#x00202288 Jiangsu DINGS'Intelligent Control Technology Co., LTD 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STEP Servo STEP Servo 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DS-CLS9-FETC-2I DS-CLS9-FETC-2I 2000 9000 5000 200 100 2000 false STEP Servo 402 2 STRING(5) 40 STRING(3) 24 STRING(15) 120 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 INT 16 DINT 32 SINT 8 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1601 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1610 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1611 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A00 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A01 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A10 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A11 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 64 1 4 DT1C12 80 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw DT1C13ARR UINT 64 1 4 DT1C13 80 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 64 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT6099 80 0 SubIndex 000 USINT 8 0 ro 1 Homing Max Speeds UDINT 32 16 rw r 2 Homing Min Speeds UDINT 32 48 rw r DT60FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw r 2 Bitmask UDINT 32 48 rw r DT6899 80 0 SubIndex 000 USINT 8 0 ro 1 Homing Max Speeds UDINT 32 16 rw r 2 Homing Min Speeds UDINT 32 48 rw r DT68FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw r 2 Bitmask UDINT 32 48 rw r #x1000 Device type UDINT 32 92010000 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(15) 120 44532D434C53392D464554432D3249 ro #x1009 Hardware version STRING(3) 24 312E30 ro #x100A Software version STRING(5) 40 312E303030 ro #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 88222000 Product code 84030000 Revision 10000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1600 Axis1 RxPDO1 DT1600 272 SubIndex 000 08 Mapping Entry 1 10004060 Mapping Entry 2 20007A60 Mapping Entry 3 2000FF60 Mapping Entry 4 1000B860 Mapping Entry 5 08006060 #x1601 Axis1 RxPDO2 DT1601 272 SubIndex 000 08 Mapping Entry 1 20008160 Mapping Entry 2 08009860 Mapping Entry 3 20019960 Mapping Entry 4 20029960 #x1610 Axis2 RxPDO1 DT1610 272 SubIndex 000 08 Mapping Entry 1 10004068 Mapping Entry 2 20007A68 Mapping Entry 3 2000FF68 Mapping Entry 4 1000B868 Mapping Entry 5 08006068 #x1611 Axis2 RxPDO2 DT1611 272 SubIndex 000 08 Mapping Entry 1 20008168 Mapping Entry 2 08009868 Mapping Entry 3 20019968 Mapping Entry 4 20029968 #x1A00 Axis1 TxPDO1 DT1A00 272 SubIndex 000 08 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 2000FD60 #x1A01 Axis1 TxPDO2 DT1A01 272 SubIndex 000 08 Mapping Entry 1 1000B960 Mapping Entry 2 2000BA60 Mapping Entry 3 2000BB60 #x1A10 Axis2 TxPDO1 DT1A10 272 SubIndex 000 08 Mapping Entry 1 10003F68 Mapping Entry 2 10004168 Mapping Entry 3 08006168 Mapping Entry 4 20006468 Mapping Entry 5 20006C68 Mapping Entry 6 2000FD68 #x1A11 Axis2 TxPDO2 DT1A11 272 SubIndex 000 08 Mapping Entry 1 1000B968 Mapping Entry 2 2000BA68 Mapping Entry 3 2000BB68 #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 SubIndex 000 02 SubIndex 001 0016 SubIndex 002 1016 SubIndex 003 0000 SubIndex 004 0000 #x1C13 SyncManager 3 assignment DT1C13 80 SubIndex 000 02 SubIndex 001 001A SubIndex 002 101A SubIndex 003 0000 SubIndex 004 0000 #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 Calc and Copy Time D0070000 Delay Time D0070000 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 Calc and Copy Time D0070000 Delay Time D0070000 #x2064 IntegratedCurrent INT 16 ro #x2065 BusVoltage UINT 16 ro #x206C ErrorCode UINT 16 ro #x206D RunState UINT 16 ro #x206E HardWareVersion UINT 16 ro #x206F SoftWareVersion UINT 16 ro #x207C Locked_Rotor_Det UINT 16 ro #x20C8 CurrentKpSet UINT 16 3200 3075 2003 rw #x20C9 RotationCommandSet UINT 16 0000 0300 0000 rw #x20CE UserCommand UINT 16 0000 0500 0000 rw #x20D0 L1e6 UINT 16 0100 FFFF E803 rw #x20D1 R1e3 UINT 16 0100 FFFF E803 rw #x20D5 CurrentStopPercent UINT 16 0A00 7800 3200 rw #x20D7 CurrentKiSet UINT 16 3200 3075 2003 rw #x20D9 MotorModeSet INT 16 0000 0200 0000 rw #x20DA PhaseBlanceAdj INT 16 CEFF 3200 0000 rw #x20DB LRD_Threshold_SPEED UINT 16 6400 E803 6400 rw #x20DC LRD_Threshold_GAIN UINT 16 0000 6400 0000 rw #x20DD LRD_Max_CNT UINT 16 0100 6400 0300 rw #x20DE CurrentKpMax UINT 16 3200 3075 2003 rw #x20E0 AFilter_Gain UINT 16 0000 F401 3200 rw #x20E1 CurrentAmplificationSet UINT 16 E803 D007 E803 rw #x20E4 CurrentKiMax UINT 16 3200 3075 2003 rw #x20F1 CurrentSet INT 16 6400 6419 E803 rw #x20F2 DividSet UDINT 32 C8000000 00900100 10270000 rw #x20F5 HalfCurrentTimeSet UINT 16 1000 FF7F C800 rw #x20F6 EncoderResolution UINT 16 C800 FFFF A00F rw #x20F7 InPositionRange UINT 16 0100 E803 0500 rw #x20F8 MaxWeakMagnetic UINT 16 0000 FF7F F401 rw #x20FB SpeedKpSet UINT 16 0000 3075 E803 rw #x20FC SpeedKiSet UINT 16 0000 3075 3200 rw #x20FD SpeedKdSet UINT 16 0000 3075 0000 rw #x20FE MaxSpeed INT 16 0100 8813 F401 rw #x20FF PositionKpSet UINT 16 0000 3075 2003 rw #x2100 PositionKiSet UINT 16 0000 3075 0000 rw #x2101 PositionKdSet UINT 16 0000 3075 0000 rw #x2102 MaxPositionErr UINT 16 0100 3075 E803 rw #x2103 RefTorque UINT 16 1E00 7800 3200 rw #x2108 Damping_Filter_Gain UINT 16 0000 E803 3200 rw #x2109 Damping_Gain UINT 16 0000 E803 3200 rw #x210A Current_Filter_Gain UINT 16 0000 E803 3200 rw #x2113 ARGain UINT 16 0000 FF7F 3700 rw #x2114 ARAdj UINT 16 0000 FF7F E803 rw #x2115 APMGain UINT 16 0000 FF7F 6400 rw #x2116 Break_Mode UINT 16 0000 0200 0000 rw #x2117 Break_Vol UINT 16 6400 201C 6009 rw #x2118 Break_Vol2 UINT 16 6400 201C 6009 rw #x2119 Break_Idle_Time UINT 16 6400 3075 E803 rw #x211A Break_Act_Delay UINT 16 0000 6400 0500 rw #x2127 AutoPIDSW UINT 16 0000 0100 0100 rw #x213D Max Position Limit DINT 32 006CCA88 00943577 00943577 rw #x213F Min Position Limit DINT 32 006CCA88 00943577 006CCA88 rw #x2144 MemorySwitch UINT 16 0000 FFFF 0000 rw #x2190 DigitInputFun_1 UINT 16 0000 1700 0000 rw #x2191 DigitInputFun_2 UINT 16 0000 1700 0000 rw #x2192 DigitInputFun_3 UINT 16 0000 1700 0000 rw #x21A4 DigitOutputFun_1 UINT 16 6400 6D00 6500 rw #x21A5 DigitOutputFun_2 UINT 16 6400 6D00 6500 rw #x21AD DigitInputLogic UINT 16 0000 FF00 0000 rw #x21AE DigitOutputLogic UINT 16 0000 FF00 0000 rw #x2264 IntegratedCurrent INT 16 ro #x2265 BusVoltage UINT 16 ro #x226C ErrorCode UINT 16 ro #x226D RunState UINT 16 ro #x226E HardWareVersion UINT 16 ro #x226F SoftWareVersion UINT 16 ro #x227C Locked_Rotor_Det UINT 16 ro #x22C8 CurrentKpSet UINT 16 3200 3075 2003 rw #x22C9 RotationCommandSet UINT 16 0000 0300 0000 rw #x22CE UserCommand UINT 16 0000 0500 0000 rw #x22D0 L1e6 UINT 16 0100 FFFF E803 rw #x22D1 R1e3 UINT 16 0100 FFFF E803 rw #x22D5 CurrentStopPercent UINT 16 0A00 7800 3200 rw #x22D7 CurrentKiSet UINT 16 3200 3075 2003 rw #x22D9 MotorModeSet INT 16 0000 0200 0000 rw #x22DA PhaseBlanceAdj INT 16 CEFF 3200 0000 rw #x22DB LRD_Threshold_SPEED UINT 16 6400 E803 6400 rw #x22DC LRD_Threshold_GAIN UINT 16 0000 6400 0000 rw #x22DD LRD_Max_CNT UINT 16 0100 6400 0300 rw #x22DE CurrentKpMax UINT 16 3200 3075 2003 rw #x22E0 AFilter_Gain UINT 16 0000 F401 3200 rw #x22E1 CurrentAmplificationSet UINT 16 E803 D007 E803 rw #x22E4 CurrentKiMax UINT 16 3200 3075 2003 rw #x22F1 CurrentSet INT 16 6400 6419 E803 rw #x22F2 DividSet UDINT 32 C8000000 00900100 10270000 rw #x22F5 HalfCurrentTimeSet UINT 16 1000 FF7F C800 rw #x22F6 EncoderResolution UINT 16 C800 FFFF A00F rw #x22F7 InPositionRange UINT 16 0100 E803 0500 rw #x22F8 MaxWeakMagnetic UINT 16 0000 FF7F F401 rw #x22FB SpeedKpSet UINT 16 0000 3075 E803 rw #x22FC SpeedKiSet UINT 16 0000 3075 3200 rw #x22FD SpeedKdSet UINT 16 0000 3075 0000 rw #x22FE MaxSpeed INT 16 0100 8813 F401 rw #x22FF PositionKpSet UINT 16 0000 3075 2003 rw #x2300 PositionKiSet UINT 16 0000 3075 0000 rw #x2301 PositionKdSet UINT 16 0000 3075 0000 rw #x2302 MaxPositionErr UINT 16 0100 3075 E803 rw #x2303 RefTorque UINT 16 1E00 7800 3200 rw #x2308 Damping_Filter_Gain UINT 16 0000 E803 3200 rw #x2309 Damping_Gain UINT 16 0000 E803 3200 rw #x230A Current_Filter_Gain UINT 16 0000 E803 3200 rw #x2313 ARGain UINT 16 0000 FF7F 3700 rw #x2314 ARAdj UINT 16 0000 FF7F E803 rw #x2315 APMGain UINT 16 0000 FF7F 6400 rw #x2316 Break_Mode UINT 16 0000 0200 0000 rw #x2317 Break_Vol UINT 16 6400 201C 6009 rw #x2318 Break_Vol2 UINT 16 6400 201C 6009 rw #x2319 Break_Idle_Time UINT 16 6400 3075 E803 rw #x231A Break_Act_Delay UINT 16 0000 6400 0500 rw #x2327 AutoPIDSW UINT 16 0000 0100 0100 rw #x233D Max Position Limit DINT 32 006CCA88 00943577 00943577 rw #x233F Min Position Limit DINT 32 006CCA88 00943577 006CCA88 rw #x2344 MemorySwitch UINT 16 0000 FFFF 0000 rw #x2390 DigitInputFun_1 UINT 16 0000 1700 0000 rw #x2391 DigitInputFun_2 UINT 16 0000 1700 0000 rw #x2392 DigitInputFun_3 UINT 16 0000 1700 0000 rw #x23A4 DigitOutputFun_1 UINT 16 6400 6D00 6500 rw #x23A5 DigitOutputFun_2 UINT 16 6400 6D00 6500 rw #x23AD DigitInputLogic UINT 16 0000 FF00 0000 rw #x23AE DigitOutputLogic UINT 16 0000 FF00 0000 rw #x603F Error register UINT 16 ro t #x6040 Control Word UINT 16 rw r #x6041 Status Word UINT 16 ro t #x6060 Modes of Operation SINT 8 rw r #x6061 Modes of Operation Display SINT 8 ro t #x6064 Position Actual Value DINT 32 ro t #x606C Velocity Actual Value DINT 32 ro t #x6071 Target Torque INT 16 rw r #x6074 Torque Demand Value INT 16 ro t #x6077 Torque Actual Value INT 16 ro t #x607A Target Position DINT 32 rw r #x607C Home Offset DINT 32 006CCA88 00943577 00000000 rw r #x6081 Profile Velocity UDINT 32 01000000 88130000 64000000 rw r #x6083 Profile Acceleration UDINT 32 01000000 88130000 32000000 rw r #x6084 Profile Deceleration UDINT 32 01000000 88130000 32000000 rw r #x6087 Torque Slope UDINT 32 rw r #x6098 Homing Method SINT 8 00 64 15 rw r #x6099 Homing Speeds DT6099 80 SubIndex 000 02 Homing Max Speeds 01000000 88130000 C8000000 Homing Min Speeds 01000000 88130000 64000000 #x609A Homing Acceleration UDINT 32 05000000 10270000 32000000 rw r #x60B8 Touch Probe Function UINT 16 rw r #x60B9 Touch Probe Status UINT 16 ro t #x60BA Touch Probe Pos1 Pos Value DINT 32 ro t #x60BB Touch Probe Pos1 Neg Value DINT 32 ro t #x60FD Digital Inputs UDINT 32 ro t #x60FE Digital Outputs DT60FE 80 SubIndex 000 02 #x60FF Target Velocity DINT 32 78ECFF0F 88130000 00000000 rw r #x6502 Supported Drive Modes UDINT 32 AD010000 ro #x683F Error register UINT 16 ro t #x6840 Control Word UINT 16 rw r #x6841 Status Word UINT 16 ro t #x6860 Modes of Operation SINT 8 rw r #x6861 Modes of Operation Display SINT 8 ro t #x6864 Position Actual Value DINT 32 ro t #x686C Velocity Actual Value DINT 32 ro t #x6871 Target Torque INT 16 rw r #x6874 Torque Demand Value INT 16 ro t #x6877 Torque Actual Value INT 16 ro t #x687A Target Position DINT 32 rw r #x687C Home Offset DINT 32 006CCA88 00943577 00000000 rw r #x6881 Profile Velocity UDINT 32 01000000 88130000 64000000 rw r #x6883 Profile Acceleration UDINT 32 01000000 88130000 32000000 rw r #x6884 Profile Deceleration UDINT 32 01000000 88130000 32000000 rw r #x6887 Torque Slope UDINT 32 rw r #x6898 Homing Method SINT 8 00 64 15 rw r #x6899 Homing Speeds DT6899 80 SubIndex 000 02 Homing Max Speeds 01000000 88130000 C8000000 Homing Min Speeds 01000000 88130000 64000000 #x689A Homing Acceleration UDINT 32 05000000 10270000 32000000 rw r #x68B8 Touch Probe Function UINT 16 rw r #x68B9 Touch Probe Status UINT 16 ro t #x68BA Touch Probe Pos1 Pos Value DINT 32 ro t #x68BB Touch Probe Pos1 Neg Value DINT 32 ro t #x68FD Digital Inputs UDINT 32 ro t #x68FE Digital Outputs DT68FE 80 SubIndex 000 02 #x68FF Target Velocity DINT 32 78ECFF0F 88130000 00000000 rw r #x6D02 Supported Drive Modes UDINT 32 AD010000 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Axis1 RxPDO1 #x6040 0 16 Control Word UINT #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x60B8 0 16 Touch Probe Function UINT #x6060 0 8 Modes of Operation SINT #x1601 Axis1 RxPDO2 #x6081 0 32 Profile Velocity UDINT #x6098 0 8 Homing Method SINT #x6099 1 32 Homing Max Speeds UDINT #x6099 2 32 Homing Min Speeds UDINT #x1610 Axis2 RxPDO1 #x6840 0 16 Control Word UINT #x687A 0 32 Target Position DINT #x68FF 0 32 Target Velocity DINT #x68B8 0 16 Touch Probe Function UINT #x6860 0 8 Modes of Operation SINT #x1611 Axis2 RxPDO2 #x6881 0 32 Profile Velocity UDINT #x6898 0 8 Homing Method SINT #x6899 1 32 Homing Max Speeds UDINT #x6899 2 32 Homing Min Speeds UDINT #x1A00 Axis1 TxPDO1 #x603F 0 16 Error register UINT #x6041 0 16 Status Word UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position Actual Value DINT #x606C 0 32 Velocity Actual Value DINT #x60FD 0 32 Digital Inputs UDINT #x1A01 Axis1 TxPDO2 #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe Pos1 Pos Value DINT #x60BB 0 32 Touch Probe Pos1 Neg Value DINT #x1A10 Axis2 TxPDO1 #x683F 0 16 Error register UINT #x6841 0 16 Status Word UINT #x6861 0 8 Modes of Operation Display SINT #x6864 0 32 Position Actual Value DINT #x686C 0 32 Velocity Actual Value DINT #x68FD 0 32 Digital Inputs UDINT #x1A11 Axis2 TxPDO2 #x68B9 0 16 Touch Probe Status UINT #x68BA 0 32 Touch Probe Pos1 Pos Value DINT #x68BB 0 32 Touch Probe Pos1 Neg Value DINT PS #x6060 0 08 Modes of Operation PS #x6860 0 08 Modes of Operation DC DC-Synchron #x300 0 0 Synchron SM-Synchron #x0 2048 003C0000FF0100000000 DS-CLS9-FETC-2A DS-CLS9-FETC-2A 2000 9000 5000 200 100 2000 false STEP Servo 402 2 STRING(5) 40 STRING(3) 24 STRING(15) 120 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 INT 16 DINT 32 SINT 8 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1601 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1610 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1611 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A00 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A01 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A10 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A11 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 64 1 4 DT1C12 80 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw DT1C13ARR UINT 64 1 4 DT1C13 80 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 64 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT6099 80 0 SubIndex 000 USINT 8 0 ro 1 Homing Max Speeds UDINT 32 16 rw r 2 Homing Min Speeds UDINT 32 48 rw r DT60FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw r 2 Bitmask UDINT 32 48 rw r DT6899 80 0 SubIndex 000 USINT 8 0 ro 1 Homing Max Speeds UDINT 32 16 rw r 2 Homing Min Speeds UDINT 32 48 rw r DT68FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw r 2 Bitmask UDINT 32 48 rw r #x1000 Device type UDINT 32 92010000 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(15) 120 44532D434C53392D464554432D3241 ro #x1009 Hardware version STRING(3) 24 312E30 ro #x100A Software version STRING(5) 40 312E303030 ro #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 88222000 Product code 86030000 Revision 10000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1600 Axis1 RxPDO1 DT1600 272 SubIndex 000 08 Mapping Entry 1 10004060 Mapping Entry 2 20007A60 Mapping Entry 3 2000FF60 Mapping Entry 4 1000B860 Mapping Entry 5 08006060 #x1601 Axis1 RxPDO2 DT1601 272 SubIndex 000 08 Mapping Entry 1 20008160 Mapping Entry 2 08009860 Mapping Entry 3 20019960 Mapping Entry 4 20029960 #x1610 Axis2 RxPDO1 DT1610 272 SubIndex 000 08 Mapping Entry 1 10004068 Mapping Entry 2 20007A68 Mapping Entry 3 2000FF68 Mapping Entry 4 1000B868 Mapping Entry 5 08006068 #x1611 Axis2 RxPDO2 DT1611 272 SubIndex 000 08 Mapping Entry 1 20008168 Mapping Entry 2 08009868 Mapping Entry 3 20019968 Mapping Entry 4 20029968 #x1A00 Axis1 TxPDO1 DT1A00 272 SubIndex 000 08 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 2000FD60 #x1A01 Axis1 TxPDO2 DT1A01 272 SubIndex 000 08 Mapping Entry 1 1000B960 Mapping Entry 2 2000BA60 Mapping Entry 3 2000BB60 #x1A10 Axis2 TxPDO1 DT1A10 272 SubIndex 000 08 Mapping Entry 1 10003F68 Mapping Entry 2 10004168 Mapping Entry 3 08006168 Mapping Entry 4 20006468 Mapping Entry 5 20006C68 Mapping Entry 6 2000FD68 #x1A11 Axis2 TxPDO2 DT1A11 272 SubIndex 000 08 Mapping Entry 1 1000B968 Mapping Entry 2 2000BA68 Mapping Entry 3 2000BB68 #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 SubIndex 000 02 SubIndex 001 0016 SubIndex 002 1016 SubIndex 003 0000 SubIndex 004 0000 #x1C13 SyncManager 3 assignment DT1C13 80 SubIndex 000 02 SubIndex 001 001A SubIndex 002 101A SubIndex 003 0000 SubIndex 004 0000 #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 Calc and Copy Time D0070000 Delay Time D0070000 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 Calc and Copy Time D0070000 Delay Time D0070000 #x2064 IntegratedCurrent INT 16 ro #x2065 BusVoltage UINT 16 ro #x206C ErrorCode UINT 16 ro #x206D RunState UINT 16 ro #x206E HardWareVersion UINT 16 ro #x206F SoftWareVersion UINT 16 ro #x207C Locked_Rotor_Det UINT 16 ro #x20C8 CurrentKpSet UINT 16 3200 3075 2003 rw #x20C9 RotationCommandSet UINT 16 0000 0300 0000 rw #x20CE UserCommand UINT 16 0000 0500 0000 rw #x20D0 L1e6 UINT 16 0100 FFFF E803 rw #x20D1 R1e3 UINT 16 0100 FFFF E803 rw #x20D5 CurrentStopPercent UINT 16 0A00 7800 3200 rw #x20D7 CurrentKiSet UINT 16 3200 3075 2003 rw #x20D9 MotorModeSet INT 16 0000 0200 0000 rw #x20DA PhaseBlanceAdj INT 16 CEFF 3200 0000 rw #x20DB LRD_Threshold_SPEED UINT 16 6400 E803 6400 rw #x20DC LRD_Threshold_GAIN UINT 16 0000 6400 0000 rw #x20DD LRD_Max_CNT UINT 16 0100 6400 0300 rw #x20DE CurrentKpMax UINT 16 3200 3075 2003 rw #x20E0 AFilter_Gain UINT 16 0000 F401 3200 rw #x20E1 CurrentAmplificationSet UINT 16 E803 D007 E803 rw #x20E4 CurrentKiMax UINT 16 3200 3075 2003 rw #x20F1 CurrentSet INT 16 6400 6419 E803 rw #x20F2 DividSet UDINT 32 C8000000 00900100 10270000 rw #x20F5 HalfCurrentTimeSet UINT 16 1000 FF7F C800 rw #x20F6 EncoderResolution UINT 16 C800 FFFF A00F rw #x20F7 InPositionRange UINT 16 0100 E803 0500 rw #x20F8 MaxWeakMagnetic UINT 16 0000 FF7F F401 rw #x20FB SpeedKpSet UINT 16 0000 3075 E803 rw #x20FC SpeedKiSet UINT 16 0000 3075 3200 rw #x20FD SpeedKdSet UINT 16 0000 3075 0000 rw #x20FE MaxSpeed INT 16 0100 8813 F401 rw #x20FF PositionKpSet UINT 16 0000 3075 2003 rw #x2100 PositionKiSet UINT 16 0000 3075 0000 rw #x2101 PositionKdSet UINT 16 0000 3075 0000 rw #x2102 MaxPositionErr UINT 16 0100 3075 E803 rw #x2103 RefTorque UINT 16 1E00 7800 3200 rw #x2108 Damping_Filter_Gain UINT 16 0000 E803 3200 rw #x2109 Damping_Gain UINT 16 0000 E803 3200 rw #x210A Current_Filter_Gain UINT 16 0000 E803 3200 rw #x2113 ARGain UINT 16 0000 FF7F 3700 rw #x2114 ARAdj UINT 16 0000 FF7F E803 rw #x2115 APMGain UINT 16 0000 FF7F 6400 rw #x2116 Break_Mode UINT 16 0000 0200 0000 rw #x2117 Break_Vol UINT 16 6400 201C 6009 rw #x2118 Break_Vol2 UINT 16 6400 201C 6009 rw #x2119 Break_Idle_Time UINT 16 6400 3075 E803 rw #x211A Break_Act_Delay UINT 16 0000 6400 0500 rw #x2127 AutoPIDSW UINT 16 0000 0100 0100 rw #x213D Max Position Limit DINT 32 006CCA88 00943577 00943577 rw #x213F Min Position Limit DINT 32 006CCA88 00943577 006CCA88 rw #x2144 MemorySwitch UINT 16 0000 FFFF 0000 rw #x2190 DigitInputFun_1 UINT 16 0000 1700 0000 rw #x2191 DigitInputFun_2 UINT 16 0000 1700 0000 rw #x2192 DigitInputFun_3 UINT 16 0000 1700 0000 rw #x21A4 DigitOutputFun_1 UINT 16 6400 6D00 6500 rw #x21A5 DigitOutputFun_2 UINT 16 6400 6D00 6500 rw #x21AD DigitInputLogic UINT 16 0000 FF00 0000 rw #x21AE DigitOutputLogic UINT 16 0000 FF00 0000 rw #x2264 IntegratedCurrent INT 16 ro #x2265 BusVoltage UINT 16 ro #x226C ErrorCode UINT 16 ro #x226D RunState UINT 16 ro #x226E HardWareVersion UINT 16 ro #x226F SoftWareVersion UINT 16 ro #x227C Locked_Rotor_Det UINT 16 ro #x22C8 CurrentKpSet UINT 16 3200 3075 2003 rw #x22C9 RotationCommandSet UINT 16 0000 0300 0000 rw #x22CE UserCommand UINT 16 0000 0500 0000 rw #x22D0 L1e6 UINT 16 0100 FFFF E803 rw #x22D1 R1e3 UINT 16 0100 FFFF E803 rw #x22D5 CurrentStopPercent UINT 16 0A00 7800 3200 rw #x22D7 CurrentKiSet UINT 16 3200 3075 2003 rw #x22D9 MotorModeSet INT 16 0000 0200 0000 rw #x22DA PhaseBlanceAdj INT 16 CEFF 3200 0000 rw #x22DB LRD_Threshold_SPEED UINT 16 6400 E803 6400 rw #x22DC LRD_Threshold_GAIN UINT 16 0000 6400 0000 rw #x22DD LRD_Max_CNT UINT 16 0100 6400 0300 rw #x22DE CurrentKpMax UINT 16 3200 3075 2003 rw #x22E0 AFilter_Gain UINT 16 0000 F401 3200 rw #x22E1 CurrentAmplificationSet UINT 16 E803 D007 E803 rw #x22E4 CurrentKiMax UINT 16 3200 3075 2003 rw #x22F1 CurrentSet INT 16 6400 6419 E803 rw #x22F2 DividSet UDINT 32 C8000000 00900100 10270000 rw #x22F5 HalfCurrentTimeSet UINT 16 1000 FF7F C800 rw #x22F6 EncoderResolution UINT 16 C800 FFFF A00F rw #x22F7 InPositionRange UINT 16 0100 E803 0500 rw #x22F8 MaxWeakMagnetic UINT 16 0000 FF7F F401 rw #x22FB SpeedKpSet UINT 16 0000 3075 E803 rw #x22FC SpeedKiSet UINT 16 0000 3075 3200 rw #x22FD SpeedKdSet UINT 16 0000 3075 0000 rw #x22FE MaxSpeed INT 16 0100 8813 F401 rw #x22FF PositionKpSet UINT 16 0000 3075 2003 rw #x2300 PositionKiSet UINT 16 0000 3075 0000 rw #x2301 PositionKdSet UINT 16 0000 3075 0000 rw #x2302 MaxPositionErr UINT 16 0100 3075 E803 rw #x2303 RefTorque UINT 16 1E00 7800 3200 rw #x2308 Damping_Filter_Gain UINT 16 0000 E803 3200 rw #x2309 Damping_Gain UINT 16 0000 E803 3200 rw #x230A Current_Filter_Gain UINT 16 0000 E803 3200 rw #x2313 ARGain UINT 16 0000 FF7F 3700 rw #x2314 ARAdj UINT 16 0000 FF7F E803 rw #x2315 APMGain UINT 16 0000 FF7F 6400 rw #x2316 Break_Mode UINT 16 0000 0200 0000 rw #x2317 Break_Vol UINT 16 6400 201C 6009 rw #x2318 Break_Vol2 UINT 16 6400 201C 6009 rw #x2319 Break_Idle_Time UINT 16 6400 3075 E803 rw #x231A Break_Act_Delay UINT 16 0000 6400 0500 rw #x2327 AutoPIDSW UINT 16 0000 0100 0100 rw #x233D Max Position Limit DINT 32 006CCA88 00943577 00943577 rw #x233F Min Position Limit DINT 32 006CCA88 00943577 006CCA88 rw #x2344 MemorySwitch UINT 16 0000 FFFF 0000 rw #x2390 DigitInputFun_1 UINT 16 0000 1700 0000 rw #x2391 DigitInputFun_2 UINT 16 0000 1700 0000 rw #x2392 DigitInputFun_3 UINT 16 0000 1700 0000 rw #x23A4 DigitOutputFun_1 UINT 16 6400 6D00 6500 rw #x23A5 DigitOutputFun_2 UINT 16 6400 6D00 6500 rw #x23AD DigitInputLogic UINT 16 0000 FF00 0000 rw #x23AE DigitOutputLogic UINT 16 0000 FF00 0000 rw #x603F Error register UINT 16 ro t #x6040 Control Word UINT 16 rw r #x6041 Status Word UINT 16 ro t #x6060 Modes of Operation SINT 8 rw r #x6061 Modes of Operation Display SINT 8 ro t #x6064 Position Actual Value DINT 32 ro t #x606C Velocity Actual Value DINT 32 ro t #x6071 Target Torque INT 16 rw r #x6074 Torque Demand Value INT 16 ro t #x6077 Torque Actual Value INT 16 ro t #x607A Target Position DINT 32 rw r #x607C Home Offset DINT 32 006CCA88 00943577 00000000 rw r #x6081 Profile Velocity UDINT 32 01000000 88130000 64000000 rw r #x6083 Profile Acceleration UDINT 32 01000000 88130000 32000000 rw r #x6084 Profile Deceleration UDINT 32 01000000 88130000 32000000 rw r #x6087 Torque Slope UDINT 32 rw r #x6098 Homing Method SINT 8 00 64 15 rw r #x6099 Homing Speeds DT6099 80 SubIndex 000 02 Homing Max Speeds 01000000 88130000 C8000000 Homing Min Speeds 01000000 88130000 64000000 #x609A Homing Acceleration UDINT 32 05000000 10270000 32000000 rw r #x60B8 Touch Probe Function UINT 16 rw r #x60B9 Touch Probe Status UINT 16 ro t #x60BA Touch Probe Pos1 Pos Value DINT 32 ro t #x60BB Touch Probe Pos1 Neg Value DINT 32 ro t #x60FD Digital Inputs UDINT 32 ro t #x60FE Digital Outputs DT60FE 80 SubIndex 000 02 #x60FF Target Velocity DINT 32 78ECFF0F 88130000 00000000 rw r #x6502 Supported Drive Modes UDINT 32 AD010000 ro #x683F Error register UINT 16 ro t #x6840 Control Word UINT 16 rw r #x6841 Status Word UINT 16 ro t #x6860 Modes of Operation SINT 8 rw r #x6861 Modes of Operation Display SINT 8 ro t #x6864 Position Actual Value DINT 32 ro t #x686C Velocity Actual Value DINT 32 ro t #x6871 Target Torque INT 16 rw r #x6874 Torque Demand Value INT 16 ro t #x6877 Torque Actual Value INT 16 ro t #x687A Target Position DINT 32 rw r #x687C Home Offset DINT 32 006CCA88 00943577 00000000 rw r #x6881 Profile Velocity UDINT 32 01000000 88130000 64000000 rw r #x6883 Profile Acceleration UDINT 32 01000000 88130000 32000000 rw r #x6884 Profile Deceleration UDINT 32 01000000 88130000 32000000 rw r #x6887 Torque Slope UDINT 32 rw r #x6898 Homing Method SINT 8 00 64 15 rw r #x6899 Homing Speeds DT6899 80 SubIndex 000 02 Homing Max Speeds 01000000 88130000 C8000000 Homing Min Speeds 01000000 88130000 64000000 #x689A Homing Acceleration UDINT 32 05000000 10270000 32000000 rw r #x68B8 Touch Probe Function UINT 16 rw r #x68B9 Touch Probe Status UINT 16 ro t #x68BA Touch Probe Pos1 Pos Value DINT 32 ro t #x68BB Touch Probe Pos1 Neg Value DINT 32 ro t #x68FD Digital Inputs UDINT 32 ro t #x68FE Digital Outputs DT68FE 80 SubIndex 000 02 #x68FF Target Velocity DINT 32 78ECFF0F 88130000 00000000 rw r #x6D02 Supported Drive Modes UDINT 32 AD010000 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Axis1 RxPDO1 #x6040 0 16 Control Word UINT #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x60B8 0 16 Touch Probe Function UINT #x6060 0 8 Modes of Operation SINT #x1601 Axis1 RxPDO2 #x6081 0 32 Profile Velocity UDINT #x6098 0 8 Homing Method SINT #x6099 1 32 Homing Max Speeds UDINT #x6099 2 32 Homing Min Speeds UDINT #x1610 Axis2 RxPDO1 #x6840 0 16 Control Word UINT #x687A 0 32 Target Position DINT #x68FF 0 32 Target Velocity DINT #x68B8 0 16 Touch Probe Function UINT #x6860 0 8 Modes of Operation SINT #x1611 Axis2 RxPDO2 #x6881 0 32 Profile Velocity UDINT #x6898 0 8 Homing Method SINT #x6899 1 32 Homing Max Speeds UDINT #x6899 2 32 Homing Min Speeds UDINT #x1A00 Axis1 TxPDO1 #x603F 0 16 Error register UINT #x6041 0 16 Status Word UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position Actual Value DINT #x606C 0 32 Velocity Actual Value DINT #x60FD 0 32 Digital Inputs UDINT #x1A01 Axis1 TxPDO2 #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe Pos1 Pos Value DINT #x60BB 0 32 Touch Probe Pos1 Neg Value DINT #x1A10 Axis2 TxPDO1 #x683F 0 16 Error register UINT #x6841 0 16 Status Word UINT #x6861 0 8 Modes of Operation Display SINT #x6864 0 32 Position Actual Value DINT #x686C 0 32 Velocity Actual Value DINT #x68FD 0 32 Digital Inputs UDINT #x1A11 Axis2 TxPDO2 #x68B9 0 16 Touch Probe Status UINT #x68BA 0 32 Touch Probe Pos1 Pos Value DINT #x68BB 0 32 Touch Probe Pos1 Neg Value DINT PS #x6060 0 08 Modes of Operation PS #x6860 0 08 Modes of Operation DC DC-Synchron #x300 0 0 Synchron SM-Synchron #x0 2048 003C0000FF0100000000 DS-CLS9-FETC-2T DS-CLS9-FETC-2T 2000 9000 5000 200 100 2000 false STEP Servo 402 2 STRING(5) 40 STRING(3) 24 STRING(15) 120 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 INT 16 DINT 32 SINT 8 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1601 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1610 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1611 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A00 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A01 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A10 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1A11 272 0 SubIndex 000 USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 64 1 4 DT1C12 80 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 64 16 rw DT1C13ARR UINT 64 1 4 DT1C13 80 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 64 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT6099 80 0 SubIndex 000 USINT 8 0 ro 1 Homing Max Speeds UDINT 32 16 rw r 2 Homing Min Speeds UDINT 32 48 rw r DT60FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw r 2 Bitmask UDINT 32 48 rw r DT6899 80 0 SubIndex 000 USINT 8 0 ro 1 Homing Max Speeds UDINT 32 16 rw r 2 Homing Min Speeds UDINT 32 48 rw r DT68FE 80 0 SubIndex 000 USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw r 2 Bitmask UDINT 32 48 rw r #x1000 Device type UDINT 32 92010000 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(15) 120 44532D434C53392D464554432D3254 ro #x1009 Hardware version STRING(3) 24 312E30 ro #x100A Software version STRING(5) 40 312E303030 ro #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 88222000 Product code 88030000 Revision 10000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1600 Axis1 RxPDO1 DT1600 272 SubIndex 000 08 Mapping Entry 1 10004060 Mapping Entry 2 20007A60 Mapping Entry 3 2000FF60 Mapping Entry 4 1000B860 Mapping Entry 5 08006060 #x1601 Axis1 RxPDO2 DT1601 272 SubIndex 000 08 Mapping Entry 1 20008160 Mapping Entry 2 08009860 Mapping Entry 3 20019960 Mapping Entry 4 20029960 #x1610 Axis2 RxPDO1 DT1610 272 SubIndex 000 08 Mapping Entry 1 10004068 Mapping Entry 2 20007A68 Mapping Entry 3 2000FF68 Mapping Entry 4 1000B868 Mapping Entry 5 08006068 #x1611 Axis2 RxPDO2 DT1611 272 SubIndex 000 08 Mapping Entry 1 20008168 Mapping Entry 2 08009868 Mapping Entry 3 20019968 Mapping Entry 4 20029968 #x1A00 Axis1 TxPDO1 DT1A00 272 SubIndex 000 08 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 2000FD60 #x1A01 Axis1 TxPDO2 DT1A01 272 SubIndex 000 08 Mapping Entry 1 1000B960 Mapping Entry 2 2000BA60 Mapping Entry 3 2000BB60 #x1A10 Axis2 TxPDO1 DT1A10 272 SubIndex 000 08 Mapping Entry 1 10003F68 Mapping Entry 2 10004168 Mapping Entry 3 08006168 Mapping Entry 4 20006468 Mapping Entry 5 20006C68 Mapping Entry 6 2000FD68 #x1A11 Axis2 TxPDO2 DT1A11 272 SubIndex 000 08 Mapping Entry 1 1000B968 Mapping Entry 2 2000BA68 Mapping Entry 3 2000BB68 #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C12 80 SubIndex 000 02 SubIndex 001 0016 SubIndex 002 1016 SubIndex 003 0000 SubIndex 004 0000 #x1C13 SyncManager 3 assignment DT1C13 80 SubIndex 000 02 SubIndex 001 001A SubIndex 002 101A SubIndex 003 0000 SubIndex 004 0000 #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 Calc and Copy Time D0070000 Delay Time D0070000 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 20A10700 Calc and Copy Time D0070000 Delay Time D0070000 #x2064 IntegratedCurrent INT 16 ro #x2065 BusVoltage UINT 16 ro #x206C ErrorCode UINT 16 ro #x206D RunState UINT 16 ro #x206E HardWareVersion UINT 16 ro #x206F SoftWareVersion UINT 16 ro #x207C Locked_Rotor_Det UINT 16 ro #x20C8 CurrentKpSet UINT 16 3200 3075 2003 rw #x20C9 RotationCommandSet UINT 16 0000 0300 0000 rw #x20CE UserCommand UINT 16 0000 0500 0000 rw #x20D0 L1e6 UINT 16 0100 FFFF E803 rw #x20D1 R1e3 UINT 16 0100 FFFF E803 rw #x20D5 CurrentStopPercent UINT 16 0A00 7800 3200 rw #x20D7 CurrentKiSet UINT 16 3200 3075 2003 rw #x20D9 MotorModeSet INT 16 0000 0200 0000 rw #x20DA PhaseBlanceAdj INT 16 CEFF 3200 0000 rw #x20DB LRD_Threshold_SPEED UINT 16 6400 E803 6400 rw #x20DC LRD_Threshold_GAIN UINT 16 0000 6400 0000 rw #x20DD LRD_Max_CNT UINT 16 0100 6400 0300 rw #x20DE CurrentKpMax UINT 16 3200 3075 2003 rw #x20E0 AFilter_Gain UINT 16 0000 F401 3200 rw #x20E1 CurrentAmplificationSet UINT 16 E803 D007 E803 rw #x20E4 CurrentKiMax UINT 16 3200 3075 2003 rw #x20F1 CurrentSet INT 16 6400 6419 E803 rw #x20F2 DividSet UDINT 32 C8000000 00900100 10270000 rw #x20F5 HalfCurrentTimeSet UINT 16 1000 FF7F C800 rw #x20F6 EncoderResolution UINT 16 C800 FFFF A00F rw #x20F7 InPositionRange UINT 16 0100 E803 0500 rw #x20F8 MaxWeakMagnetic UINT 16 0000 FF7F F401 rw #x20FB SpeedKpSet UINT 16 0000 3075 E803 rw #x20FC SpeedKiSet UINT 16 0000 3075 3200 rw #x20FD SpeedKdSet UINT 16 0000 3075 0000 rw #x20FE MaxSpeed INT 16 0100 8813 F401 rw #x20FF PositionKpSet UINT 16 0000 3075 2003 rw #x2100 PositionKiSet UINT 16 0000 3075 0000 rw #x2101 PositionKdSet UINT 16 0000 3075 0000 rw #x2102 MaxPositionErr UINT 16 0100 3075 E803 rw #x2103 RefTorque UINT 16 1E00 7800 3200 rw #x2108 Damping_Filter_Gain UINT 16 0000 E803 3200 rw #x2109 Damping_Gain UINT 16 0000 E803 3200 rw #x210A Current_Filter_Gain UINT 16 0000 E803 3200 rw #x2113 ARGain UINT 16 0000 FF7F 3700 rw #x2114 ARAdj UINT 16 0000 FF7F E803 rw #x2115 APMGain UINT 16 0000 FF7F 6400 rw #x2116 Break_Mode UINT 16 0000 0200 0000 rw #x2117 Break_Vol UINT 16 6400 201C 6009 rw #x2118 Break_Vol2 UINT 16 6400 201C 6009 rw #x2119 Break_Idle_Time UINT 16 6400 3075 E803 rw #x211A Break_Act_Delay UINT 16 0000 6400 0500 rw #x2127 AutoPIDSW UINT 16 0000 0100 0100 rw #x213D Max Position Limit DINT 32 006CCA88 00943577 00943577 rw #x213F Min Position Limit DINT 32 006CCA88 00943577 006CCA88 rw #x2144 MemorySwitch UINT 16 0000 FFFF 0000 rw #x2190 DigitInputFun_1 UINT 16 0000 1700 0000 rw #x2191 DigitInputFun_2 UINT 16 0000 1700 0000 rw #x2192 DigitInputFun_3 UINT 16 0000 1700 0000 rw #x21A4 DigitOutputFun_1 UINT 16 6400 6D00 6500 rw #x21A5 DigitOutputFun_2 UINT 16 6400 6D00 6500 rw #x21AD DigitInputLogic UINT 16 0000 FF00 0000 rw #x21AE DigitOutputLogic UINT 16 0000 FF00 0000 rw #x2264 IntegratedCurrent INT 16 ro #x2265 BusVoltage UINT 16 ro #x226C ErrorCode UINT 16 ro #x226D RunState UINT 16 ro #x226E HardWareVersion UINT 16 ro #x226F SoftWareVersion UINT 16 ro #x227C Locked_Rotor_Det UINT 16 ro #x22C8 CurrentKpSet UINT 16 3200 3075 2003 rw #x22C9 RotationCommandSet UINT 16 0000 0300 0000 rw #x22CE UserCommand UINT 16 0000 0500 0000 rw #x22D0 L1e6 UINT 16 0100 FFFF E803 rw #x22D1 R1e3 UINT 16 0100 FFFF E803 rw #x22D5 CurrentStopPercent UINT 16 0A00 7800 3200 rw #x22D7 CurrentKiSet UINT 16 3200 3075 2003 rw #x22D9 MotorModeSet INT 16 0000 0200 0000 rw #x22DA PhaseBlanceAdj INT 16 CEFF 3200 0000 rw #x22DB LRD_Threshold_SPEED UINT 16 6400 E803 6400 rw #x22DC LRD_Threshold_GAIN UINT 16 0000 6400 0000 rw #x22DD LRD_Max_CNT UINT 16 0100 6400 0300 rw #x22DE CurrentKpMax UINT 16 3200 3075 2003 rw #x22E0 AFilter_Gain UINT 16 0000 F401 3200 rw #x22E1 CurrentAmplificationSet UINT 16 E803 D007 E803 rw #x22E4 CurrentKiMax UINT 16 3200 3075 2003 rw #x22F1 CurrentSet INT 16 6400 6419 E803 rw #x22F2 DividSet UDINT 32 C8000000 00900100 10270000 rw #x22F5 HalfCurrentTimeSet UINT 16 1000 FF7F C800 rw #x22F6 EncoderResolution UINT 16 C800 FFFF A00F rw #x22F7 InPositionRange UINT 16 0100 E803 0500 rw #x22F8 MaxWeakMagnetic UINT 16 0000 FF7F F401 rw #x22FB SpeedKpSet UINT 16 0000 3075 E803 rw #x22FC SpeedKiSet UINT 16 0000 3075 3200 rw #x22FD SpeedKdSet UINT 16 0000 3075 0000 rw #x22FE MaxSpeed INT 16 0100 8813 F401 rw #x22FF PositionKpSet UINT 16 0000 3075 2003 rw #x2300 PositionKiSet UINT 16 0000 3075 0000 rw #x2301 PositionKdSet UINT 16 0000 3075 0000 rw #x2302 MaxPositionErr UINT 16 0100 3075 E803 rw #x2303 RefTorque UINT 16 1E00 7800 3200 rw #x2308 Damping_Filter_Gain UINT 16 0000 E803 3200 rw #x2309 Damping_Gain UINT 16 0000 E803 3200 rw #x230A Current_Filter_Gain UINT 16 0000 E803 3200 rw #x2313 ARGain UINT 16 0000 FF7F 3700 rw #x2314 ARAdj UINT 16 0000 FF7F E803 rw #x2315 APMGain UINT 16 0000 FF7F 6400 rw #x2316 Break_Mode UINT 16 0000 0200 0000 rw #x2317 Break_Vol UINT 16 6400 201C 6009 rw #x2318 Break_Vol2 UINT 16 6400 201C 6009 rw #x2319 Break_Idle_Time UINT 16 6400 3075 E803 rw #x231A Break_Act_Delay UINT 16 0000 6400 0500 rw #x2327 AutoPIDSW UINT 16 0000 0100 0100 rw #x233D Max Position Limit DINT 32 006CCA88 00943577 00943577 rw #x233F Min Position Limit DINT 32 006CCA88 00943577 006CCA88 rw #x2344 MemorySwitch UINT 16 0000 FFFF 0000 rw #x2390 DigitInputFun_1 UINT 16 0000 1700 0000 rw #x2391 DigitInputFun_2 UINT 16 0000 1700 0000 rw #x2392 DigitInputFun_3 UINT 16 0000 1700 0000 rw #x23A4 DigitOutputFun_1 UINT 16 6400 6D00 6500 rw #x23A5 DigitOutputFun_2 UINT 16 6400 6D00 6500 rw #x23AD DigitInputLogic UINT 16 0000 FF00 0000 rw #x23AE DigitOutputLogic UINT 16 0000 FF00 0000 rw #x603F Error register UINT 16 ro t #x6040 Control Word UINT 16 rw r #x6041 Status Word UINT 16 ro t #x6060 Modes of Operation SINT 8 rw r #x6061 Modes of Operation Display SINT 8 ro t #x6064 Position Actual Value DINT 32 ro t #x606C Velocity Actual Value DINT 32 ro t #x6071 Target Torque INT 16 rw r #x6074 Torque Demand Value INT 16 ro t #x6077 Torque Actual Value INT 16 ro t #x607A Target Position DINT 32 rw r #x607C Home Offset DINT 32 006CCA88 00943577 00000000 rw r #x6081 Profile Velocity UDINT 32 01000000 88130000 64000000 rw r #x6083 Profile Acceleration UDINT 32 01000000 88130000 32000000 rw r #x6084 Profile Deceleration UDINT 32 01000000 88130000 32000000 rw r #x6087 Torque Slope UDINT 32 rw r #x6098 Homing Method SINT 8 00 64 15 rw r #x6099 Homing Speeds DT6099 80 SubIndex 000 02 Homing Max Speeds 01000000 88130000 C8000000 Homing Min Speeds 01000000 88130000 64000000 #x609A Homing Acceleration UDINT 32 05000000 10270000 32000000 rw r #x60B8 Touch Probe Function UINT 16 rw r #x60B9 Touch Probe Status UINT 16 ro t #x60BA Touch Probe Pos1 Pos Value DINT 32 ro t #x60BB Touch Probe Pos1 Neg Value DINT 32 ro t #x60FD Digital Inputs UDINT 32 ro t #x60FE Digital Outputs DT60FE 80 SubIndex 000 02 #x60FF Target Velocity DINT 32 78ECFF0F 88130000 00000000 rw r #x6502 Supported Drive Modes UDINT 32 AD010000 ro #x683F Error register UINT 16 ro t #x6840 Control Word UINT 16 rw r #x6841 Status Word UINT 16 ro t #x6860 Modes of Operation SINT 8 rw r #x6861 Modes of Operation Display SINT 8 ro t #x6864 Position Actual Value DINT 32 ro t #x686C Velocity Actual Value DINT 32 ro t #x6871 Target Torque INT 16 rw r #x6874 Torque Demand Value INT 16 ro t #x6877 Torque Actual Value INT 16 ro t #x687A Target Position DINT 32 rw r #x687C Home Offset DINT 32 006CCA88 00943577 00000000 rw r #x6881 Profile Velocity UDINT 32 01000000 88130000 64000000 rw r #x6883 Profile Acceleration UDINT 32 01000000 88130000 32000000 rw r #x6884 Profile Deceleration UDINT 32 01000000 88130000 32000000 rw r #x6887 Torque Slope UDINT 32 rw r #x6898 Homing Method SINT 8 00 64 15 rw r #x6899 Homing Speeds DT6899 80 SubIndex 000 02 Homing Max Speeds 01000000 88130000 C8000000 Homing Min Speeds 01000000 88130000 64000000 #x689A Homing Acceleration UDINT 32 05000000 10270000 32000000 rw r #x68B8 Touch Probe Function UINT 16 rw r #x68B9 Touch Probe Status UINT 16 ro t #x68BA Touch Probe Pos1 Pos Value DINT 32 ro t #x68BB Touch Probe Pos1 Neg Value DINT 32 ro t #x68FD Digital Inputs UDINT 32 ro t #x68FE Digital Outputs DT68FE 80 SubIndex 000 02 #x68FF Target Velocity DINT 32 78ECFF0F 88130000 00000000 rw r #x6D02 Supported Drive Modes UDINT 32 AD010000 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Axis1 RxPDO1 #x6040 0 16 Control Word UINT #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x60B8 0 16 Touch Probe Function UINT #x6060 0 8 Modes of Operation SINT #x1601 Axis1 RxPDO2 #x6081 0 32 Profile Velocity UDINT #x6098 0 8 Homing Method SINT #x6099 1 32 Homing Max Speeds UDINT #x6099 2 32 Homing Min Speeds UDINT #x1610 Axis2 RxPDO1 #x6840 0 16 Control Word UINT #x687A 0 32 Target Position DINT #x68FF 0 32 Target Velocity DINT #x68B8 0 16 Touch Probe Function UINT #x6860 0 8 Modes of Operation SINT #x1611 Axis2 RxPDO2 #x6881 0 32 Profile Velocity UDINT #x6898 0 8 Homing Method SINT #x6899 1 32 Homing Max Speeds UDINT #x6899 2 32 Homing Min Speeds UDINT #x1A00 Axis1 TxPDO1 #x603F 0 16 Error register UINT #x6041 0 16 Status Word UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position Actual Value DINT #x606C 0 32 Velocity Actual Value DINT #x60FD 0 32 Digital Inputs UDINT #x1A01 Axis1 TxPDO2 #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe Pos1 Pos Value DINT #x60BB 0 32 Touch Probe Pos1 Neg Value DINT #x1A10 Axis2 TxPDO1 #x683F 0 16 Error register UINT #x6841 0 16 Status Word UINT #x6861 0 8 Modes of Operation Display SINT #x6864 0 32 Position Actual Value DINT #x686C 0 32 Velocity Actual Value DINT #x68FD 0 32 Digital Inputs UDINT #x1A11 Axis2 TxPDO2 #x68B9 0 16 Touch Probe Status UINT #x68BA 0 32 Touch Probe Pos1 Pos Value DINT #x68BB 0 32 Touch Probe Pos1 Neg Value DINT PS #x6060 0 08 Modes of Operation PS #x6860 0 08 Modes of Operation DC DC-Synchron #x300 0 0 Synchron SM-Synchron #x0 2048 003C0000FF0100000000