#x99 COTRUST 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Drive Servo 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A4N EtherCAT 6000 5000 6000 200 REGISTER_SUPPORT Drive 402 BIT4 0 BOOL 1 BYTE 8 DINT 32 UDINT 32 UINT 16 INT 16 USINT 8 SINT 8 ARRAY [0..25] OF BYTE BYTE 208 0 26 ARRAY [0..5] OF BYTE BYTE 48 0 6 STRING(2) 16 STRING(6) 48 STRING(11) 88 STRING(20) 160 DT1003 520 0 number of errors USINT 8 0 rw o 1 standard error field 1 UDINT 32 8 ro o 2 standard error field 2 UDINT 32 40 ro o 3 standard error field 3 UDINT 32 72 ro o 4 standard error field 4 UDINT 32 104 ro o 5 standard error field 5 UDINT 32 136 ro o 6 standard error field 6 UDINT 32 168 ro o 7 standard error field 7 UDINT 32 200 ro o 8 standard error field 8 UDINT 32 232 ro o 9 standard error field 9 UDINT 32 264 ro o 10 standard error field 10 UDINT 32 296 ro o 11 standard error field 11 UDINT 32 328 ro o 12 standard error field 12 UDINT 32 360 ro o 13 standard error field 13 UDINT 32 392 ro o 14 standard error field 14 UDINT 32 424 ro o 15 standard error field 15 UDINT 32 456 ro o 16 standard error field 16 UDINT 32 488 ro o DT1018 136 0 Number of entries USINT 8 0 ro o 1 Vendor ID UDINT 32 8 ro o 2 Product code UDINT 32 40 ro o 3 Revision number UDINT 32 72 ro o 4 serial number UDINT 32 104 ro o DT1600 200 0 Number of mapped objects USINT 8 0 rw o 1 RPDO 1st parameter UDINT 32 8 rw o 2 RPDO 2nd parameter UDINT 32 40 rw o 3 RPDO 3rd parameter UDINT 32 72 rw o 4 RPDO 4th parameter UDINT 32 104 rw o 5 RPDO 5th parameter UDINT 32 136 rw o 6 RPDO 6th parameter UDINT 32 168 rw o DT1A00 200 0 Number of mapped objects USINT 8 0 rw o 1 TPDO 1st parameter UDINT 32 8 rw o 2 TPDO 2nd parameter UDINT 32 40 rw o 3 TPDO 3rd parameter UDINT 32 72 rw o 4 TPDO 4th parameter UDINT 32 104 rw o 5 TPDO 5th parameter UDINT 32 136 rw o 6 TPDO 6th parameter UDINT 32 168 rw o DT1C12 24 0 Number of RxPDOs USINT 8 0 rw o 1 PDO Mapping object of RxPDO UINT 16 8 rw o DT1C13 24 0 Number of TxPDOs USINT 8 0 rw o 1 PDO Mapping object of TxPDO UINT 16 8 rw o DT1C32 177 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 ro 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 64 ro 5 Minimum Cycle Time UDINT 32 80 ro 6 Calc and Copy Time UDINT 32 112 ro 9 Delay Time UDINT 32 144 ro 32 Sync Error BOOL 1 176 ro DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT Set the homing speed, from when the homing operation starts to when the origin proximity signal turns on. 32 16 rw RT 2 Speed during search for zero UDINT Set the homing speed, from when the origin proximity signal turns on to when it turns off and the latch signal is detected. 32 48 rw RT #x1000 Device Type UDINT 32 92014100 #x1001 Error Register USINT 8 00 #x1003 Predefined error field DT1003 520 number of errors 10 standard error field 1 00000000 standard error field 2 00000000 standard error field 3 00000000 standard error field 4 00000000 standard error field 5 00000000 standard error field 6 00000000 standard error field 7 00000000 standard error field 8 00000000 standard error field 9 00000000 standard error field 10 00000000 standard error field 11 00000000 standard error field 12 00000000 standard error field 13 00000000 standard error field 14 00000000 standard error field 15 00000000 standard error field 16 00000000 ro o #x1008 Manufacturer device name STRING(11) 88 ro o #x1600 Receive PDO mapping DT1600 200 Number of mapped objects 02 RPDO 1st parameter 10004060 RPDO 2nd parameter 10004260 RPDO 3rd parameter RPDO 4th parameter RPDO 5th parameter RPDO 6th parameter rw o #x1601 Receive PDO mapping 1 DT1600 200 Number of mapped objects 02 RPDO 1st parameter 10004060 RPDO 2nd parameter 10004260 RPDO 3rd parameter RPDO 4th parameter RPDO 5th parameter RPDO 6th parameter rw o #x1602 Receive PDO mapping 2 DT1600 200 Number of mapped objects 02 RPDO 1st parameter 10004060 RPDO 2nd parameter 10004260 RPDO 3rd parameter RPDO 4th parameter RPDO 5th parameter RPDO 6th parameter rw o #x1603 Receive PDO mapping 3 DT1600 200 Number of mapped objects 02 RPDO 1st parameter 10004060 RPDO 2nd parameter 10004260 RPDO 3rd parameter RPDO 4th parameter RPDO 5th parameter RPDO 6th parameter rw o #x1A00 Transmit PDO mapping DT1A00 200 Number of mapped objects 02 TPDO 1st parameter 10004160 TPDO 2nd parameter 10004460 TPDO 3rd parameter TPDO 4th parameter TPDO 5th parameter TPDO 6th parameter rw o #x1A01 Transmit PDO mapping 1 DT1A00 200 Number of mapped objects 02 TPDO 1st parameter 10004160 TPDO 2nd parameter 10004460 TPDO 3rd parameter TPDO 4th parameter TPDO 5th parameter TPDO 6th parameter rw o #x1A02 Transmit PDO mapping 2 DT1A00 200 Number of mapped objects 02 TPDO 1st parameter 10004160 TPDO 2nd parameter 10004460 TPDO 3rd parameter TPDO 4th parameter TPDO 5th parameter TPDO 6th parameter rw o #x1A03 Transmit PDO mapping 3 DT1A00 200 Number of mapped objects 02 TPDO 1st parameter 10004160 TPDO 2nd parameter 10004460 TPDO 3rd parameter TPDO 4th parameter TPDO 5th parameter TPDO 6th parameter rw o #x1C12 Sync manager channel 2 DT1C12 24 Number of RxPDOs 01 PDO Mapping object of RxPDO 0016 rw o #x1C13 Sync manager channel 3 DT1C13 24 Number of TxPDOs 01 PDO Mapping object of TxPDO 001A rw o #x1C32 Sync Manager 2 Synchronization DT1C32 177 SubIndex 000 32 Synchronization Type #x0002 Cycle Time #x00000000 #xFFFFFFFF #x00000000 Synchronization Types supported 4 Minimum Cycle Time #x000032C8 Calc and Copy Time #x0007A120 Delay Time #x00000000 Sync Error 0 1 0 ro #x1C33 Sync Manager 3 Synchronization DT1C32 177 SubIndex 000 32 Synchronization Type #x0002 Cycle Time #x00000000 #xFFFFFFFF #x00000000 Synchronization Types supported 4 Minimum Cycle Time #x000032C8 Calc and Copy Time #x000606F8 Delay Time #x00000000 Sync Error 0 1 0 ro #x2014 20 1st position loop gain INT 16 rw o RT #x2015 21 1st velocity loop gain INT 16 rw o RT #x2016 22 1st velocity loop integration time constant INT 16 rw o RT #x2017 23 1st velocity detection filter INT 16 rw o RT #x2018 24 1st torque filter time constant INT 16 rw o RT #x2019 25 Velocity feed forward INT 16 rw o RT #x201A 26 Velocity feedforward filter time constant INT 16 rw o RT #x201B 27 2nd position loop gain INT 16 rw o RT #x201C 28 2nd velocity loop gain INT 16 rw o RT #x201D 29 2nd velocity loop integration time constant INT 16 rw o RT #x201E 30 2nd speed detection filter INT 16 rw o RT #x201F 31 2nd torque filter time constant INT 16 rw o RT #x2020 32 Inertia ratio INT 16 rw o RT #x203B 59 Homing mode INT 16 rw o RT #x205F 95 1st internal speed INT 16 rw o RT #x2060 96 2st internal speed INT 16 rw o RT #x2061 97 3st internal speed INT 16 rw o RT #x2062 98 4st internal speed INT 16 rw o RT #x2063 99 5st internal speed INT 16 rw o RT #x2064 100 6st internal speed INT 16 rw o RT #x2065 101 7st internal speed INT 16 rw o RT #x2066 102 8st internal speed INT 16 rw o RT #x2071 113 Acceleration time set-up INT 16 rw o RT #x2072 114 Deceleration time set-up INT 16 rw o RT #x2077 119 1st torque limitation INT 16 rw o RT #x2078 120 2st torque limitation INT 16 rw o RT #x20C8 200 System mode INT 16 ro o T #x20C9 201 Control mode INT 16 ro o T #x20CA 202 Type of error UINT 16 ro o T #x20CB 203 External command INT 16 ro o T #x20CC 204 Output state UINT 16 ro o T #x20CD 205 Input IO signal state INT 16 ro o T #x20CE 206 Output IO signal state INT 16 ro o T #x20CF 207 SPR/TRQR input command INT 16 ro o T #x20D4 212 Sum of command pulses(32 bit) DINT 32 ro o T #x20D6 214 Sum of feedback pulses(32 bit) DINT 32 ro o T #x20D8 216 User position coordinates(32 bit) DINT 32 ro o T #x20DA 218 Command pulse deviation(32 bit) DINT 32 ro o T #x20DC 220 Command speed INT 16 ro o T #x20DD 221 Feedback speed INT 16 ro o T #x20DE 222 Velocity deviation INT 16 ro o T #x20DF 223 Torque command INT 16 ro o T #x20E0 224 Actual troqe INT 16 ro o T #x20E1 225 Torque deviation INT 16 ro o T #x20E2 226 Busbar voltage INT 16 ro o T #x20E6 230 Discharge resistance loading rate INT 16 ro o T #x20E7 231 Overload rate INT 16 ro o T #x20EC 236 EtherCAT Status INT 16 ro o T #x20ED 237 Statusword UINT 16 ro o T #x2117 279 Controlword INT 16 rw o RT #x2118 280 Communication function code INT 16 rw o RT #x2119 281 Communication external command UINT 16 rw o RT #x211A 282 Communication control word INT 16 rw o RT #x2122 290 Given position 0(32 bit) DINT 32 rw o RT #x2144 324 Given speed 0 INT 16 rw o RT #x2166 358 Given torque 0 INT 16 rw o RT #x603F error type UINT 16 ro o T #x6040 controlword UINT 16 rw o RT #x6041 statusword UINT 16 ro o T #x6060 Mode of operation INT 16 rw o RT #x6061 Mode of operation display INT 16 ro o T #x6063 Position actual internal value DINT 32 ro o T #x6064 Position actual value DINT 32 ro o T #x606B velocity demand value INT 16 ro o T #x606C velocity actual value DINT 32 ro o T #x6071 target torque INT 16 rw o RT #x6072 Max torque INT 16 rw o RT #x6074 torque demand INT 16 ro o T #x6077 torque actual value INT 16 ro o T #x607A target position DINT 32 rw o RT #x607F max profile velocity UDINT 32 rw o RT #x6080 motor velocity UDINT 32 rw o RT #x6081 profile velocity UDINT 32 rw o RT #x6083 profile acceleration UDINT 32 rw o RT #x6084 profile deceleration UDINT 32 rw o RT #x6085 quick stop acceleration UDINT 32 rw o RT #x6098 homing method UINT 16 rw o RT #x6099 Homing speeds DT6099 80 ro #x60B8 touch probe fun UINT 16 rw o RT #x60B9 touch probe status UINT 16 ro o T #x60BA touch probe pos1 pos value DINT 32 ro o T #x60BB touch probe pos1 neg value DINT 32 ro o T #x60BC touch probe pos2 pos value DINT 32 ro o T #x60BD touch probe pos2 neg value DINT 32 ro o T #x60FD Digital input UDINT 32 ro o T #x60FF target velocity DINT 32 rw o RT Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Outputs #x1601 #x1602 #x6040 0 16 Controlword UINT #x607A 0 32 target position DINT #x6071 0 16 target torque INT #x607F 0 32 max profile velocity UDINT #x60FF 0 32 target velocity DINT #x60B8 0 16 touch probe function UINT #x6060 0 16 Mode of operation INT #x1601 Outputs #x1600 #x1602 #x6040 0 16 Controlword UINT #x607A 0 32 target position DINT #x1602 Outputs #x1600 #x1601 #x6040 0 16 Controlword UINT #x607A 0 32 target position DINT #x60B8 0 16 touch probe function UINT #x1603 Outputs #x2119 0 16 281 Communication external command UINT #x1A00 Inputs #x1A01 #x1A02 #x6041 0 16 Statusword UINT #x6064 0 32 position actual value DINT #x606C 0 32 velocity actual value DINT #x6077 0 16 torque actual value INT #x6061 0 16 mode of operation display INT #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 #x60FD 0 32 Digital input UDINT #x1A01 Inputs #x1A00 #x1A02 #x6041 0 16 Statusword UINT #x6064 0 32 position actual value DINT #x1A02 Inputs #x1A00 #x1A01 #x6041 0 16 Statusword UINT #x6064 0 32 position actual value DINT #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 #x1A03 Inputs #x20D4 0 32 212 Sum of command pulses(32 bit) DINT DcSync DC for synchronization #x0300 0 0 DcOff DC unused #x0000 25000 100 2048 080C00046400 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