diff -r 76346b30f6f9 -r 62e102935f3e ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_FDA7000_CoE_20111219.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_FDA7000_CoE_20111219.xml Sun Apr 01 16:36:41 2012 +0200 @@ -0,0 +1,30424 @@ + + + + #x00000625 + HIGEN Motor Co., Ltd. + 424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF + + + + + Drive + Drives + DRIVE + + + + + EDA7001 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7002 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7004 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7005 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + EDA7010 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7015 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7020 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7030 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + EDA7045 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7075 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7110 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + EDA7150 CoE Drive + + http://www.higenmotor.com/info/infodata03.asp?exec=3 + + + + + + Drive + + 402 + + + + BOOLEAN + 1 + + + STRING(0) + 0 + + + SINT + 8 + + + USINT + 8 + + + INT + 16 + + + UINT + 16 + + + DINT + 32 + + + UDINT + 32 + + + DT1018 + 80 + + 0 + largest sub-index supported + USINT + 8 + 0 + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + + 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 + + + + + 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 + 304 + + 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 + Get cycle time + UDINT + 32 + 192 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 224 + + ro + o + + + + 10 + Sync0 time + UINT + 16 + 240 + + ro + o + + + + 11 + Cycle exceeded counter + UINT + 16 + 256 + + ro + o + + + + 12 + SM event missed counter + UINT + 16 + 272 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 288 + + ro + o + + + + 32 + Sync error + UINT + 16 + 304 + + ro + o + RT + + + + + 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 + + + + + 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 + + + + #x100A + Manufacturer Software Version + STRING(0) + 0 + + ro + o + + + + #x1018 + Identity object + DT1018 + 80 + + + largest sub-index supported + + 02 + + + + Vendor ID + + 00000625 + + + + Product code + + 69686555 + + + + + ro + m + + + + #x1600 + 1st receive PDO mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004060 + + + + + rw + o + + + + #x1A00 + 1st transmit PDO-Mapping + DT1600 + 48 + + + largest sub-index supported + + 01 + + + + 1st mapping data + + 10004160 + + + + + rw + 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 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 0000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 00 + + + + + rw + o + + + + #x1C33 + SM input parameter + DT1C32 + 304 + + + 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 + + + + Get cycle time + + 0000 + + + + Delay time + + 30750000 + + + + Sync0 time + + 30750000 + + + + Cycle exceeded counter + + 0000 + + + + SM event missed counter + + 0000 + + + + Shift too short counter + + 0000 + + + + Sync error + + 0000 + + + + + rw + o + + + + #x2000 + Drive ID (P01-11) + USINT + 8 + + 00 + + + rw + o + + + + #x2001 + Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] + USINT + 8 + + 09 + + + rw + o + + + + #x2002 + Pulse Out Rate (P01-14) + UDINT + 32 + + 00020000 + + + rw + o + + + + #x2003 + Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) + UINT + 16 + + 0100 + + + rw + o + + + + #x2004 + ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) + UINT + 16 + + 0000 + + + rw + o + + + + #x2010 + Mode Change Time (x0.1ms) (P02-02) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2011 + Internal CCW Speed Limit (x0.1rpm) (P02-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2012 + Internal CW Speed Limit (x0.1rpm) (P02-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2013 + Brake Speed (x0.1rpm) (P02-07) + UDINT + 32 + + 000001F4 + + + rw + o + + + + #x2014 + Brake Time (x0.1ms) (P02-08) + UDINT + 32 + + 00000032 + + + rw + o + + + + #x2015 + Servo OFF Delay Time (x0.1ms) (P02-30) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2016 + Notch Filter 1 Mode (P02-10) + USINT + 8 + + 00 + + + rw + o + + + + #x2017 + Notch Filter 1 Frequency (x0.1Hz) (P02-11) + UDINT + 32 + + 00000BB8 + + + rw + o + + + + #x2018 + Notch Filter 1 Bandwidth (x0.1%) (P02-12) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x2019 + Notch Filter 2 Mode (P02-13) + USINT + 8 + + 00 + + + rw + o + + + + #x201A + Notch Filter 2 Frequency (x0.1Hz) (P02-14) + UDINT + 32 + + 00001388 + + + rw + o + + + + #x201B + Notch Filter 2 Bandwidth (x0.1%) (P02-15) + UDINT + 32 + + 000003B6 + + + rw + o + + + + #x201C + Torque Filter Time Constant (x0.1ms) (P02-16) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x201D + Auto Tuning Mode (P02-17) + USINT + 8 + + 00 + + + rw + o + + + + #x201E + System Response (P02-18) + USINT + 8 + + 00 + + + rw + o + + + + #x201F + Inertia Ratio (x0.1) (P02-19) + UDINT + 32 + + 00000014 + + + rw + o + + + + #x2020 + Gain Adjust Speed 1 (x0.1rpm) (P02-20) + UDINT + 32 + + 00001F40 + + + rw + o + + + + #x2021 + Gain Adjust Speed 2 (x0.1rpm) (P02-21) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2022 + Gain Adjust Torque 1 (x0.1%) (P02-22) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2023 + Gain Adjust Torque 2 (x0.1%) (P02-23) + UDINT + 32 + + 000005DC + + + rw + o + + + + #x2024 + Contact Gain Time Constant (x0.1ms) (P02-24) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2025 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + UINT + 16 + + 00000003 + + + rw + o + + + + #x2026 + Parameter Initialization (P02-29) + USINT + 8 + + 00 + + + rw + o + + + + #x2030 + Speed Gain Mode (P03-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2031 + PI-IP Control Ratio (x0.1%) (P03-02) + UDINT + 32 + + 000003E8 + + + rw + o + + + + #x2032 + Friction Compensation Torque Ratio (x0.1%) (P03-03) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2033 + Load Compensation Torque Ratio (x0.1%) (P03-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2034 + Speed Control Loop Gain 1 (x0.1Hz) (P03-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2035 + Speed Control Time Constant 1 (x0.1ms) (P03-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2036 + Speed Control Loop Gain 2 (x0.1Hz) (P03-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2037 + Speed Control Time Constant 2 (x0.1ms) (P03-08) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2038 + S-Mode Time Constant (x0.1ms) (P03-12) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2039 + Zero Velocity Window (x0.1rpm) (P03-14) + UDINT + 32 + + 00000064 + + + rw + o + + + + #x203A + Speed Feedback Time Constant (x0.1ms) (P03-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203B + Zero Velocity Vibration Control (x0.1rpm) (P03-23) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x203C + Feedforward Torque Mode (P03-24) + USINT + 8 + + 00 + + + rw + o + + + + #x2040 + Position Gain Mode (P05-01) + USINT + 8 + + 01 + + + rw + o + + + + #x2041 + Position Feedforward Ratio (x0.1%) (P05-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2042 + Position Control P Gain 1 (x0.1Hz) (P05-05) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2043 + Position Control P Gain 2 (x0.1Hz) (P05-06) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2044 + Position PI-P Pulse Error (ppr) (P05-07) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2045 + Position Command Time Constant (x0.1ms) (P05-10) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2046 + Position Control Feedforward Time Constant (x0.1ms) (P05-11) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2047 + Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2048 + Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] + UDINT + 32 + + 00000001 + + + rw + o + + + + #x2049 + Position Control Bias Speed Compensation (x0.1rpm) (P05-20) + DINT + 32 + + 00000000 + + + rw + o + + + + #x204A + Position Control Bias Pulse Band (ppr) (P05-21) + UINT + 16 + + 000A + + + rw + o + + + + #x204B + Position Control Backlash Pulse Compensation (ppr) (P05-22) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2050 + Torque S-Mode Time Constant (x0.1ms) (P06-04) + UDINT + 32 + + 00000000 + + + rw + o + + + + #x2070 + Monitor 1 Select (P09-01) + USINT + 8 + + 00 + + + rw + o + + + + #x2071 + Monitor 1 Absolute (P09-02) + USINT + 8 + + 00 + + + rw + o + + + + #x2072 + Monitor 1 Scale (x0.1) (P09-03) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2073 + Monitor 1 Offset (mV) (P09-04) + DINT + 32 + + 00000000 + + + rw + o + + + + #x2074 + Monitor 2 Select (P09-05) + USINT + 8 + + 01 + + + rw + o + + + + #x2075 + Monitor 2 Absolute (P09-06) + USINT + 8 + + 00 + + + rw + o + + + + #x2076 + Monitor 2 Scale (x0.1) (P09-07) + UDINT + 32 + + 0000000A + + + rw + o + + + + #x2077 + Monitor 2 Offset (mV) (P09-08) + DINT + 32 + + 00000000 + + + rw + o + + + + #x603F + Error Code + UINT + 16 + + 0000 + + + ro + m + RT + + + + #x6040 + Controlword + UINT + 16 + + 0000 + + + rw + m + RT + + + + #x6041 + Statusword + UINT + 16 + + 0000 + + + ro + o + RT + + + + #x605A + Quick Stop Option Code + INT + 16 + + 0200 + + + rw + o + + + + #x605C + Disable Operation Option Code + INT + 16 + + 0000 + + + 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 + + + + #x6064 + Position Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x6065 + Following Error Window + UDINT + 32 + + 404B4C00 + + + rw + o + RT + + + + #x6067 + Position Window + UDINT + 32 + + F4010000 + + + rw + o + RT + + + + #x606C + Velocity Actual Value + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #x606D + Velocity Window + UINT + 16 + + 3200 + + + rw + o + + + + #x6071 + Target Torque + INT + 16 + + 0000 + + + rw + o + RT + + + + #x6077 + Torque Actual Value + INT + 16 + + 0000 + + + ro + o + RT + + + + #x607A + Target Position + DINT + 32 + + 00000000 + + + rw + o + RT + + + + #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 + + + + #x6083 + Profile Acceleration + UDINT + 32 + + FFFFFFFF + + + rw + o + RT + + + + #x6084 + Profile Deceleration + UDINT + 32 + + ffffffff + + + rw + o + RT + + + + #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 + + + + #x60E0 + Positive Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60E1 + Negative Torque Limit + UINT + 16 + + E803 + + + rw + o + RT + + + + #x60F4 + Following Error Actual Value + 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 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + +