diff -r c44692b53736 -r 4d7cee25a474 tests/ethercat/wago_sanyo/ethercat@etherlab/modules/sanyo.xml --- a/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/sanyo.xml Tue Oct 02 15:56:09 2018 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,9465 +0,0 @@ - - - - #x1b9 - Sanyodenki Co., Ltd. - 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000010000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFCFFCCCFCFCFCFFFFCFFCFCFFCFCFCFFFCFFCFCFFCFCFCFFCFCFCFCFFFCFCFCFCFCFCCCFFFCCCCCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCCCFCFCFCFFCFFFFFFCFCFCFCFCCFFFFCCCFCCCFCCFCFFFFCFFFCFCFCFFCFFFFCCCFCCCFCFFCFFFFFFFFFFFFFFFFFFFF - - - - - Drive - Drives - DRIVE - - - - - SanyoDenki RS2 EtherCAT - - - - - - - - Drive - - 402 - - - - BOOLEAN - 1 - - - STRING(0) - 0 - - - SINT - 8 - - - USINT - 8 - - - INT - 16 - - - UINT - 16 - - - DINT - 32 - - - UDINT - 32 - - - DT1010 - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - - 1 - Save all parameters - UDINT - 32 - 16 - - rw - o - - - - - DT1018 - 144 - - 0 - largest sub-index supported - USINT - 8 - 0 - - - 1 - Vendor ID - UDINT - 32 - 16 - - ro - o - - - - 2 - Product code - UDINT - 32 - 48 - - ro - o - - - - 3 - Revision - UDINT - 32 - 80 - - ro - o - - - - 4 - Serial number - UDINT - 32 - 112 - - ro - o - - - - - DT1400 - 51 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 6 - RxPDO Excluded PDOs - UDINT - 32 - 16 - - rw - o - - - - 7 - RxPDO state - BOOLEAN - 1 - 48 - - ro - o - RT - - - - 8 - RxPDO contrall - BOOLEAN - 1 - 49 - - rw - o - RT - - - - 9 - RxPDO toggle - BOOLEAN - 1 - 50 - - rw - o - RT - - - - - DT1600 - 1008 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - 1st mapping data - UDINT - 32 - 16 - - rw - o - - - - 2 - 2nd mapping data - UDINT - 32 - 48 - - rw - o - - - - 3 - 3rd mapping data - UDINT - 32 - 80 - - rw - o - - - - 4 - 4th mapping data - UDINT - 32 - 112 - - rw - o - - - - 5 - 5th mapping data - UDINT - 32 - 144 - - rw - o - - - - 6 - 6th mapping data - UDINT - 32 - 176 - - rw - o - - - - 7 - 7th mapping data - UDINT - 32 - 208 - - rw - o - - - - 8 - 8th mapping data - UDINT - 32 - 240 - - rw - o - - - - 9 - 9th mapping data - UDINT - 32 - 272 - - rw - o - - - - 10 - 10th mapping data - UDINT - 32 - 304 - - rw - o - - - - 11 - 11th mapping data - UDINT - 32 - 336 - - rw - o - - - - 12 - 12th mapping data - UDINT - 32 - 368 - - rw - o - - - - 13 - 13th mapping data - UDINT - 32 - 400 - - rw - o - - - - 14 - 14th mapping data - UDINT - 32 - 432 - - rw - o - - - - 15 - 15th mapping data - UDINT - 32 - 464 - - rw - o - - - - 16 - 16th mapping data - UDINT - 32 - 496 - - rw - o - - - - 17 - 17th mapping data - UDINT - 32 - 528 - - rw - o - - - - 18 - 18th mapping data - UDINT - 32 - 560 - - rw - o - - - - 19 - 19th mapping data - UDINT - 32 - 592 - - rw - o - - - - 20 - 20th mapping data - UDINT - 32 - 624 - - rw - o - - - - 21 - 21th mapping data - UDINT - 32 - 656 - - rw - o - - - - 22 - 22th mapping data - UDINT - 32 - 688 - - rw - o - - - - 23 - 23th mapping data - UDINT - 32 - 720 - - rw - o - - - - 24 - 24th mapping data - UDINT - 32 - 752 - - rw - o - - - - 25 - 25th mapping data - UDINT - 32 - 784 - - rw - o - - - - 26 - 26th mapping data - UDINT - 32 - 816 - - rw - o - - - - 27 - 27th mapping data - UDINT - 32 - 848 - - rw - o - - - - 28 - 28th mapping data - UDINT - 32 - 880 - - rw - o - - - - 29 - 29th mapping data - UDINT - 32 - 912 - - rw - o - - - - 30 - 30th mapping data - UDINT - 32 - 944 - - rw - o - - - - 31 - 31th mapping data - UDINT - 32 - 976 - - rw - o - - - - - DT1800 - 50 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 6 - TxPDO Excluded PDOs - UDINT - 32 - 16 - - rw - o - - - - 7 - TxPDO state - BOOLEAN - 1 - 48 - - ro - o - RT - - - - 9 - TxPDO toggle - BOOLEAN - 1 - 49 - - ro - o - RT - - - - - DT1C00 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - SyncManager0 communication type - USINT - 8 - 16 - - ro - o - - - - 2 - SyncManager1 communication type - USINT - 8 - 24 - - ro - o - - - - 3 - SyncManager2 communication type - USINT - 8 - 32 - - ro - o - - - - 4 - SyncManager3 communication type - USINT - 8 - 40 - - ro - o - - - - 5 - SyncManager4 communication type - USINT - 8 - 48 - - ro - o - - - - 6 - SyncManager5 communication type - USINT - 8 - 56 - - ro - o - - - - 7 - SyncManager6 communication type - USINT - 8 - 64 - - ro - o - - - - 8 - SyncManager7 communication type - USINT - 8 - 72 - - ro - o - - - - - DT1C10 - 16 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - - DT1C12 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Assign1 - UINT - 16 - 16 - - rw - o - - - - 2 - Assign2 - UINT - 16 - 32 - - rw - o - - - - 3 - Assign3 - UINT - 16 - 48 - - rw - o - - - - 4 - Assign4 - UINT - 16 - 64 - - rw - o - - - - - DT1C32 - 272 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Sync mode - UINT - 16 - 16 - - rw - o - - - - 2 - Cycle time - UDINT - 32 - 32 - - rw - o - - - - 3 - Shift time - UDINT - 32 - 64 - - ro - o - - - - 4 - Sync modes supported - UINT - 16 - 80 - - ro - o - - - - 5 - Minimum cycle time - UDINT - 32 - 96 - - ro - o - - - - 6 - Calc and copy time - UDINT - 32 - 128 - - ro - o - - - - 8 - Command - UINT - 16 - 160 - - rw - o - - - - 9 - Delay time - UDINT - 32 - 176 - - ro - o - - - - 11 - Cycle time too small - UINT - 16 - 208 - - ro - o - - - - 12 - SM event missed - UINT - 16 - 224 - - ro - o - - - - 13 - Shift too short counter - UINT - 16 - 240 - - ro - o - - - - 32 - Sync error - UINT - 16 - 256 - - ro - o - RT - - - - - DT2002 - 40 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Tuning mode - USINT - 8 - 16 - - rw - o - - - - 2 - Tuning feature - USINT - 8 - 24 - - rw - o - - - - 3 - Tuning performance - USINT - 8 - 32 - - rw - o - - - - - DT2005 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Kp1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Kp2 - UINT - 16 - 32 - - rw - o - - - - 3 - Kp3 - UINT - 16 - 48 - - rw - o - - - - 4 - Kp4 - UINT - 16 - 64 - - rw - o - - - - - DT2006 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Tpi1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Tpi2 - UINT - 16 - 32 - - rw - o - - - - 3 - Tpi3 - UINT - 16 - 48 - - rw - o - - - - 4 - Tpi4 - UINT - 16 - 64 - - rw - o - - - - - DT2008 - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Feed forward gain - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Feed forward filter - UINT - 16 - 32 - - rw - o - - - - - DT200B - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Kvp1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Kvp2 - UINT - 16 - 32 - - rw - o - - - - 3 - Kvp3 - UINT - 16 - 48 - - rw - o - - - - 4 - Kvp4 - UINT - 16 - 64 - - rw - o - - - - - DT200C - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Tvi1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Tvi2 - UINT - 16 - 32 - - rw - o - - - - 3 - Tvi3 - UINT - 16 - 48 - - rw - o - - - - 4 - Tvi4 - UINT - 16 - 64 - - rw - o - - - - - DT200D - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Jrat1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Jrat2 - UINT - 16 - 32 - - rw - o - - - - 3 - Jrat3 - UINT - 16 - 48 - - rw - o - - - - 4 - Jrat4 - UINT - 16 - 64 - - rw - o - - - - - DT200F - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Acceleration feedback Gain - INT - 16 - 16 - - rw - o - - - - 2 - Acceleration feedback filter - UINT - 16 - 32 - - rw - o - - - - - DT2011 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Tcfil1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Tcfil2 - UINT - 16 - 32 - - rw - o - - - - 3 - Tcfil3 - UINT - 16 - 48 - - rw - o - - - - 4 - Tcfil4 - UINT - 16 - 64 - - rw - o - - - - - DT2012 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Supfrq1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Supfrq2 - UINT - 16 - 32 - - rw - o - - - - 3 - Supfrq3 - UINT - 16 - 48 - - rw - o - - - - 4 - Supfrq4 - UINT - 16 - 64 - - rw - o - - - - - DT2014 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Tcnfil A - UINT - 16 - 16 - - rw - o - - - - 2 - Tcnfil B - UINT - 16 - 32 - - rw - o - - - - 3 - Tcnfil C - UINT - 16 - 48 - - rw - o - - - - 4 - Tcnfil D - UINT - 16 - 64 - - rw - o - - - - - DT2015 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Acceleration compensation - INT - 16 - 16 - - rw - o - RT - - - - 2 - Deceleration compensation - INT - 16 - 32 - - rw - o - - - - 3 - Velocity command, Low-pass filter - UINT - 16 - 48 - - rw - o - - - - 4 - Velocity command threshold - UINT - 16 - 64 - - rw - o - - - - - DT2016 - 120 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Observer characteristic - USINT - 8 - 16 - - rw - o - - - - 2 - Compention gain - UINT - 16 - 24 - - rw - o - - - - 3 - Output filter - UINT - 16 - 40 - - rw - o - - - - 4 - Notch filter - UINT - 16 - 56 - - rw - o - - - - 5 - Load inertia rasio - UINT - 16 - 72 - - rw - o - - - - 6 - loop proportional gain - UINT - 16 - 88 - - rw - o - - - - 7 - Load torque filter - UINT - 16 - 104 - - rw - o - - - - - DT2017 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Km1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Km2 - UINT - 16 - 32 - - rw - o - - - - 3 - Km3 - UINT - 16 - 48 - - rw - o - - - - 4 - Km4 - UINT - 16 - 64 - - rw - o - - - - - DT2019 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Anrfrq1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Anrfrq2 - UINT - 16 - 32 - - rw - o - - - - 3 - Anrfrq3 - UINT - 16 - 48 - - rw - o - - - - 4 - Anrfrq4 - UINT - 16 - 64 - - rw - o - - - - - DT201A - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Resfrq1 - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Resfrq2 - UINT - 16 - 32 - - rw - o - - - - 3 - Resfrq3 - UINT - 16 - 48 - - rw - o - - - - 4 - Resfrq4 - UINT - 16 - 64 - - rw - o - - - - - DT2023 - 40 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Analog monitor1 - USINT - 8 - 16 - - rw - o - - - - 2 - Analog monitor2 - USINT - 8 - 24 - - rw - o - - - - 3 - Analog monitor output polarity - USINT - 8 - 32 - - rw - o - - - - - DT202D - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Filter A, Low friquency phase delay improvement - USINT - 8 - 16 - - rw - o - - - - 2 - Filter B, Depth selection - USINT - 8 - 24 - - rw - o - - - - 3 - Filter C, Depth selection - USINT - 8 - 32 - - rw - o - - - - 4 - Filter D, Depth selection - USINT - 8 - 40 - - rw - o - - - - - DT20F0 - 64 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Limit behavior - USINT - 8 - 16 - - rw - o - - - - 2 - Positioning method - USINT - 8 - 24 - - rw - o - - - - 3 - Inposition / Position deviation monitor - USINT - 8 - 32 - - ro - o - - - - 4 - Velocity window selection - USINT - 8 - 40 - - ro - o - - - - 5 - Diviation clear selection - USINT - 8 - 48 - - ro - o - - - - 6 - Torque attainment select - USINT - 8 - 56 - - ro - o - - - - - DT20F1 - 104 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Encoder clear fanction - USINT - 8 - 16 - - rw - o - - - - 2 - Incremental encoder, digital filter - USINT - 8 - 24 - - rw - o - - - - 3 - External pulse encoder, digital filter - USINT - 8 - 32 - - rw - o - - - - 4 - External pulse encoder polarity selection - USINT - 8 - 40 - - rw - o - - - - 5 - CS offset - UINT - 16 - 48 - - rw - o - - - - 6 - CS counter offset - UINT - 16 - 64 - - rw - o - - - - 7 - Linear encoder porality selection - USINT - 8 - 80 - - rw - o - - - - 8 - Extation command freq. setting value - UINT - 16 - 88 - - rw - o - - - - - DT20F2 - 56 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Main power detection - USINT - 8 - 16 - - rw - o - - - - 2 - Velocity control detection - USINT - 8 - 24 - - rw - o - - - - 3 - Velocity feed back detection - USINT - 8 - 32 - - rw - o - - - - 4 - Frame error filter - USINT - 8 - 40 - - rw - o - - - - 5 - Comunication time out filter - USINT - 8 - 48 - - rw - o - - - - - DT20F3 - 32 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Model control characteristic - USINT - 8 - 16 - - rw - o - - - - 2 - Position loop encoder selection - USINT - 8 - 24 - - rw - o - - - - - DT20F8 - 64 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Positive Over-Travel - USINT - 8 - 16 - - rw - o - - - - 2 - Negative Over-Travel - USINT - 8 - 24 - - rw - o - - - - 3 - External error input - USINT - 8 - 32 - - rw - o - - - - 4 - Main powor forced discharge - USINT - 8 - 48 - - rw - o - - - - 5 - Emergency stop - USINT - 8 - 56 - - rw - o - - - - 6 - Magnetic pole position presumption - USINT - 8 - 64 - - rw - o - - - - - DT20F9 - 40 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Output1 function - USINT - 8 - 16 - - rw - o - - - - 2 - Output2 function - USINT - 8 - 24 - - rw - o - - - - 3 - Output3 function - USINT - 8 - 32 - - rw - o - - - - - DT20FD - 40 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Main power input type - USINT - 8 - 16 - - rw - o - - - - 2 - Regenerative resistor selection - USINT - 8 - 24 - - rw - o - - - - 3 - Setup software, communication baud rate - USINT - 8 - 32 - - rw - o - - - - - DT20FF - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Resolution setting - UINT - 16 - 16 - - rw - o - - - - 2 - Encode type - UINT - 16 - 32 - - rw - o - - - - 3 - External encoder resolution - UDINT - 32 - 48 - - rw - o - - - - - DT2101 - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Error 1 - USINT - 8 - 16 - - ro - o - RT - - - - 2 - Error 2 - USINT - 8 - 24 - - ro - o - RT - - - - 3 - Error 3 - USINT - 8 - 32 - - ro - o - RT - - - - 4 - Error 4 - USINT - 8 - 40 - - ro - o - RT - - - - - DT2102 - 272 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - now monitor - UDINT - 32 - 16 - - ro - o - - - - 2 - 1st latest - UDINT - 32 - 48 - - ro - o - - - - 3 - 2nd latest - UDINT - 32 - 80 - - ro - o - - - - 4 - 3rd latest - UDINT - 32 - 112 - - ro - o - - - - 5 - 4th latest - UDINT - 32 - 144 - - ro - o - - - - 6 - 5th latest - UDINT - 32 - 176 - - ro - o - - - - 7 - 6th latest - UDINT - 32 - 208 - - ro - o - - - - 8 - 7th latest - UDINT - 32 - 240 - - ro - o - - - - - DT2103 - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Warning monitor - UINT - 16 - 16 - - ro - o - RT - - - - 2 - Warning mask - UINT - 16 - 32 - - rw - o - - - - - DT2104 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Actual Kp - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Actual Tpi - UINT - 16 - 32 - - rw - o - RT - - - - 3 - Actual Kvp - UINT - 16 - 48 - - rw - o - RT - - - - 4 - Actual Tvi - UINT - 16 - 64 - - rw - o - RT - - - - 5 - Actual Jrat - UINT - 16 - 80 - - rw - o - RT - - - - 6 - Actual Tcfil - UINT - 16 - 96 - - rw - o - RT - - - - 7 - Actual MKm - UINT - 16 - 112 - - rw - o - RT - - - - - DT2108 - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Motor operation rate - UINT - 16 - 16 - - rw - o - RT - - - - 2 - Predicted motor operating - UINT - 16 - 32 - - rw - o - RT - - - - - DT2110 - 112 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - 1st latest - DINT - 32 - 16 - - ro - o - RT - - - - 2 - 2nd latest - DINT - 32 - 48 - - ro - o - RT - - - - 3 - 3rd latest - DINT - 32 - 80 - - ro - o - RT - - - - - DT2112 - 64 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - 1st latest - INT - 16 - 16 - - ro - o - RT - - - - 2 - 2nd latest - INT - 16 - 32 - - ro - o - RT - - - - 3 - 3rd latest - INT - 16 - 48 - - ro - o - RT - - - - - DT607B - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - - 1 - Minimum position limit - DINT - 32 - 16 - - rw - o - - - - 2 - Maximum position limit - DINT - 32 - 48 - - rw - o - - - - - DT607D - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Minimum position limit - DINT - 32 - 16 - - rw - o - - - - 2 - Muximum position limit - DINT - 32 - 48 - - rw - o - - - - - DT6099 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - - 1 - Speed during search for switch - UDINT - 32 - 16 - - rw - o - - - - 2 - Speed during search for zero - UDINT - 32 - 48 - - rw - o - - - - - DT60C2 - 32 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Interpolation time period value - USINT - 8 - 16 - - rw - o - - - - 2 - Interpolation time index - SINT - 8 - 24 - - rw - o - - - - - DT60E3 - 384 - - 0 - largest sub-index supported - USINT - 8 - 0 - - - 1 - 1st supported homing method - UINT - 16 - 16 - - ro - o - - - - 2 - 2nd supported homing method - UINT - 16 - 32 - - ro - o - - - - 3 - 3rd supported homing method - UINT - 16 - 48 - - ro - o - - - - 4 - 4th supported homing method - UINT - 16 - 64 - - ro - o - - - - 5 - 5th supported homing method - UINT - 16 - 80 - - ro - o - - - - 6 - 6th supported homing method - UINT - 16 - 96 - - ro - o - - - - 7 - 7th supported homing method - UINT - 16 - 112 - - ro - o - - - - 8 - 8th supported homing method - UINT - 16 - 128 - - ro - o - - - - 9 - 9th supported homing method - UINT - 16 - 144 - - ro - o - - - - 10 - 10th supported homing method - UINT - 16 - 160 - - ro - o - - - - 11 - 11th supported homing method - UINT - 16 - 176 - - ro - o - - - - 12 - 12th supported homing method - UINT - 16 - 192 - - ro - o - - - - 13 - 13th supported homing method - UINT - 16 - 208 - - ro - o - - - - 14 - 14th supported homing method - UINT - 16 - 224 - - ro - o - - - - 15 - 15th supported homing method - UINT - 16 - 240 - - ro - o - - - - 16 - 16th supported homing method - UINT - 16 - 256 - - ro - o - - - - 17 - 17th supported homing method - UINT - 16 - 272 - - ro - o - - - - 18 - 18th supported homing method - UINT - 16 - 288 - - ro - o - - - - 19 - 19th supported homing method - UINT - 16 - 304 - - ro - o - - - - 20 - 20th supported homing method - UINT - 16 - 320 - - ro - o - - - - 21 - 21th supported homing method - UINT - 16 - 336 - - ro - o - - - - 22 - 22th supported homing method - UINT - 16 - 352 - - ro - o - - - - 23 - 23th supported homing method - UINT - 16 - 368 - - ro - o - - - - - DT60FE - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Physical output - UDINT - 32 - 16 - - ro - o - RT - - - - - - - #x1000 - Device type - UDINT - 32 - - 92010200 - - - ro - m - - - - #x1001 - Error register - USINT - 8 - - 00 - - - ro - m - - - - #x1008 - Manufacturer device name - STRING(0) - 0 - - 102R - - - ro - o - - - - #x1009 - Manufacturer hardware version - STRING(0) - 0 - - ro - o - - - - #x100a - Manufacturer software version - STRING(0) - 0 - - ro - o - - - - #x1010 - Store parameters - DT1010 - 32 - - - largest sub-index supported - - 01 - - - - Save all parameters - - 00000000 - - - - - rw - o - - - - #x1018 - Identity object - DT1018 - 32 - - - largest sub-index supported - - 04 - - - - Vendor ID - - b9010000 - - - - Product code - - 02000000 - - - - Revision - - 00000000 - - - - Serial number - - 00000000 - - - - - ro - m - - - - #x1400 - 1st RxPDO parameter - DT1400 - 51 - - - largest sub-index supported - - 09 - - - - RxPDO Excluded PDOs - - 00000000 - - - - RxPDO state - - 00 - - - - RxPDO contrall - - 00 - - - - RxPDO toggle - - 00 - - - - - rw - o - - - - #x1401 - 2nd RxPDO parameter - DT1400 - 51 - - - largest sub-index supported - - 09 - - - - RxPDO Excluded PDOs - - 00000000 - - - - RxPDO state - - 00 - - - - RxPDO contrall - - 00 - - - - RxPDO toggle - - 00 - - - - - rw - o - - - - #x1402 - 3rd RxPDO parameter - DT1400 - 51 - - - largest sub-index supported - - 09 - - - - RxPDO Excluded PDOs - - 00000000 - - - - RxPDO state - - 00 - - - - RxPDO contrall - - 00 - - - - RxPDO toggle - - 00 - - - - - rw - o - - - - #x1403 - 4th RxPDO parameter - DT1400 - 51 - - - largest sub-index supported - - 09 - - - - RxPDO Excluded PDOs - - 00000000 - - - - RxPDO state - - 00 - - - - RxPDO contrall - - 00 - - - - RxPDO toggle - - 00 - - - - - rw - o - - - - #x1500 - 257th RxPDO parameter - DT1400 - 51 - - - largest sub-index supported - - 09 - - - - RxPDO Excluded PDOs - - 00000000 - - - - RxPDO state - - 00 - - - - RxPDO contrall - - 00 - - - - RxPDO toggle - - 00 - - - - - rw - o - - - - #x1501 - 258th RxPDO parameter - DT1400 - 51 - - - largest sub-index supported - - 09 - - - - RxPDO Excluded PDOs - - 00000000 - - - - RxPDO state - - 00 - - - - RxPDO contrall - - 00 - - - - RxPDO toggle - - 00 - - - - - rw - o - - - - #x1502 - 259th RxPDO parameter - DT1400 - 51 - - - largest sub-index supported - - 09 - - - - RxPDO Excluded PDOs - - 00000000 - - - - RxPDO state - - 00 - - - - RxPDO contrall - - 00 - - - - RxPDO toggle - - 00 - - - - - rw - o - - - - #x1503 - 260th RxPDO parameter - DT1400 - 51 - - - largest sub-index supported - - 09 - - - - RxPDO Excluded PDOs - - 00000000 - - - - RxPDO state - - 00 - - - - RxPDO contrall - - 00 - - - - RxPDO toggle - - 00 - - - - - rw - o - - - - #x1600 - 1st receive PDO mapping - DT1600 - 48 - - - largest sub-index supported - - 01 - - - - 1st mapping data - - 10004060 - - - - - rw - o - - - - #x1601 - 2nd receive PDO mapping - DT1600 - 16 - - - largest sub-index supported - - 00 - - - - - rw - o - - - - #x1602 - 3rd receive PDO mapping - DT1600 - 16 - - - largest sub-index supported - - 00 - - - - - rw - o - - - - #x1603 - 4th receive PDO mapping - DT1600 - 16 - - - largest sub-index supported - - 00 - - - - - rw - o - - - - #x1700 - 257th receive PDO mapping - DT1600 - 144 - - - largest sub-index supported - - 04 - - - - 1st mapping data - - 02004060 - - - - 2nd mapping data - - 01006060 - - - - 3rd mapping data - - 01000000 - - - - 4th mapping data - - 04007A60 - - - - - rw - o - - - - #x1701 - 258th receive PDO mapping - DT1600 - 144 - - - largest sub-index supported - - 04 - - - - 1st mapping data - - 02004060 - - - - 2nd mapping data - - 01006060 - - - - 3rd mapping data - - 01000000 - - - - 4th mapping data - - 04007A60 - - - - - rw - o - - - - #x1702 - 259th receive PDO mapping - DT1600 - 144 - - - largest sub-index supported - - 04 - - - - 1st mapping data - - 02004060 - - - - 2nd mapping data - - 01006060 - - - - 3rd mapping data - - 01000000 - - - - 4th mapping data - - 0400FF60 - - - - - rw - o - - - - #x1703 - 260th receive PDO mapping - DT1600 - 128 - - - largest sub-index supported - - 04 - - - - 1st mapping data - - 02004060 - - - - 2nd mapping data - - 01006060 - - - - 3rd mapping data - - 01000000 - - - - 4th mapping data - - 02007160 - - - - - rw - o - - - - #x1800 - 1st TxPDO parameter - DT1800 - 50 - - - largest sub-index supported - - 09 - - - - TxPDO Excluded PDOs - - 00000000 - - - - TxPDO state - - 00 - - - - TxPDO toggle - - 00 - - - - - rw - o - - - - #x1801 - 2nd TxPDO parameter - DT1800 - 50 - - - largest sub-index supported - - 09 - - - - TxPDO Excluded PDOs - - 00000000 - - - - TxPDO state - - 00 - - - - TxPDO toggle - - 00 - - - - - rw - o - - - - #x1802 - 3rd TxPDO parameter - DT1800 - 50 - - - largest sub-index supported - - 09 - - - - TxPDO Excluded PDOs - - 00000000 - - - - TxPDO state - - 00 - - - - TxPDO toggle - - 00 - - - - - rw - o - - - - #x1803 - 4th TxPDO parameter - DT1800 - 50 - - - largest sub-index supported - - 09 - - - - TxPDO Excluded PDOs - - 00000000 - - - - TxPDO state - - 00 - - - - TxPDO toggle - - 00 - - - - - rw - o - - - - #x1900 - 257th TxPDO parameter - DT1800 - 50 - - - largest sub-index supported - - 09 - - - - TxPDO Excluded PDOs - - 00000000 - - - - TxPDO state - - 00 - - - - TxPDO toggle - - 00 - - - - - rw - o - - - - #x1901 - 258th TxPDO parameter - DT1800 - 50 - - - largest sub-index supported - - 09 - - - - TxPDO Excluded PDOs - - 00000000 - - - - TxPDO state - - 00 - - - - TxPDO toggle - - 00 - - - - - rw - o - - - - #x1902 - 259th TxPDO parameter - DT1800 - 50 - - - largest sub-index supported - - 09 - - - - TxPDO Excluded PDOs - - 00000000 - - - - TxPDO state - - 00 - - - - TxPDO toggle - - 00 - - - - - rw - o - - - - #x1903 - 260th TxPDO parameter - DT1800 - 50 - - - largest sub-index supported - - 09 - - - - TxPDO Excluded PDOs - - 00000000 - - - - TxPDO state - - 00 - - - - TxPDO toggle - - 00 - - - - - rw - o - - - - #x1a00 - 1st transmit PDO-Mapping - DT1600 - 48 - - - largest sub-index supported - - 01 - - - - 1st mapping data - - 10004160 - - - - - rw - o - - - - #x1a01 - 2nd transmit PDO mapping - DT1600 - 16 - - - largest sub-index supported - - 00 - - - - - rw - o - - - - #x1a02 - 3rd transmit PDO mapping - DT1600 - 16 - - - largest sub-index supported - - 00 - - - - - rw - o - - - - #x1a03 - 4th transmit PDO mapping - DT1600 - 16 - - - largest sub-index supported - - 00 - - - - - rw - o - - - - #x1b00 - 257th transmit PDO mapping - DT1600 - 128 - - - largest sub-index supported - - 04 - - - - 1st mapping data - - 02004160 - - - - 2nd mapping data - - 01006160 - - - - 3rd mapping data - - 01000000 - - - - 4th mapping data - - 04006460 - - - - - rw - o - - - - #x1b01 - 258th transmit PDO mapping - DT1600 - 240 - - - largest sub-index supported - - 07 - - - - 1st mapping data - - 02004160 - - - - 2nd mapping data - - 01006160 - - - - 3rd mapping data - - 01000000 - - - - 4th mapping data - - 04006460 - - - - 5th mapping data - - 04006C60 - - - - 6th mapping data - - 02007760 - - - - 7th mapping data - - 0400F460 - - - - - rw - o - - - - #x1b02 - 259th transmit PDO mapping - DT1600 - 208 - - - largest sub-index supported - - 06 - - - - 1st mapping data - - 02004160 - - - - 2nd mapping data - - 01006160 - - - - 3rd mapping data - - 01000000 - - - - 4th mapping data - - 04006460 - - - - 5th mapping data - - 04006C60 - - - - 6th mapping data - - 02007760 - - - - - rw - o - - - - #x1b03 - 260th transmit PDO mapping - DT1600 - 208 - - - largest sub-index supported - - 06 - - - - 1st mapping data - - 02004160 - - - - 2nd mapping data - - 01006160 - - - - 3rd mapping data - - 01000000 - - - - 4th mapping data - - 04006460 - - - - 5th mapping data - - 04006C60 - - - - 6th mapping data - - 02007760 - - - - - rw - o - - - - #x1c00 - Sync manager type - DT1C00 - 80 - - - largest sub-index supported - - 08 - - - - SyncManager0 communication type - - 01 - - - - SyncManager1 communication type - - 02 - - - - SyncManager2 communication type - - 03 - - - - SyncManager3 communication type - - 04 - - - - SyncManager4 communication type - - 00 - - - - SyncManager5 communication type - - 00 - - - - SyncManager6 communication type - - 00 - - - - SyncManager7 communication type - - 00 - - - - - ro - o - - - - #x1c10 - SM chanel 0 mailbox receive - DT1C10 - 16 - - - largest sub-index supported - - 00 - - - - - ro - o - - - - #x1c11 - SM chanel 1 mailbox send - DT1C10 - 16 - - - largest sub-index supported - - 00 - - - - - ro - o - - - - #x1c12 - RxPDO assign - DT1C12 - 32 - - - largest sub-index supported - - 01 - - - - Assign1 - - 0016 - - - - Assign2 - - 0000 - - - - Assign3 - - 0000 - - - - Assign4 - - 0000 - - - - - rw - o - - - - #x1c13 - TxPDO assign - DT1C12 - 32 - - - largest sub-index supported - - 01 - - - - Assign1 - - 001A - - - - Assign2 - - 0000 - - - - Assign3 - - 0000 - - - - Assign4 - - 0000 - - - - - rw - o - - - - #x1c32 - SM output parameter - DT1C32 - 272 - - - largest sub-index supported - - 32 - - - - Sync mode - - 0200 - - - - Cycle time - - 20A10700 - - - - Shift time - - 00000000 - - - - Sync modes supported - - 0740 - - - - Minimum cycle time - - 20A10700 - - - - Calc and copy time - - 400D0300 - - - - Command - - 0000 - - - - Delay time - - 30750000 - - - - Cycle time too small - - 0000 - - - - SM event missed - - 0000 - - - - Shift too short counter - - 0000 - - - - Sync error - - 00 - - - - - rw - o - - - - #x1c33 - SM input parameter - DT1C32 - 272 - - - largest sub-index supported - - 32 - - - - Sync mode - - 0200 - - - - Cycle time - - 20A10700 - - - - Shift time - - 00000000 - - - - Sync modes supported - - 0740 - - - - Minimum cycle time - - 20A10700 - - - - Calc and copy time - - 24F40000 - - - - Command - - 0000 - - - - Delay time - - 30750000 - - - - Cycle time too small - - 0000 - - - - SM event missed - - 0000 - - - - Shift too short counter - - 0000 - - - - Sync error - - 0000 - - - - - rw - o - - - - #x2000 - Control word 1 - UINT - 16 - - 0000 - - - rw - o - RT - - - - #x2001 - Parameter select - UINT - 16 - - 0000 - - - rw - o - RT - - - - #x2002 - Auto tuning parameter - DT2002 - 40 - - - largest sub-index supported - - 04 - - - - Tuning mode - - 00 - - - - Tuning feature - - 00 - - - - Tuning performance - - 0a - - - - - rw - o - - - - #x2003 - Position command smoothing time constant - UINT - 16 - - 0000 - - - rw - o - - - - #x2004 - Position command filter time constant - UINT - 16 - - 0000 - - - rw - o - - - - #x2005 - Position loop proportional gain - DT2005 - 80 - - - largest sub-index supported - - 04 - - - - Kp1 - - 1E00 - - - - Kp2 - - 1E00 - - - - Kp3 - - 1E00 - - - - Kp4 - - 1E00 - - - - - rw - o - - - - #x2006 - Position loop integral time constant - DT2006 - 80 - - - largest sub-index supported - - 04 - - - - Tpi1 - - 1027 - - - - Tpi2 - - 1027 - - - - Tpi3 - - 1027 - - - - Tpi4 - - 1027 - - - - - rw - o - - - - #x2007 - Higher tracking control, Position Compensation gain - UINT - 16 - - 0000 - - - rw - o - - - - #x2008 - Feed forward parameter - DT2008 - 48 - - - largest sub-index supported - - 02 - - - - Feed forward gain - - 0000 - - - - Feed forward filter - - A00F - - - - - rw - o - - - - #x2009 - Verocity command filter - UINT - 16 - - D007 - - - rw - o - - - - #x200a - Verocity feedback filter - UINT - 16 - - DC05 - - - rw - o - - - - #x200b - Verocity loop proportional gain - DT200B - 80 - - - largest sub-index supported - - 04 - - - - Kvp1 - - 3200 - - - - Kvp2 - - 3200 - - - - Kvp3 - - 3200 - - - - Kvp4 - - 3200 - - - - - rw - o - - - - #x200c - Verocity loop integral time constant - DT200C - 80 - - - largest sub-index supported - - 04 - - - - Tvi1 - - 3200 - - - - Tvi2 - - C800 - - - - Tvi3 - - C800 - - - - Tvi4 - - C800 - - - - - rw - o - - - - #x200d - Load inertia rasio - DT200D - 80 - - - largest sub-index supported - - 01 - - - - Jrat1 - - 6400 - - - - Jrat2 - - 6400 - - - - Jrat3 - - 6400 - - - - Jrat4 - - 6400 - - - - - rw - o - - - - #x200e - Higher tracking control, velocity compensation gain - UINT - 16 - - 0000 - - - rw - o - - - - #x200f - Acceleration feedback compensation - DT200F - 48 - - - largest sub-index supported - - 02 - - - - Acceleration feedback Gain - - 0000 - - - - Acceleration feedback filter - - F401 - - - - - rw - o - - - - #x2011 - Torque command filter - DT2011 - 80 - - - largest sub-index supported - - 04 - - - - Tcfil1 - - 5802 - - - - Tcfil2 - - 5802 - - - - Tcfil3 - - 5802 - - - - Tcfil4 - - 5802 - - - - - rw - o - - - - #x2012 - Vibration Suppressor Friquency - DT2012 - 80 - - - largest sub-index supported - - 04 - - - - Supfrq1 - - F401 - - - - Supfrq2 - - F401 - - - - Supfrq3 - - F401 - - - - Supfrq4 - - F401 - - - - - rw - o - - - - #x2013 - Velocity command, Notch filter - UINT - 16 - - E803 - - - rw - o - - - - #x2014 - Torque command, Notch filter - DT2014 - 80 - - - largest sub-index supported - - 04 - - - - Tcnfil A - - A00F - - - - Tcnfil B - - A00F - - - - Tcnfil C - - A00F - - - - Tcnfil D - - A00F - - - - - rw - o - - - - #x2015 - High setting - DT2017 - 80 - - - largest sub-index supported - - 04 - - - - Acceleration compensation - - 0000 - - - - Deceleration compensation - - 0000 - - - - Velocity command, Low-pass filter - - E803 - - - - Velocity command threshold - - 1400 - - - - - rw - o - - - - #x2016 - Observer parameter - DT2016 - 96 - - - largest sub-index supported - - 07 - - - - Observer characteristic - - 00 - - - - Compention gain - - 0000 - - - - Output filter - - 3200 - - - - Notch filter - - A00F - - - - Load inertia rasio - - 6400 - - - - loop proportional gain - - 2C01 - - - - Load torque filter - - 3200 - - - - - rw - o - - - - #x2017 - Model control Gain - DT2017 - 80 - - - largest sub-index supported - - 04 - - - - Km1 - - 1E00 - - - - Km2 - - 1E00 - - - - Km3 - - 1E00 - - - - Km4 - - 1E00 - - - - - rw - o - - - - #x2018 - Overshooting control filter - UINT - 16 - - DC05 - - - rw - o - - - - #x2019 - Model Control Anti-resonance friquency - DT2019 - 80 - - - largest sub-index supported - - 04 - - - - Anrfrq1 - - 2003 - - - - Anrfrq2 - - 2003 - - - - Anrfrq3 - - 2003 - - - - Anrfrq4 - - 2003 - - - - - rw - o - - - - #x201a - Model Control resonance friquency - DT201A - 80 - - - largest sub-index supported - - 04 - - - - Resfrq1 - - 2003 - - - - Resfrq2 - - 2003 - - - - Resfrq3 - - 2003 - - - - Resfrq4 - - 2003 - - - - - rw - o - - - - #x201b - Low pass filter of Gain Switching - UINT - 16 - - 0000 - - - rw - o - - - - #x201c - Internal velocity comannd limit - UINT - 16 - - ffff - - - rw - o - - - - #x201d - Position command error 1 level - UDINT - 32 - - ffffffff - - - rw - o - - - - #x201e - Torque limit at Sequence operation - UINT - 16 - - B004 - - - rw - o - - - - #x201f - In position near range - UDINT - 32 - - F4010000 - - - rw - o - - - - #x2020 - Speed zero range - UINT - 16 - - 3200 - - - rw - o - - - - #x2021 - Low speed range - UINT - 16 - - 3200 - - - rw - o - - - - #x2022 - High speed range - UINT - 16 - - E803 - - - rw - o - - - - #x2023 - Analog monitor parameter - DT2023 - 40 - - - largest sub-index supported - - 03 - - - - Analog monitor1 - - 05 - - - - Analog monitor2 - - 02 - - - - Analog monitor output polarity - - 00 - - - - - rw - o - - - - #x2024 - Delay time of engaging holding brake - UINT - 16 - - C201 - - - rw - o - - - - #x2025 - Delay time of releasing holding brake - UINT - 16 - - C201 - - - rw - o - - - - #x2026 - Brake operation beginning time - UINT - 16 - - 1027 - - - rw - o - - - - #x2027 - Power failure detection delay - UINT - 16 - - 2000 - - - rw - o - - - - #x2028 - Following error warning level - UDINT - 32 - - FFFFFF7F - - - rw - o - - - - #x2029 - Over load warning level - UINT - 16 - - 5A00 - - - rw - o - - - - #x202a - Speed maching width - UINT - 16 - - 3200 - - - rw - o - - - - #x202b - Torque command filter characteristic - USINT - 8 - - 02 - - - rw - o - - - - #x202c - Feed forward filter, Depth selection - USINT - 8 - - 00 - - - rw - o - - - - #x202d - Torque command, Notch filter feature - DT202D - 48 - - - largest sub-index supported - - 04 - - - - Filter A, Low friquency phase delay improvement - - 00 - - - - Filter B, Depth selection - - 00 - - - - Filter C, Depth selection - - 00 - - - - Filter D, Depth selection - - 00 - - - - - rw - o - - - - #x202e - Torque attainment setting - UINT - 16 - - 6400 - - - rw - o - - - - #x20f0 - Amplifier fanction selection - DT20F0 - 56 - - - largest sub-index supported - - 06 - - - - Limit behavior - - 00 - - - - Positioning method - - 00 - - - - Inposition / Position deviation monitor - - 00 - - - - Velocity window selection - - 00 - - - - Diviation clear selection - - 00 - - - - Torque attainment select - - 00 - - - - - rw - o - - - - #x20f1 - Sensor fanction selection - DT20F1 - 104 - - - largest sub-index supported - - 08 - - - - Encoder clear fanction - - 00 - - - - Incremental encoder, digital filter - - 01 - - - - External pulse encoder, digital filter - - 01 - - - - External pulse encoder polarity selection - - 00 - - - - CS offset - - 4A01 - - - - CS counter offset - - 4A01 - - - - Linear encoder porality selection - - 00 - - - - Extation command freq. setting value - - 3200 - - - - - rw - o - - - - #x20f2 - Amplifier alarm detect selection - DT20F2 - 48 - - - largest sub-index supported - - 03 - - - - Main power detection - - 01 - - - - Velocity control detection - - 00 - - - - Velocity feed back detection - - 01 - - - - Frame error filter - - 00 - - - - Comunication time out filter - - 00 - - - - - rw - o - - - - #x20f3 - Position loop selection - DT20F3 - 32 - - - largest sub-index supported - - 02 - - - - Model control characteristic - - 00 - - - - Position loop encoder selection - - 00 - - - - - rw - o - - - - #x20f4 - Servo loop delay time - USINT - 8 - - 00 - - - rw - o - - - - #x20f5 - Torque limit at power supply shortage - USINT - 8 - - 00 - - - rw - o - - - - #x20f8 - General purpose input setting - DT20F8 - 64 - - - largest sub-index supported - - 06 - - - - Positive limit switch - - 00 - - - - Negative limit switch - - 00 - - - - External error input - - 00 - - - - Main powor forced discharge - - 01 - - - - Emergency stop - - 00 - - - - Magnetic pole position presumption - - 00 - - - - - rw - o - - - - #x20f9 - General purpose output setting - DT20F9 - 40 - - - largest sub-index supported - - 03 - - - - Output1 function - - 03 - - - - Output2 function - - 0C - - - - Output3 function - - 39 - - - - - rw - o - - - - #x20fa - Extend station alias - UINT - 16 - - 0000 - - - rw - o - - - - #x20fd - Amplifier system selection - DT20FD - 40 - - - largest sub-index supported - - 03 - - - - Main power input type - - 03 - - - - Regenerative resistor selection - - 01 - - - - Setup software, communication baud rate - - 03 - - - - - rw - o - - - - #x20fe - Combined motor code - UINT - 16 - - 0100 - - - rw - o - - - - #x20ff - Combined sensor - DT20FF - 80 - - - largest sub-index supported - - 03 - - - - Resolution setting - - 0600 - - - - Encode type - - 0003 - - - - External encoder resolution - - D0070000 - - - - - rw - o - - - - #x2100 - Status word 1 - UINT - 16 - - 0000 - - - ro - o - RT - - - - #x2101 - Slave error field - DT2101 - 48 - - - largest sub-index supported - - 04 - - - - Error 1 - - 00 - - - - Error 2 - - 00 - - - - Error 3 - - 00 - - - - Error 4 - - 00 - - - - - rw - o - - - - #x2102 - Description of alarm trace - DT2102 - 272 - - - largest sub-index supported - - 08 - - - - now monitor - - 00000000 - - - - 1st latest - - 00000000 - - - - 2nd latest - - 00000000 - - - - 3rd latest - - 00000000 - - - - 4th latest - - 00000000 - - - - 5th latest - - 00000000 - - - - 6th latest - - 00000000 - - - - 7th latest - - 00000000 - - - - - rw - o - - - - #x2103 - Warning status - DT2103 - 48 - - - largest sub-index supported - - 02 - - - - Warning monitor - - 0000 - - - - Warning mask - - 8D4C - - - - - rw - o - - - - #x2104 - Actual gein - DT2104 - 128 - - - largest sub-index supported - - 07 - - - - Actual Kp - - 1E00 - - - - Actual Kpi - - 1027 - - - - Actual Kvp - - 3200 - - - - Actual Tvi - - C800 - - - - Actual Jrat - - 6400 - - - - Actual Tcfil - - 5802 - - - - Actual Km - - 1E00 - - - - - ro - o - - - - #x2105 - Zero phase signal base actual position value - UDINT - 32 - - 00000000 - - - ro - o - RT - - - - #x2106 - Internal velocity command monitor - DINT - 32 - - 00000000 - - - ro - o - RT - - - - #x2107 - Internal torque command monitor - INT - 16 - - 0000 - - - ro - o - RT - - - - #x2108 - Motor operation rate monitor - DT2108 - 48 - - - largest sub-index supported - - 02 - - - - Motor operation rate - - 0000 - - - - Predicted motor operating - - 0000 - - - - - ro - o - - - - #x2109 - Internal temperature monitor - INT - 16 - - 0000 - - - ro - o - RT - - - - #x210a - Regenerative resistor operation percentage - UINT - 16 - - 0000 - - - ro - o - RT - - - - #x210c - Home index position detection value - DINT - 32 - - 00000000 - - - ro - o - RT - - - - #x2110 - Internal control cycle position actual value - DT2110 - 112 - - - largest sub-index supported - - 04 - - - - Position actual 0.125ms latest - - 00000000 - - - - Position actual 0.25ms latest - - 00000000 - - - - Position actual 0.375ms latest - - 00000000 - - - - - ro - o - - - - #x2111 - Internal control cycle velocity actual value - DT2110 - 112 - - - largest sub-index supported - - 04 - - - - Velocity actual 0.125ms latest - - 00000000 - - - - Velocity actual 0.25ms latest - - 00000000 - - - - Velocity actual 0.375s latest - - 00000000 - - - - - ro - o - - - - #x2112 - Internal control cycle torque actual value - DT2112 - 64 - - - largest sub-index supported - - 04 - - - - Torque actual 0.125ms latest - - 0000 - - - - Torque actual 0.25ms latest - - 0000 - - - - Torque actual 0.375ms latest - - 0000 - - - - - ro - o - - - - #x2113 - Minimum comunication cycle position actual Value - DT2110 - 112 - - - largest sub-index supported - - 04 - - - - Position actual 0.5ms latest - - 00000000 - - - - Position actual 1ms latest - - 00000000 - - - - Position actual 1.5ms latest - - 00000000 - - - - - ro - o - - - - #x2114 - Minimum comunication cycle velocity actual value - DT2110 - 112 - - - largest sub-index supported - - 04 - - - - velocity actual 0.5ms latest - - 00000000 - - - - velocity actual 1ms latest - - 00000000 - - - - velocity actual 1.5ms latest - - 00000000 - - - - - ro - o - - - - #x2115 - Minimum comunication cycle torque actual value - DT2112 - 64 - - - largest sub-index supported - - 04 - - - - Torque actual 0.5ms latest - - 0000 - - - - Torque actual 1ms latest - - 0000 - - - - Torque actual 1.5ms latest - - 0000 - - - - - ro - o - - - - #x6007 - About connection option code - INT - 16 - - 0300 - - - rw - o - - - - #x603f - Error code - UINT - 16 - - 0000 - - - ro - m - RT - - - - #x6040 - Control word - UINT - 16 - - 0000 - - - rw - m - RT - - - - #x6041 - Status word - UINT - 16 - - 0000 - - - ro - o - RT - - - - #x605a - Quick stop option code - INT - 16 - - 0200 - - - rw - o - - - - #x605b - Shutdown option code - INT - 16 - - ffff - - - rw - o - - - - #x605c - Disable operation option code - INT - 16 - - 0000 - - - rw - o - - - - #x605d - Halt option code - INT - 16 - - 0100 - - - rw - o - - - - #x605e - Fault reaction option code - INT - 16 - - 0300 - - - rw - o - - - - #x6060 - Modes of operation - SINT - 8 - - 00 - - - rw - o - RT - - - - #x6061 - Modes of operation display - SINT - 8 - - 00 - - - ro - o - RT - - - - #x6063 - Internal position actualvalue - DINT - 32 - - 00000000 - - - rw - o - RT - - - - #x6064 - Position actual value - DINT - 32 - - 00000000 - - - rw - o - RT - - - - #x6065 - Following error window - UDINT - 32 - - 404B4C00 - - - rw - o - RT - - - - #x6066 - Following error time out - UINT - 16 - - 0000 - - - rw - o - - - - #x6067 - Position window - UDINT - 32 - - F4010000 - - - rw - o - RT - - - - #x6068 - Position window time - UINT - 16 - - 0000 - - - rw - o - - - - #x606a - Sensor selection code - INT - 16 - - 0000 - - - rw - o - - - - #x606c - Velocity actual value - DINT - 32 - - 00000000 - - - rw - o - RT - - - - #x606d - Velocity window - UINT - 16 - - 3200 - - - rw - o - - - - #x606e - Velocity window time - UINT - 16 - - 0000 - - - rw - o - - - - #x6071 - Target torque - INT - 16 - - 0000 - - - rw - o - RT - - - - #x6072 - Max torque - UINT - 16 - - 8813 - - - rw - o - RT - - - - #x6077 - Torque actual value - INT - 16 - - 0000 - - - ro - o - RT - - - - #x607a - Target position - DINT - 32 - - 00000000 - - - rw - o - RT - - - - #x607b - Position range limit - DT607D - 80 - - - largest sub-index supported - - 02 - - - - Minimum position range limit - - 00000080 - - - - Muximum position range limit - - ffffff7f - - - - - rw - o - - - - #x607c - Home offset - DINT - 32 - - 00000000 - - - rw - o - RT - - - - #x607d - Software position limit - DT607D - 80 - - - largest sub-index supported - - 02 - - - - Minimum Software position limit - - 00000080 - - - - Muximum Software position limit - - ffffff7f - - - - - rw - o - - - - #x607e - Polarity - USINT - 8 - - 00 - - - rw - o - - - - #x607f - Max profile velocity - UDINT - 32 - - FFFFFFFF - - - rw - o - - - - #x6081 - Profile velocity - UDINT - 32 - - 00006400 - - - rw - m - RT - - - - #x6083 - Profile acceleration - UDINT - 32 - - FFFFFFFF - - - rw - o - RT - - - - #x6084 - Profile deceleration - UDINT - 32 - - ffffffff - - - rw - o - RT - - - - #x6085 - Quick stop deceleration - UDINT - 32 - - ffffffff - - - rw - o - - - - #x6086 - Motion profile type - INT - 16 - - 0000 - - - rw - o - - - - #x6087 - Torque slope - UDINT - 32 - - ffffffff - - - rw - o - - - - #x6098 - Homing method - SINT - 8 - - 00 - - - rw - o - - - - #x6099 - Homing speeds - DT6099 - 80 - - - largest sub-index supported - - 02 - - - - Speed during search for switch - - 55550300 - - - - Speed during search for zero - - 88080000 - - - - - rw - o - RT - - - - #x609a - Homing acceleration - UDINT - 32 - - ffffffff - - - rw - o - - - - #x60b0 - Profile offset - DINT - 32 - - 00000000 - - - rw - o - RT - - - - #x60b1 - Velocity offset - DINT - 32 - - 00000000 - - - rw - o - RT - - - - #x60b2 - Torque offset - INT - 16 - - 0000 - - - rw - o - RT - - - - #x60b8 - Touch probe function - UINT - 16 - - 0000 - - - rw - o - RT - - - - #x60b9 - Touch probe status - UINT - 16 - - 0000 - - - ro - o - RT - - - - #x60ba - Touch probe position 1 positive value - DINT - 32 - - 0000 - - - ro - o - RT - - - - #x60bb - Touch probe position 1 negative value - DINT - 32 - - 0000 - - - ro - o - RT - - - - #x60bc - Touch probe position 2 positive value - DINT - 32 - - 0000 - - - ro - o - RT - - - - #x60bd - Touch probe position 2 negative value - DINT - 32 - - 0000 - - - ro - o - RT - - - - #x60c2 - Interpolation time period - DT60C2 - 32 - - - largest sub-index supported - - 02 - - - - Interpolation time period value - - 05 - - - - Interpolation time index - - fc - - - - - rw - o - - - - #x60e0 - Positive torque limit - UINT - 16 - - E803 - - - rw - o - RT - - - - #x60e1 - Negative torque limit - UINT - 16 - - E803 - - - rw - o - RT - - - - #x60e3 - Supported homing methods - DT60E3 - 352 - - - largest sub-index supported - - 17 - - - - 1st supported homing method - - 0103 - - - - 2nd supported homing method - - 0203 - - - - 3rd supported homing method - - 0303 - - - - 4th supported homing method - - 0403 - - - - 5th supported homing method - - 0503 - - - - 6th supported homing method - - 0603 - - - - 7th supported homing method - - 0703 - - - - 8th supported homing method - - 0803 - - - - 9th supported homing method - - 0903 - - - - 10th supported homing method - - 0a03 - - - - 11th supported homing method - - 0b03 - - - - 12th supported homing method - - 0c03 - - - - 13th supported homing method - - 0d03 - - - - 14th supported homing method - - 0e03 - - - - 15th supported homing method - - 1103 - - - - 16th supported homing method - - 1203 - - - - 17th supported homing method - - 1303 - - - - 18th supported homing method - - 1403 - - - - 19th supported homing method - - 1503 - - - - 20th supported homing method - - 1603 - - - - 21th supported homing method - - 2103 - - - - 22th supported homing method - - 2203 - - - - 23th supported homing method - - 2303 - - - - - ro - o - - - - #x60e6 - Position actual value calcuation method - USINT - 8 - - 00 - - - rw - o - - - - #x60f4 - Following error actualvalue - DINT - 32 - - 00000000 - - - ro - o - RT - - - - #x60fd - Digital inputs - UDINT - 32 - - 00000000 - - - ro - o - RT - - - - #x60fe - Digital outputs - DT60FE - 48 - - - largest sub-index supported - - 01 - - - - Physical output - - 00000000 - - - - - rw - o - - - - #x60ff - Target velocity - DINT - 32 - - 00000000 - - - rw - o - RT - - - - #x6502 - Supported drive mode - UDINT - 32 - - 80030300 - - - ro - o - - - - - - Outputs - Inputs - MBoxOut - MBoxIn - Outputs - Inputs - Drives - - #x1600 - Outputs - #x1601 - #x1602 - #x1603 - #x1700 - #x1701 - #x1702 - #x1703 - - #x6040 - 0 - 16 - Control word - UINT - - - - #x1601 - Outputs - #x1600 - #x1602 - #x1603 - #x1700 - #x1701 - #x1702 - #x1703 - - - #x1602 - Outputs - #x1600 - #x1601 - #x1603 - #x1700 - #x1701 - #x1702 - #x1703 - - - #x1603 - Outputs - #x1600 - #x1601 - #x1602 - #x1700 - #x1701 - #x1702 - #x1703 - - - #x1700 - Outputs - #x1600 - #x1601 - #x1602 - #x1603 - #x1701 - #x1702 - #x1703 - - #x6040 - 0 - 16 - Control word - UINT - - - #x607a - 0 - 32 - Target position - DINT - - - #x6081 - 0 - 32 - Profile velocity - UDINT - - - #x6083 - 0 - 32 - Profile acceleration - UDINT - - - #x6084 - 0 - 32 - Profile deceleration - UDINT - - - #x60ff - 0 - 32 - Target velocity - DINT - - - #x6071 - 0 - 16 - Target torque - INT - - - #x60B8 - 0 - 16 - Touch probe function - UINT - - - #x60fe - 1 - 32 - Digital outputs - UDINT - - - - #x1701 - Outputs - #x1600 - #x1601 - #x1602 - #x1603 - #x1700 - #x1702 - #x1703 - - #x6040 - 0 - 16 - Control word - UINT - - - #x2000 - 0 - 16 - Control word 1 - UINT - - - #x6060 - 0 - 8 - Modes of operation - SINT - - - #x0000 - 0 - 8 - - - #x607a - 0 - 32 - Target position - DINT - - - #x60ff - 0 - 32 - Target velocity - DINT - - - #x6071 - 0 - 16 - Target torque - INT - - - #x6081 - 0 - 32 - Profile velocity - UDINT - - - #x6083 - 0 - 32 - Profile acceleration - UDINT - - - #x6084 - 0 - 32 - Profile deceleration - UDINT - - - #x6087 - 0 - 32 - Torque slope - UDINT - - - #x6072 - 0 - 16 - Max torque - UINT - - - #x6099 - 1 - 32 - Speed during search for switch - UDINT - - - #x6099 - 2 - 32 - Speed during search for zero - UDINT - - - #x200d - 1 - 16 - Load inertia rasio - UINT - - - #x60fe - 1 - 32 - Digital outputs - UDINT - - - - #x1702 - Outputs - #x1600 - #x1601 - #x1602 - #x1603 - #x1700 - #x1701 - #x1703 - - #x6040 - 0 - 16 - Control word - UINT - - - #x2001 - 0 - 16 - Parameter select - UINT - - - #x60B8 - 0 - 16 - Touch probe function - UINT - - - #x6060 - 0 - 8 - Modes of operation - SINT - - - #x0000 - 0 - 8 - - - #x607a - 0 - 32 - Target position - DINT - - - #x60ff - 0 - 32 - Target velocity - DINT - - - #x6071 - 0 - 16 - Target torque - INT - - - #x6081 - 0 - 32 - Profile velocity - UDINT - - - #x6083 - 0 - 32 - Profile acceleration - UDINT - - - #x6084 - 0 - 32 - Profile deceleration - UDINT - - - #x6087 - 0 - 32 - Torque slope - UDINT - - - #x607c - 0 - 32 - Home offset - DINT - - - #x6099 - 1 - 32 - Speed during search for switch - UDINT - - - #x6099 - 2 - 32 - Speed during search for zero - UDINT - - - #x200d - 1 - 16 - Load inertia rasio - UINT - - - #x2089 - 2 - 32 - Orientation Posision command - DINT - - - - #x1703 - Outputs - #x1600 - #x1601 - #x1602 - #x1603 - #x1700 - #x1701 - #x1702 - - #x6040 - 0 - 16 - Control word - UINT - - - #x2000 - 0 - 16 - Control word 1 - UINT - - - #x2001 - 0 - 16 - Parameter select - UINT - - - #x6060 - 0 - 8 - Modes of operation - SINT - - - #x0000 - 0 - 8 - - - #x607a - 0 - 32 - Target position - DINT - - - #x60ff - 0 - 32 - Target velocity - DINT - - - #x6071 - 0 - 16 - Target torque - INT - - - #x6081 - 0 - 32 - Profile velocity - UDINT - - - #x6083 - 0 - 32 - Profile acceleration - UDINT - - - #x6084 - 0 - 32 - Profile deceleration - UDINT - - - #x6087 - 0 - 32 - Torque slope - UDINT - - - #x60b0 - 0 - 32 - Profile offset - DINT - - - #x60b1 - 0 - 32 - Velocity offset - DINT - - - #x60b2 - 0 - 16 - Torque offset - INT - - - #x2005 - 1 - 16 - Position loop proportional gain 1 - UINT - - - #x2006 - 1 - 16 - Position loop integral time constant 1 - UINT - - - #x2008 - 1 - 16 - Feed forward gain - UINT - - - #x200b - 1 - 16 - Verocity loop proportional gain 1 - UINT - - - #x200c - 1 - 16 - Verocity loop integral time constant 1 - UINT - - - #x200d - 1 - 16 - Load inertia rasio - UINT - - - #x2011 - 1 - 16 - Torque command filter 1 - UINT - - - #x6072 - 0 - 16 - Max torque - UINT - - - #x60e0 - 0 - 16 - Positive torque limit - UINT - - - #x60e1 - 0 - 16 - Negative torque limit - UINT - - - #x6065 - 0 - 32 - Following error window - UDINT - - - #x2012 - 1 - 16 - Vibration Suppressor Friquency 1 - UINT - - - #x2017 - 1 - 16 - Model control Gain 1 - UINT - - - #x2019 - 1 - 16 - Model Control Anti-resonance friquency 1 - UIN - - - #x201a - 1 - 16 - Model Control resonance friquency 1 - UINT - - - #x60fe - 1 - 32 - Digital output - UDINT - - - - #x1a00 - Inputs - #x1a01 - #x1a02 - #x1a03 - #x1b00 - #x1b01 - #x1b02 - #x1b03 - - #x6041 - 0 - 16 - Statusword - UINT - - - - #x1a01 - Inputs - #x1a00 - #x1a02 - #x1a03 - #x1b00 - #x1b01 - #x1b02 - #x1b03 - - - #x1a02 - Inputs - #x1a00 - #x1a01 - #x1a03 - #x1b00 - #x1b01 - #x1b02 - #x1b03 - - - #x1a03 - Inputs - #x1a00 - #x1a01 - #x1a02 - #x1b00 - #x1b01 - #x1b02 - #x1b03 - - - #x1b00 - Inputs - #x1a00 - #x1a01 - #x1a02 - #x1a03 - #x1b01 - #x1b02 - #x1b03 - - #x6041 - 0 - 16 - Status word - UINT - - - #x2100 - 0 - 16 - Status word 1 - UINT - - - #x6064 - 0 - 32 - Position actual value - DINT - - - #x606c - 0 - 32 - Velocity actual value - DINT - - - #x6077 - 0 - 16 - Torque actual value - INT - - - #x60f4 - 0 - 32 - Following error actualvalue - DINT - - - #x60b9 - 0 - 16 - Touch probe status - UINT - - - #x60ba - 0 - 32 - Touch probe position 1 positive value - DINT - - - #x60bb - 0 - 32 - Touch probe position 1 negative value - DINT - - - #x60fd - 0 - 32 - Digital input - UDINT - - - #x1001 - 0 - 8 - Error register - USINT - - - #x6061 - 0 - 8 - Modes of operation display - SINT - - - - #x1b01 - Inputs - #x1a00 - #x1a01 - #x1a02 - #x1a03 - #x1b00 - #x1b02 - #x1b03 - - #x6041 - 0 - 16 - Status word - UINT - - - #x2100 - 0 - 16 - Status Word 1 - UINT - - - #x6061 - 0 - 8 - Modes of operation display - SINT - - - #x1001 - 0 - 8 - Error register - USINT - - - #x2103 - 1 - 16 - Warning status - UINT - - - #x6064 - 0 - 32 - Position actual value - DINT - - - #x606c - 0 - 32 - Velocity actual value - DINT - - - #x6077 - 0 - 16 - Torque actual value - INT - - - #x60f4 - 0 - 32 - Following error actualvalue - DINT - - - #x2101 - 1 - 8 - Slave error field 1 - USINT - - - #x2101 - 2 - 8 - Slave error field 2 - USINT - - - #x2104 - 1 - 16 - Actual Kp - UINT - - - #x2104 - 2 - 16 - Actual Kpi - UINT - - - #x2104 - 3 - 16 - Actual Kvp - UINT - - - #x2104 - 4 - 16 - Actual Tvi - UINT - - - #x2104 - 5 - 16 - Actual Jrat - UINT - - - #x2104 - 6 - 16 - Actual Tcfil - UINT - - - #x2108 - 2 - 16 - Predicted motor operating - INT - - - #x2109 - 0 - 16 - Internal temperature monitor - INT - - - #x210a - 0 - 16 - Regenerative resistor operation percentage - UINT - - - #x60fd - 0 - 32 - Digital input - UDINT - - - - #x1b02 - Inputs - #x1a00 - #x1a01 - #x1a02 - #x1a03 - #x1b00 - #x1b01 - #x1b03 - - #x6041 - 0 - 16 - Status word - UINT - - - #x2100 - 0 - 16 - Status Word 1 - UINT - - - #x60b9 - 0 - 16 - Touch probe status - UINT - - - #x6061 - 0 - 8 - Modes of operation display - SINT - - - #x1001 - 0 - 8 - Error register - USINT - - - #x6063 - 0 - 32 - Internal position actualvalue - DINT - - - #x210c - 0 - 32 - Home index position detection value - DINT - - - #x6064 - 0 - 32 - Position actual value - DINT - - - #x606c - 0 - 32 - Velocity actual value - DINT - - - #x6077 - 0 - 16 - Torque actual value - INT - - - #x60f4 - 0 - 32 - Following error actualvalue - DINT - - - #x60ba - 0 - 32 - Touch probe position 1 positive value - DINT - - - #x60bb - 0 - 32 - Touch probe position 1 negative value - DINT - - - #x60bc - 0 - 32 - Touch probe position 2 positive value - DINT - - - #x60bd - 0 - 32 - Touch probe position 2 negative value - DINT - - - #x60fd - 0 - 32 - Digital input - UDINT - - - #x2104 - 1 - 16 - Actual Kp - UINT - - - #x2104 - 2 - 16 - Actual Kpi - UINT - - - #x2104 - 3 - 16 - Actual Kvp - UINT - - - #x2104 - 4 - 16 - Actual Tvi - UINT - - - #x2104 - 5 - 16 - Actual Jrat - UINT - - - #x2104 - 6 - 16 - Actual Tcfil - UINT - - - #x2108 - 2 - 16 - Predicted motor operating - UINT - - - #x2109 - 0 - 16 - Internal temperature monitor - INT - - - #x210a - 0 - 16 - Regenerative resistor operation percentage - UINT - - - - #x1b03 - Inputs - #x1a00 - #x1a01 - #x1a02 - #x1a03 - #x1b00 - #x1b01 - #x1b02 - - #x6041 - 0 - 16 - Status word - UINT - - - #x2100 - 0 - 16 - Status Word 1 - UINT - - - #x6061 - 0 - 8 - Modes of operation display - SINT - - - #x1001 - 0 - 8 - Error register - USINT - - - #x2103 - 1 - 16 - Warning status - UINT - - - #x6064 - 0 - 32 - Position actual value - DINT - - - #x606c - 0 - 32 - Velocity actual value - DINT - - - #x6077 - 0 - 16 - Torque actual value - INT - - - #x60f4 - 0 - 32 - Following error actualvalue - DINT - - - #x6063 - 0 - 32 - Internal position actualvalue - DINT - - - #x60fd - 0 - 32 - Digital input - UDINT - - - #x60fe - 1 - 32 - Digital output - UDINT - - - #x2101 - 1 - 8 - Slave error field 1 - USINT - - - #x2101 - 2 - 8 - Slave error field 2 - USINT - - - #x2101 - 3 - 8 - Slave error field 3 - USINT - - - #x2101 - 4 - 8 - Slave error field 4 - USINT - - - #x2104 - 1 - 16 - Actual Kp - UINT - - - #x2104 - 2 - 16 - Actual Kpi - UINT - - - #x2104 - 3 - 16 - Actual Kvp - UINT - - - #x2104 - 4 - 16 - Actual Tvi - UINT - - - #x2104 - 5 - 16 - Actual Jrat - UINT - - - #x2104 - 6 - 16 - Actual Tcfil - UINT - - - #x2104 - 7 - 16 - Actual Km - UINT - - - #x2105 - 0 - 32 - Zero phase signal base actual position value - UDINT - - - #x2106 - 0 - 32 - Internal velocity command monitor - DINT - - - #x2107 - 0 - 16 - Internal torque command monitor - INT - - - #x2108 - 1 - 16 - Motor operation rate - UINT - - - #x2108 - 2 - 16 - Predicted motor operating - UINT - - - #x2109 - 0 - 16 - Internal temperature monitor - INT - - - #x210a - 0 - 16 - Regenerative resistor operation percentage - UINT - - - #x210c - 0 - 32 - Home index position detection value - DINT - - - - - - PS - #x6060 - 0 - 08 - Modes of operations - - - - - - - Dc Synchron - Synchron with SYNC0 Event - #x0300 - 0 - 0 - - 2 - 0 - 0 - - - 2 - 0 - 0 - - - - Synchron - Synchron with SM2 Event - #x0000 - - 1 - 0 - 100 - - - 34 - 0 - 0 - - - - - 4096 - 080C00CC6400 - 00180002001C0002 - - - - - \ No newline at end of file