent@2045: 16 laurent@2045: laurent@2045: 0000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: Target Position laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607C laurent@2045: Home Offset laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607D laurent@2045: Software Position Limit laurent@2045: DT607D laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Minimum Software position limit laurent@2045: laurent@2045: 00000080 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Muximum Software position limit laurent@2045: laurent@2045: ffffff7f laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x607E laurent@2045: Polarity laurent@2045: USINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6083 laurent@2045: Profile Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: FFFFFFFF laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6084 laurent@2045: Profile Deceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6098 laurent@2045: Homing Method laurent@2045: SINT laurent@2045: 8 laurent@2045: laurent@2045: 00 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6099 laurent@2045: Homing Speeds laurent@2045: DT6099 laurent@2045: 80 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 02 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for switch laurent@2045: laurent@2045: 55550300 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Speed during search for zero laurent@2045: laurent@2045: 88080000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x609A laurent@2045: Homing Acceleration laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: ffffffff laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E0 laurent@2045: Positive Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60E1 laurent@2045: Negative Torque Limit laurent@2045: UINT laurent@2045: 16 laurent@2045: laurent@2045: E803 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60F4 laurent@2045: Following Error Actual Value laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FD laurent@2045: Digital Inputs laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FE laurent@2045: Digital Outputs laurent@2045: DT60FE laurent@2045: 48 laurent@2045: laurent@2045: laurent@2045: largest sub-index supported laurent@2045: laurent@2045: 01 laurent@2045: laurent@2045: laurent@2045: laurent@2045: Physical output laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: Target Velocity laurent@2045: DINT laurent@2045: 32 laurent@2045: laurent@2045: 00000000 laurent@2045: laurent@2045: laurent@2045: rw laurent@2045: o laurent@2045: RT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x6502 laurent@2045: Supported Drive Mode laurent@2045: UDINT laurent@2045: 32 laurent@2045: laurent@2045: 80030300 laurent@2045: laurent@2045: laurent@2045: ro laurent@2045: o laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: Outputs laurent@2045: Inputs laurent@2045: MBoxOut laurent@2045: MBoxIn laurent@2045: Outputs laurent@2045: Inputs laurent@2045: Drives laurent@2045: laurent@2045: #x1600 laurent@2045: Receive PDO mapping laurent@2045: laurent@2045: #x6040 laurent@2045: 0 laurent@2045: 16 laurent@2045: Controlword laurent@2045: object 0x6040:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x607A laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Position laurent@2045: object 0x607A:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x60FF laurent@2045: 0 laurent@2045: 32 laurent@2045: Target Velocity laurent@2045: object 0x60FF:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6071 laurent@2045: 0 laurent@2045: 16 laurent@2045: Target Torque laurent@2045: object 0x6071:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6060 laurent@2045: 0 laurent@2045: 8 laurent@2045: Mode of Operation laurent@2045: object 0x6060:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: #x1A00 laurent@2045: Transmit PDO mapping laurent@2045: laurent@2045: #x6041 laurent@2045: 0 laurent@2045: 16 laurent@2045: Statusword laurent@2045: object 0x6041:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6064 laurent@2045: 0 laurent@2045: 32 laurent@2045: Position actual value laurent@2045: object 0x6064:0 laurent@2045: DINT laurent@2045: laurent@2045: laurent@2045: #x6077 laurent@2045: 0 laurent@2045: 16 laurent@2045: Torque actual value laurent@2045: object 0x6077:0 laurent@2045: UINT laurent@2045: laurent@2045: laurent@2045: #x6061 laurent@2045: 0 laurent@2045: 8 laurent@2045: Modes of operation display laurent@2045: object 0x6061:0 laurent@2045: USINT laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: laurent@2045: DC laurent@2045: DC-Synchron laurent@2045: #x700 laurent@2045: 1000 laurent@2045: 0 laurent@2045: 50000 laurent@2045: 0 laurent@2045: laurent@2045: laurent@2045: Free-run laurent@2045: DC unused laurent@2045: #x0000 laurent@2045: laurent@2045: laurent@2045: laurent@2045: 2048 laurent@2045: 080C0244320000000000 laurent@2045: laurent@2045: DRIVE laurent@2045: laurent@2045: laurent@2045: laurent@2045: