# HG changeset patch # User Laurent Bessard # Date 1351552949 -3600 # Node ID 8421bd1f8b064bc3849627fbf43629e05790d60e # Parent 8e4992e0f14789b36539b4462e10580854ec6f93 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage diff -r 8e4992e0f147 -r 8421bd1f8b06 ethercat_tests/wago_higen/beremiz.xml --- a/ethercat_tests/wago_higen/beremiz.xml Thu Oct 25 19:55:02 2012 +0200 +++ b/ethercat_tests/wago_higen/beremiz.xml Tue Oct 30 00:22:29 2012 +0100 @@ -1,6 +1,4 @@ - - - + diff -r 8e4992e0f147 -r 8421bd1f8b06 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Thu Oct 25 19:55:02 2012 +0200 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Tue Oct 30 00:22:29 2012 +0100 @@ -46,13 +46,13 @@ - EDA7001 CoE Drive + EDA7000 CoE Drive 3 0 1573 1768449365 - 1 + 2 0 diff -r 8e4992e0f147 -r 8421bd1f8b06 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Thu Oct 25 19:55:02 2012 +0200 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Tue Oct 30 00:22:29 2012 +0100 @@ -1,2 +1,2 @@ - - + + diff -r 8e4992e0f147 -r 8421bd1f8b06 ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml Tue Oct 30 00:22:29 2012 +0100 @@ -0,0 +1,3098 @@ + + + + #x00000625 + HIGEN Motor Co., Ltd. + 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+ UINT + + + #x60FF + + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x60E0 + + 0 + 16 + Positive Torque Limit Value + object 0x60E0:0 + UINT + + + #x60E1 + + 0 + 16 + Negative Torque Limit Value + object 0x60E1:0 + UINT + + + #x6060 + + 0 + 8 + Mode of Operation + object 0x6060:0 + SINT + + + 0 + + 0 + 8 + + + + #x1602 + Receive PDO mapping + #x1600 + #x1601 + + #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 + + + #x60B8 + + 0 + 16 + Touch Probe Function + object 0x60B8:0 + UINT + + + #x6060 + + 0 + 8 + Mode of Operation + object 0x6060:0 + SINT + + + 0 + + 0 + 8 + + + + #x1A00 + Transmit PDO mapping + #x1A01 + #x1A02 + + #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 + INT + + + #x6061 + + 0 + 8 + Modes of operation display + object 0x6061:0 + SINT + + + 0 + + 0 + 8 + + + + #x1A01 + Transmit PDO mapping + #x1A00 + #x1A02 + + #x6041 + + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x606C + + 0 + 32 + Actual Velocity + object 0x606C:0 + DINT + + + #x6077 + + 0 + 16 + Torque actual value + object 0x6077:0 + INT + + + #x6061 + + 0 + 8 + Modes of operation display + object 0x6061:0 + SINT + + + 0 + + 0 + 8 + + + + #x1A02 + Transmit PDO mapping + #x1A00 + #x1A01 + + #x6041 + + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x606C + + 0 + 32 + Actual Velocity + object 0x606C:0 + DINT + + + #x60B9 + + 0 + 16 + Touch Probe Status + object 0x60B9:0 + UINT + + + #x60BA + + 0 + 32 + Touch Probe Pos1 Pos Value + object 0x60BA:0 + DINT + + + #x60BB + + 0 + 32 + Touch Probe Pos1 Neg Value + object 0x60BB:0 + DINT + + + #x60FD + + 0 + 32 + Digital Inputs + object 0x60FD:0 + UDINT + + + #x6061 + + 0 + 8 + Modes of operation display + object 0x6061:0 + SINT + + + 0 + + 0 + 8 + + + + + + PS + #x2025 + 0 + 0004 + Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) + + + + + + DC + DC-Synchron by Sync0 + #x300 + 0 + 0 + 0 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + diff -r 8e4992e0f147 -r 8421bd1f8b06 ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_FDA7000_CoE_20111219.xml --- a/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_FDA7000_CoE_20111219.xml Thu Oct 25 19:55:02 2012 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,30424 +0,0 @@ - - - - #x00000625 - HIGEN Motor Co., Ltd. - 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- - - - - 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 - 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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 - - 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- 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 - - - - diff -r 8e4992e0f147 -r 8421bd1f8b06 ethercat_tests/wago_higen/plc.xml --- a/ethercat_tests/wago_higen/plc.xml Thu Oct 25 19:55:02 2012 +0200 +++ b/ethercat_tests/wago_higen/plc.xml Tue Oct 30 00:22:29 2012 +0100 @@ -8,7 +8,7 @@ productVersion="1.0" creationDateTime="2011-10-20T19:01:52"/> + modificationDateTime="2012-10-30T00:18:20"> @@ -100,6 +100,21 @@ + + + + + + + + + + + + + + + @@ -408,6 +423,179 @@ 360.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 3 + + + + + + + 16#6064 + + + + + + + 0 + + + + + + + 'int32' + + + + + + + + + + + ActualPosition + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Valid + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +