#x99 COTRUST 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Drive Servo 424D06030000000000003600000028000000100000000F0000000100180000000000D0020000C40E0000C40E00000000000000000000FFFFFFEBCE9BD99213D08600DAA23DF7EEDEFFFFFFFFFFFFFFFFFFFFFFFFF3EADBE2A841D08906D59722EAD5ACFFFFFFDDCAA5D58900D59725D9A851CB8300CE8500DCAF5EE1B66BE4B868E4CA9CC4820CCF8600D9A74DCF901ED38800E9D3B3DE9002D69A2DE2BC7ADBA74BDCBA7CCD8B12D18700CE8500C88100CD8F1CD0890BDFBB7BDDAA4BDCB97BCE9226D38E0CD38800DAAF63D1962ED58A00DCAF5FD9A954CF8500CE8500D09121CE9020D7A344DAAD5DD48800D79D33DCAF5ECF8500D68C19D08E14E0BE7FDFB364E0B76FCF8605CE8500D28700CD8300D8A345CE8B10DCB874DFB364DEBD7FD38F12E09919EDE4CBD18700D28600D69E3ACD890CD69929D9AC5CECD7AFF3E1BFD49C37D08600D08B0CD8A84FD08600D58800E3D9C6FFFFFFF2E4CCE6AF4CD69313D8A64BD8A13ED2921EFFFFFFFBF7EFD28700CD8400CD8400D18700E5AD45F1E5CFFFFFFFFFFFFFFFFFFFFFFFFFD6B77CD78E0ACD8400D48800D19D41D5AE68D28700CE8500D18600DCAC5BFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF4E9D9D48800CD8500CD8400D28700D19019DDB162D1901BD38800FDFAF5FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFBC7FD18700CE8500DBA94ED79C32D18D12D89E3AE9D2ACFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3E6CDD08500D7AD5CDFB66CE1BD7AD49E39D28703FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFEFD4A1C98201DFBB7BCF8600CF8500E1BC79CC8400EED9B4FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFEFD9B6D48500D9B268DCAC55DDB266D8A955CF8700F6EDDAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCD9935D48800DCAB52D8A548CE8600DEAD5BFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCFBF8E4AF5ACF8500CE8500E1BA70FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF00000000000000000000 A6N 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 LINT 64 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 DT2000 880 0 Number of entries USINT 8 0 ro o 1 u32DrvScheme UDINT 32 16 ro o T 3 u16McuSwVer0 UINT 16 48 ro o T 4 u16McuSwVer1 UINT 16 64 ro o T 5 u32McuSwDate UDINT 32 80 ro o T 15 u16Formula UINT 16 112 rw o RT 16 u16SuperCode UINT 16 128 rw o RT 17 u16UserCode UINT 16 144 rw o RT 18 u16SysAccess UINT 16 160 ro o T 19 u16AxisNo UINT 16 176 ro o T 20 u16CtrlBoardType UINT 16 192 ro o T 23 u16VoltInRateSi UINT 16 208 ro o T 24 u16UmdcRateSi UINT 16 224 ro o T 25 u16UmdcDrt UINT 16 240 ro o T 26 u16PowerRate UINT 16 256 ro o T 27 u16PowerMax UINT 16 272 ro o T 28 u16CurOutRate UINT 16 288 ro o T 29 u16CurOutMax UINT 16 304 ro o T 30 u16CarrierFreq UINT 16 320 ro o T 31 u16Deadtime UINT 16 336 ro o T 32 u16DefRgValue UINT 16 352 ro o T 33 u16DefRgPower UINT 16 368 ro o T 34 u16FanType UINT 16 384 ro o T 35 u16UmdcErrOVSi UINT 16 400 ro o T 36 u16UmdcErrUVSi UINT 16 416 ro o T 37 u16UmdcWrnUVSi UINT 16 432 ro o T 38 u16RlyOnVoltSi UINT 16 448 ro o T 39 u16UmdcRgOnVoltSi UINT 16 464 ro o T 40 u16UmdcErrOV UINT 16 480 ro o T 41 u16UmdcErrUV UINT 16 496 ro o T 42 u16UmdcRgOnVolt UINT 16 512 ro o T 43 u16UmdcRgOffVolt UINT 16 528 ro o T 46 u16HwOC UINT 16 544 ro o T 47 u16SwOC UINT 16 560 ro o T 48 s16AmpOH INT 16 576 ro o T 49 u16AmpMidOlt UINT 16 592 rw o RT 50 u16AmpMaxOlt UINT 16 608 rw o RT 51 u16AmpRatioIbase UINT 16 624 rw o RT 52 u16AmpRatioImid UINT 16 640 rw o RT 53 u16AmpRatioImax UINT 16 656 rw o RT 54 u16OverLoadCoeff UINT 16 672 ro o T 55 u16CurLoopType UINT 16 688 ro o T 56 u16CurSampType UINT 16 704 ro o T 57 u16ExtHdiNum UINT 16 720 ro o T 58 u16ExtDiNum UINT 16 736 ro o T 59 u16ExtDoNum UINT 16 752 ro o T 60 u16ExtAiNum UINT 16 768 ro o T 61 u16TempNum UINT 16 784 ro o T 63 u16IphHwCoeff UINT 16 800 ro o T 64 u16IphLinearCoeff UINT 16 816 ro o T 65 u16UmdcHwCoeff UINT 16 832 ro o T 67 u16UaiHwCoeff UINT 16 848 ro o T 68 u16UtempHwCoeff UINT 16 864 ro o T DT2001 1504 0 Number of entries USINT 8 0 ro o 1 u16MotSel UINT 16 16 rw o RT 3 u16Mot0 UINT 16 32 ro o T 4 u16VoltInRateMot0 UINT 16 48 ro o T 5 u16VdMaxMot0 UINT 16 64 ro o T 6 u16VqMaxMot0 UINT 16 80 ro o T 7 u16PowerRateMot0 UINT 16 96 ro o T 8 u16CurRateMot0 UINT 16 112 ro o T 9 u16CurMaxMot0 UINT 16 128 ro o T 10 u16TrqRateMot0 UINT 16 144 ro o T 11 u16TrqMaxMot0 UINT 16 160 ro o T 12 u16SpdRateMot0 UINT 16 176 ro o T 13 u16SpdMaxMot0 UINT 16 192 ro o T 14 u16AccMaxMot0 UINT 16 208 ro o T 15 u16PolePairsMot0 UINT 16 224 ro o T 17 u32InertiaMot0 UDINT 32 240 ro o T 19 u16StatorResMot0 UINT 16 272 ro o T 20 u16StatorLdMot0 UINT 16 288 ro o T 21 u16StatorLqMot0 UINT 16 304 ro o T 22 u16EmfCoeffMot0 UINT 16 320 ro o T 23 u16TrqCoeffMot0 UINT 16 336 ro o T 24 u16TmMot0 UINT 16 352 ro o T 25 u16CurProGainMot0 UINT 16 368 ro o T 26 u16CurInteTimeMot0 UINT 16 384 ro o T 31 u16MotMidOlt0 UINT 16 400 ro o T 32 u16MotMaxOlt0 UINT 16 416 ro o T 33 u16MotRatioIbase0 UINT 16 432 ro o T 34 u16MotRatioImid0 UINT 16 448 ro o T 35 u16MotRatioImax0 UINT 16 464 ro o T 39 u16TypeMot0 UINT 16 480 ro o T 40 u16EncMethodMot0 UINT 16 496 ro o T 41 u16EncTypeMot0 UINT 16 512 ro o T 42 u16EncRotBitMot0 UINT 16 528 ro o T 43 s32EncResMot0 DINT 32 544 ro o T 45 s32EncOffsetMot0 DINT 32 576 ro o T 47 u16HallOffsetMot0 UINT 16 608 ro o T 48 u16EncOverTempMot0 UINT 16 624 ro o T 49 u16BrkReleaseTimeMot0 UINT 16 640 ro o T 50 u16BrkLockTimeMot0 UINT 16 656 ro o T 51 u16Mot1 UINT 16 672 rw o RT 52 u16VoltInRateMot1 UINT 16 688 rw o RT 53 u16VdMaxMot1 UINT 16 704 rw o RT 54 u16VqMaxMot1 UINT 16 720 rw o RT 55 u16PowerRateMot1 UINT 16 736 rw o RT 56 u16CurRateMot1 UINT 16 752 rw o RT 57 u16CurMaxMot1 UINT 16 768 rw o RT 58 u16TrqRateMot1 UINT 16 784 rw o RT 59 u16TrqMaxMot1 UINT 16 800 rw o RT 60 u16SpdRateMot1 UINT 16 816 rw o RT 61 u16SpdMaxMot1 UINT 16 832 rw o RT 62 u16AccMaxMot1 UINT 16 848 rw o RT 63 u16PolePairsMot1 UINT 16 864 rw o RT 65 u32InertiaMot1 UDINT 32 880 rw o RT 67 u16StatorResMot1 UINT 16 912 rw o RT 68 u16StatorLdMot1 UINT 16 928 rw o RT 69 u16StatorLqMot1 UINT 16 944 rw o RT 70 u16EmfCoeffMot1 UINT 16 960 rw o RT 71 u16TrqCoeffMot1 UINT 16 976 rw o RT 72 u16TmMot1 UINT 16 992 rw o RT 73 u16CurProGainMot1 UINT 16 1008 rw o RT 74 u16CurInteTimeMot1 UINT 16 1024 rw o RT 79 u16MotMidOlt1 UINT 16 1040 rw o RT 80 u16MotMaxOlt1 UINT 16 1056 rw o RT 81 u16MotRatioIbase1 UINT 16 1072 rw o RT 82 u16MotRatioImid1 UINT 16 1088 rw o RT 83 u16MotRatioImax1 UINT 16 1104 rw o RT 87 u16TypeMot1 UINT 16 1120 rw o RT 88 u16EncMethodMot1 UINT 16 1136 rw o RT 89 u16EncTypeMot1 UINT 16 1152 rw o RT 90 u16EncRotBitMot1 UINT 16 1168 rw o RT 91 s32EncResMot1 DINT 32 1184 rw o RT 93 s32EncOffsetMot1 DINT 32 1216 rw o RT 95 u16HallOffsetMot1 UINT 16 1248 rw o RT 96 u16EncOverTempMot1 UINT 16 1264 rw o RT 97 u16BrkReleaseTimeMot1 UINT 16 1280 rw o RT 98 u16BrkLockTimeMot1 UINT 16 1296 rw o RT 109 u16Sn0Mot0 UINT 16 1312 ro o T 110 u16Sn1Mot0 UINT 16 1328 ro o T 111 u16Sn2Mot0 UINT 16 1344 ro o T 112 u16Sn3Mot0 UINT 16 1360 ro o T 113 u16ChksumMot0 UINT 16 1376 ro o T 114 u16ParaIdMot0 UINT 16 1392 ro o T 125 u16Sn0Mot1 UINT 16 1408 rw o RT 126 u16Sn1Mot1 UINT 16 1424 rw o RT 127 u16Sn2Mot1 UINT 16 1440 rw o RT 128 u16Sn3Mot1 UINT 16 1456 rw o RT 129 u16ChksumMot1 UINT 16 1472 rw o RT 130 u16ParaIdMot1 UINT 16 1488 rw o RT DT2002 544 0 Number of entries USINT 8 0 ro o 2 u16AppSel UINT 16 16 rw o RT 3 u16CtrlMode UINT 16 32 rw o RT 5 u16CmdSrc UINT 16 48 rw o RT 6 u16DiSrc UINT 16 64 rw o RT 7 u16DoSrc UINT 16 80 rw o RT 8 u16RotFwdDirSel UINT 16 96 rw o RT 9 u16PowerInSel UINT 16 112 ro o T 10 u16PwrOnCmdConf UINT 16 128 rw o RT 11 u16EnOffStopMode UINT 16 144 rw o RT 12 u16EmStopMode UINT 16 160 rw o RT 13 u16QuickStopMode UINT 16 176 rw o RT 14 u16HaltStopMode UINT 16 192 rw o RT 15 u16ExtRgValue UINT 16 208 rw o RT 16 u16ExtRgPower UINT 16 224 rw o RT 17 u16ExtRgCoolCoeff UINT 16 240 rw o RT 18 u16UmdcDischargeSel UINT 16 256 rw o RT 19 u16RefDlyBrkOn UINT 16 272 rw o RT 20 u16PwmOffDlyBrkOff UINT 16 288 rw o RT 21 u16BrkOffDlyDisable UINT 16 304 rw o RT 22 u16BrkOffRpm UINT 16 320 rw o RT 23 u16MechGearRatio UINT 16 336 rw o RT 24 u16SwRstCmd UINT 16 352 rw o RT 25 u16AutoAxisLock UINT 16 368 rw o RT 31 u16CommCmd UINT 16 384 rw o RT 32 u16CommCmdExt UINT 16 400 rw o RT 33 u16CommCmdExt1 UINT 16 416 rw o RT 35 u16ParaFuncCmd UINT 16 432 rw o RT 36 u16DiCmd UINT 16 448 ro o T 37 u16DiCmdExt UINT 16 464 ro o T 38 u16DiCmdExt1 UINT 16 480 ro o T 41 u16CtrlSts UINT 16 496 ro o T 42 u16CtrlStsExt UINT 16 512 ro o T 45 u16ParaFuncSts UINT 16 528 ro o T DT2003 2352 0 Number of entries USINT 8 0 ro o 1 u16PosRefSrc UINT 16 16 rw o RT 3 s64PosDigRefLo UDINT 32 32 rw o RT 5 s64PosDigRefHi UDINT 32 64 rw o RT 7 u32PosPlanSpdMax UDINT 32 96 rw o RT 9 u16PosPlanMode UINT 16 128 rw o RT 10 u16PosPlanStatus UINT 16 144 ro o T 11 u16PosRefFirFltrTc UINT 16 160 rw o RT 12 u16PosRefIirFltrTc UINT 16 176 rw o RT 13 u16PosProGain0 UINT 16 192 rw o RT 14 u16PosProGain1 UINT 16 208 rw o RT 16 u16SpdFeedFwdSel UINT 16 224 rw o RT 17 u16SpdFeedFwdGain UINT 16 240 rw o RT 18 u16SpdFeedFwdFltrTc UINT 16 256 rw o RT 31 u16EncState UINT 16 272 ro o T 32 s16EncTemp INT 16 288 ro o T 33 u16EncContErr UINT 16 304 ro o T 34 u16EncErrSum UINT 16 320 ro o T 35 u16EncErrType UINT 16 336 ro o T 36 u16EncMode UINT 16 352 rw o RT 37 s64EncPosInitLo UDINT 32 368 ro o T 39 s64EncPosInitHi UDINT 32 400 ro o T 41 s32EncPos DINT 32 432 ro o T 43 s32EncTurns DINT 32 464 ro o T 71 s32MechOffset DINT 32 496 ro o T 75 u32ElecGearNum0 UDINT 32 528 rw o RT 77 u32ElecGearNum1 UDINT 32 560 rw o RT 79 u32ElecGearDeno UDINT 32 592 rw o RT 81 u16EncFreqDivDir UINT 16 624 rw o RT 82 u16EncFreqDivNum UINT 16 640 rw o RT 83 u16EncFreqDivDeno UINT 16 656 rw o RT 84 u16PosLimSrc UINT 16 672 rw o RT 85 s64PosLimFwdLo UDINT 32 688 rw o RT 87 s64PosLimFwdHi UDINT 32 720 rw o RT 89 s64PosLimRevLo UDINT 32 752 rw o RT 91 s64PosLimRevHi UDINT 32 784 rw o RT 93 u16PosLim UINT 16 816 ro o T 94 u16PosArriveCond UINT 16 832 rw o RT 95 u32PosArriveTh UDINT 32 848 rw o RT 97 u16PosArriveHoldTime UINT 16 880 rw o RT 98 u16PosErrOverTh UINT 16 896 rw o RT 99 u16PosErrOverTime UINT 16 912 rw o RT 101 u16HomingModeSel UINT 16 928 rw o RT 102 u16HomingPosLimTrq UINT 16 944 rw o RT 103 s16HomingSpd1 INT 16 960 rw o RT 104 s16HomingSpd2 INT 16 976 rw o RT 105 s32HomingOffset DINT 32 992 rw o RT 107 u16HomingOverRun UINT 16 1024 rw o RT 108 u16HomingPosArriveTh UINT 16 1040 rw o RT 109 u16HomingTrqLimTime UINT 16 1056 rw o RT 121 s64PosDigRef1Lo UDINT 32 1072 rw o RT 123 s64PosDigRef1Hi UDINT 32 1104 rw o RT 125 s64PosDigRef2Lo UDINT 32 1136 rw o RT 127 s64PosDigRef2Hi UDINT 32 1168 rw o RT 129 s64PosDigRef3Lo UDINT 32 1200 rw o RT 131 s64PosDigRef3Hi UDINT 32 1232 rw o RT 133 s64PosDigRef4Lo UDINT 32 1264 rw o RT 135 s64PosDigRef4Hi UDINT 32 1296 rw o RT 137 s64PosDigRef5Lo UDINT 32 1328 rw o RT 139 s64PosDigRef5Hi UDINT 32 1360 rw o RT 141 s64PosDigRef6Lo UDINT 32 1392 rw o RT 143 s64PosDigRef6Hi UDINT 32 1424 rw o RT 145 s64PosDigRef7Lo UDINT 32 1456 rw o RT 147 s64PosDigRef7Hi UDINT 32 1488 rw o RT 149 s64PosDigRef8Lo UDINT 32 1520 rw o RT 151 s64PosDigRef8Hi UDINT 32 1552 rw o RT 153 s64PosDigRef9Lo UDINT 32 1584 rw o RT 155 s64PosDigRef9Hi UDINT 32 1616 rw o RT 157 s64PosDigRef10Lo UDINT 32 1648 rw o RT 159 s64PosDigRef10Hi UDINT 32 1680 rw o RT 161 s64PosDigRef11Lo UDINT 32 1712 rw o RT 163 s64PosDigRef11Hi UDINT 32 1744 rw o RT 165 s64PosDigRef12Lo UDINT 32 1776 rw o RT 167 s64PosDigRef12Hi UDINT 32 1808 rw o RT 169 s64PosDigRef13Lo UDINT 32 1840 rw o RT 171 s64PosDigRef13Hi UDINT 32 1872 rw o RT 173 s64PosDigRef14Lo UDINT 32 1904 rw o RT 175 s64PosDigRef14Hi UDINT 32 1936 rw o RT 177 s64PosDigRef15Lo UDINT 32 1968 rw o RT 179 s64PosDigRef15Hi UDINT 32 2000 rw o RT 181 s64PosDigRef16Lo UDINT 32 2032 rw o RT 183 s64PosDigRef16Hi UDINT 32 2064 rw o RT 201 u16LfVibSupMode UINT 16 2096 rw o RT 202 u16LfVibDetAmp UINT 16 2112 rw o RT 203 u16LfVibFreq0 UINT 16 2128 rw o RT 204 u16LfVibFreqCoeff0 UINT 16 2144 rw o RT 205 u16LfVibSupWdLvl0 UINT 16 2160 rw o RT 206 u16LfVibSupDpLvl0 UINT 16 2176 rw o RT 207 u16LfVibFreq1 UINT 16 2192 rw o RT 208 u16LfVibFreqCoeff1 UINT 16 2208 rw o RT 209 u16LfVibSupWdLvl1 UINT 16 2224 rw o RT 210 u16LfVibSupDpLvl1 UINT 16 2240 rw o RT 216 u16MfcMode UINT 16 2256 rw o RT 217 u16MfcGain0 UINT 16 2272 rw o RT 218 u16MfcGain1 UINT 16 2288 rw o RT 219 u16MfcSpdFFGain UINT 16 2304 rw o RT 220 u16MfcTrqFFGain UINT 16 2320 rw o RT 221 u16MfcTuneGain UINT 16 2336 rw o RT DT2004 1504 0 Number of entries USINT 8 0 ro o 1 u16SpdRefSrc UINT 16 16 rw o RT 3 s32SpdDigRef DINT 32 32 rw o RT 5 u16SpdUnitSel UINT 16 64 rw o RT 6 u16SpdPlanMode UINT 16 80 rw o RT 7 u16QuickStopDecTime UINT 16 96 rw o RT 8 u16AccDecTimeSel UINT 16 112 rw o RT 9 u16AccTime0 UINT 16 128 rw o RT 10 u16DecTime0 UINT 16 144 rw o RT 11 u16AccTime1 UINT 16 160 rw o RT 12 u16DecTime1 UINT 16 176 rw o RT 13 u16JogDigRef UINT 16 192 rw o RT 14 u16JogAccDecTime UINT 16 208 rw o RT 15 u16SpdRefFltrTime UINT 16 224 rw o RT 17 u16ZeroSpdChkTH UINT 16 240 rw o RT 19 u16SpdProGain0 UINT 16 256 rw o RT 20 u16SpdInteTime0 UINT 16 272 rw o RT 21 u16SpdFbFltrTc0 UINT 16 288 rw o RT 22 u16SpdProGain1 UINT 16 304 rw o RT 23 u16SpdInteTime1 UINT 16 320 rw o RT 24 u16SpdFbFltrTc1 UINT 16 336 rw o RT 26 u16SpdOverTh UINT 16 352 rw o RT 27 u16TrqFeedFwdSel UINT 16 368 rw o RT 28 u16TrqFeedFwdGain UINT 16 384 rw o RT 29 u16TrqFeedFwdFltrTc UINT 16 400 rw o RT 30 u16SpdLimSrc UINT 16 416 rw o RT 31 s32SpdLim0 DINT 32 432 rw o RT 33 s32SpdLim1 DINT 32 464 rw o RT 35 u16SpdLim UINT 16 496 ro o T 36 u16SpdModePosLim UINT 16 512 ro o T 37 u16SpdArriveTh UINT 16 528 rw o RT 38 u16AiSpdCoeff UINT 16 544 rw o RT 39 u16InertiaRatio0 UINT 16 560 rw o RT 40 u16InertiaRatio1 UINT 16 576 rw o RT 41 s32SpdDigRef1 DINT 32 592 rw o RT 43 s32SpdDigRef2 DINT 32 624 rw o RT 45 s32SpdDigRef3 DINT 32 656 rw o RT 47 s32SpdDigRef4 DINT 32 688 rw o RT 49 s32SpdDigRef5 DINT 32 720 rw o RT 51 s32SpdDigRef6 DINT 32 752 rw o RT 53 s32SpdDigRef7 DINT 32 784 rw o RT 55 s32SpdDigRef8 DINT 32 816 rw o RT 57 s32SpdDigRef9 DINT 32 848 rw o RT 59 s32SpdDigRef10 DINT 32 880 rw o RT 61 s32SpdDigRef11 DINT 32 912 rw o RT 63 s32SpdDigRef12 DINT 32 944 rw o RT 65 s32SpdDigRef13 DINT 32 976 rw o RT 67 s32SpdDigRef14 DINT 32 1008 rw o RT 69 s32SpdDigRef15 DINT 32 1040 rw o RT 71 s32SpdDigRef16 DINT 32 1072 rw o RT 81 u16VoltEnhnc UINT 16 1104 rw o RT 82 u16VfRefType UINT 16 1120 rw o RT 83 u16VfRefNum UINT 16 1136 rw o RT 84 u16VfRefFreq1 UINT 16 1152 rw o RT 85 u16VfRefVolt1 UINT 16 1168 rw o RT 86 u16VfRefFreq2 UINT 16 1184 rw o RT 87 u16VfRefVolt2 UINT 16 1200 rw o RT 88 u16VfRefFreq3 UINT 16 1216 rw o RT 89 u16VfRefVolt3 UINT 16 1232 rw o RT 90 u16VfRefFreq4 UINT 16 1248 rw o RT 91 u16VfRefVolt4 UINT 16 1264 rw o RT 121 u16NonLinearSpdPi UINT 16 1280 rw o RT 122 u16SpdPdffGain UINT 16 1296 rw o RT 123 u16SpdDampGain UINT 16 1312 rw o RT 131 u16LoadCompGain UINT 16 1328 rw o RT 132 u16LoadCompPoles UINT 16 1344 rw o RT 133 u16LoadCompZone UINT 16 1360 rw o RT 134 u16LoadCompFltrTime UINT 16 1376 rw o RT 141 u16FricCompSel UINT 16 1392 rw o RT 142 s16ForwFricComp INT 16 1408 rw o RT 143 s16RevFricComp INT 16 1424 rw o RT 144 s16FricOffsetComp INT 16 1440 rw o RT 145 u16ViscousCoef UINT 16 1456 rw o RT 146 s16FricCompSpdThold INT 16 1472 rw o RT 147 u16FricCompFltrTime UINT 16 1488 rw o RT DT2005 1488 0 Number of entries USINT 8 0 ro o 1 u16TrqRefSrc UINT 16 16 rw o RT 2 s16TrqDigRef INT 16 32 rw o RT 3 s16FluxDigRef INT 16 48 rw o RT 4 u16EmStopTrqDigRef UINT 16 64 rw o RT 5 u16TrqSlopeLim UINT 16 80 rw o RT 6 u16IqRefFltrTime0 UINT 16 96 rw o RT 7 u16IqRefFltrTime1 UINT 16 112 rw o RT 9 u16IqProGain UINT 16 128 rw o RT 10 u16IqInteTime UINT 16 144 rw o RT 11 u16IdProGain UINT 16 160 rw o RT 12 u16IdInteTime UINT 16 176 rw o RT 17 u16IqFbFltrTime0 UINT 16 192 rw o RT 18 u16IqFbFltrTime1 UINT 16 208 rw o RT 21 u16TrqLimSrc UINT 16 224 rw o RT 22 u16TrqLim0 UINT 16 240 rw o RT 23 u16TrqLim1 UINT 16 256 rw o RT 24 u16TrqLim UINT 16 272 ro o T 25 u16TrqModePosLim UINT 16 288 ro o T 26 u16TrqModeSpdLim UINT 16 304 ro o T 27 u16TrqArriveTh UINT 16 320 rw o RT 28 u16TrqArriveOffset UINT 16 336 rw o RT 30 u16CurRateDigMot UINT 16 352 ro o T 31 s16TrqDigRef1 INT 16 368 rw o RT 32 s16TrqDigRef2 INT 16 384 rw o RT 33 s16TrqDigRef3 INT 16 400 rw o RT 34 s16TrqDigRef4 INT 16 416 rw o RT 35 s16TrqDigRef5 INT 16 432 rw o RT 36 s16TrqDigRef6 INT 16 448 rw o RT 37 s16TrqDigRef7 INT 16 464 rw o RT 38 s16TrqDigRef8 INT 16 480 rw o RT 39 s16TrqDigRef9 INT 16 496 rw o RT 40 s16TrqDigRef10 INT 16 512 rw o RT 41 s16TrqDigRef11 INT 16 528 rw o RT 42 s16TrqDigRef12 INT 16 544 rw o RT 43 s16TrqDigRef13 INT 16 560 rw o RT 44 s16TrqDigRef14 INT 16 576 rw o RT 45 s16TrqDigRef15 INT 16 592 rw o RT 46 s16TrqDigRef16 INT 16 608 rw o RT 91 u16UmdcCompCoeff UINT 16 624 rw o RT 92 u16DeadZoneCompEn UINT 16 640 rw o RT 93 u16DeadZoneCompTh UINT 16 656 rw o RT 94 u16DeadZoneCompGradi UINT 16 672 rw o RT 95 u16DeadZoneCompTime UINT 16 688 rw o RT 96 u16CurDecoFunc UINT 16 704 rw o RT 97 s16CurDecoDamp INT 16 720 rw o RT 98 u16LSaturationI0 UINT 16 736 rw o RT 99 u16LSaturationI1 UINT 16 752 rw o RT 100 u16LSaturationValue1 UINT 16 768 rw o RT 121 u16NotchFirSel UINT 16 784 rw o RT 122 u16NotchFirFreq0 UINT 16 800 rw o RT 123 u16NotchFirWd0 UINT 16 816 rw o RT 124 u16NotchFirDp0 UINT 16 832 rw o RT 125 u16NotchFirFreq1 UINT 16 848 rw o RT 126 u16NotchFirWd1 UINT 16 864 rw o RT 127 u16NotchFirDp1 UINT 16 880 rw o RT 128 u16NotchFirFreq2 UINT 16 896 rw o RT 129 u16NotchFirWd2 UINT 16 912 rw o RT 130 u16NotchFirDp2 UINT 16 928 rw o RT 131 u16NotchFirFreq3 UINT 16 944 rw o RT 132 u16NotchFirWd3 UINT 16 960 rw o RT 133 u16NotchFirDp3 UINT 16 976 rw o RT 134 u16VibThresVal UINT 16 992 rw o RT 135 u16AdpNotchMode UINT 16 1008 rw o RT 136 u16VibFreq0Disp UINT 16 1024 ro o T 137 u16VibAmp0Disp UINT 16 1040 ro o T 138 u16VibFreq1Disp UINT 16 1056 ro o T 139 u16VibAmp1Disp UINT 16 1072 ro o T 140 u16VibDetCnt UINT 16 1088 rw o RT 141 u16AdpNtcQuitTime UINT 16 1104 rw o RT 142 u16AdpNtcQtState UINT 16 1120 ro o T 143 u16NotchDpBegin UINT 16 1136 rw o RT 144 u16AdpNtcDpMin UINT 16 1152 rw o RT 145 u16AdpNtcWdMax UINT 16 1168 rw o RT 146 u16AdpNtcFreqMin UINT 16 1184 rw o RT 151 u16TrqRipCompEn UINT 16 1200 rw o RT 152 u16TrqRipCompFreq0 UINT 16 1216 rw o RT 153 u16TrqRipCompAmp0 UINT 16 1232 rw o RT 154 u16TrqRipCompPhase0 UINT 16 1248 rw o RT 155 u16TrqRipCompFreq1 UINT 16 1264 rw o RT 156 u16TrqRipCompAmp1 UINT 16 1280 rw o RT 157 u16TrqRipCompPhase1 UINT 16 1296 rw o RT 158 u16TrqRipCompFreq2 UINT 16 1312 rw o RT 159 u16TrqRipCompAmp2 UINT 16 1328 rw o RT 160 u16TrqRipCompPhase2 UINT 16 1344 rw o RT 161 u16TrqRipCompFreq3 UINT 16 1360 rw o RT 162 u16TrqRipCompAmp3 UINT 16 1376 rw o RT 163 u16TrqRipCompPhase3 UINT 16 1392 rw o RT 164 u16TrqRipCompFreq4 UINT 16 1408 rw o RT 165 u16TrqRipCompAmp4 UINT 16 1424 rw o RT 166 u16TrqRipCompPhase4 UINT 16 1440 rw o RT 167 u16TrqRipCompGain UINT 16 1456 rw o RT 168 u16TrqRipCompFreqLimit UINT 16 1472 rw o RT DT2007 1456 0 Number of entries USINT 8 0 ro o 1 u32SysDate UDINT 32 16 ro o T 3 u32SysTime UDINT 32 48 ro o T 5 u32SysDateSet UDINT 32 80 rw o RT 7 u32SysTimeSet UDINT 32 112 rw o RT 9 u16RigGradeSel UINT 16 144 rw o RT 11 u16GainSwMode UINT 16 160 rw o RT 12 u16GainSwDelay UINT 16 176 rw o RT 13 u16GainSwLevel UINT 16 192 rw o RT 14 u16GainSwHys UINT 16 208 rw o RT 15 u16PosGainSwTime UINT 16 224 rw o RT 16 u16PosGain2Amp UINT 16 240 rw o RT 17 u16PosGain2ActTime UINT 16 256 rw o RT 31 u16OnlineJatSel UINT 16 272 rw o RT 32 u16OnlineJatHat UINT 16 288 ro o T 33 u16OnlineJatErrCode UINT 16 304 ro o T 36 u16MainDcCapEn UINT 16 320 rw o RT 37 u32MainDcCapValue UDINT 32 336 ro o T 41 u16HrTimerSel UINT 16 368 rw o RT 42 u16CycleScanTime UINT 16 384 ro o T 43 u16IsrScanATime UINT 16 400 ro o T 44 u16IsrScanBTime UINT 16 416 ro o T 45 u16IsrPosLoopTime UINT 16 432 ro o T 46 u16IsrSpdLoopTime UINT 16 448 ro o T 47 u16IsrCurLoopTime UINT 16 464 ro o T 48 u16CustomTime0 UINT 16 480 ro o T 49 u16CustomTime1 UINT 16 496 ro o T 51 u16FactoryTestOvSi UINT 16 512 rw o RT 52 u16FactoryTestUvSi UINT 16 528 rw o RT 53 u16FactoryTestBrakeSi UINT 16 544 rw o RT 61 u16MotEncIdentEn UINT 16 560 rw o RT 63 u16MotEncIdentDirMatch UINT 16 576 ro o T 64 u16MotEncIdentPolePairs UINT 16 592 ro o T 65 u32MotEncIdentOffset UDINT 32 608 ro o T 67 u32MotEncIdentRes UDINT 32 640 ro o T 69 u16MotEncIdentState UINT 16 672 ro o T 70 u16MotEncIdentErr UINT 16 688 ro o T 71 u16MotParaIdentEn UINT 16 704 rw o RT 72 u16MotParaIdentRs UINT 16 720 ro o T 73 u16MotParaIdentLd UINT 16 736 ro o T 74 u16MotParaIdentLq UINT 16 752 ro o T 75 u16MotParaIdentFluxLk UINT 16 768 ro o T 81 u16OfflineJatFwdEn UINT 16 784 rw o RT 82 u16OfflineJatRevEn UINT 16 800 rw o RT 83 u16OfflineJatSpdRef UINT 16 816 rw o RT 84 u16OfflineJatDistanceMax UINT 16 832 rw o RT 85 u16OfflineJatAcc UINT 16 848 rw o RT 86 u16OfflineJatModeSet UINT 16 864 rw o RT 87 u16OfflineJat UINT 16 880 ro o T 91 u16ATMode UINT 16 896 rw o RT 92 u16ATRespMode UINT 16 912 rw o RT 93 u16ATJHat UINT 16 928 rw o RT 94 u16ATParaUpData UINT 16 944 rw o RT 95 u16ATRefScr UINT 16 960 rw o RT 96 u16ATPosRef UINT 16 976 rw o RT 97 u16ATMaxSpd UINT 16 992 rw o RT 98 u16ATAccTime UINT 16 1008 rw o RT 99 u16ATDecTime UINT 16 1024 rw o RT 100 u16ATMoveMode UINT 16 1040 rw o RT 101 u16ATMoveDir UINT 16 1056 rw o RT 102 u16ATAWaitTime UINT 16 1072 rw o RT 103 u16ATPositionTime UINT 16 1088 ro o T 104 u16ATOverShootPulse UINT 16 1104 ro o T 105 u16ATOverShootMax UINT 16 1120 rw o RT 106 u16ATGainCoeff UINT 16 1136 rw o RT 107 u16ATState UINT 16 1152 rw o RT 108 u16ATEn UINT 16 1168 rw o RT 109 u16ATFunc UINT 16 1184 rw o RT 110 u16ATSpdFFMax UINT 16 1200 rw o RT 111 u16ATNotchFreqTimes UINT 16 1216 rw o RT 112 u16IdentAppErrCode UINT 16 1232 ro o T 121 u16OfflineFricMode UINT 16 1248 rw o RT 122 u16OfflineFricFwdEn UINT 16 1264 rw o RT 123 u16OfflineFricRevEn UINT 16 1280 rw o RT 124 u16OfflineFricSpdRef UINT 16 1296 rw o RT 125 u16OfflineFricDistMax UINT 16 1312 rw o RT 126 u16OfflineFricAcc UINT 16 1328 rw o RT 127 s16OfflineFricOffset INT 16 1344 ro o T 128 s16OfflineCoulomp INT 16 1360 ro o T 129 u16OfflineVisCous UINT 16 1376 ro o T 131 u16TrqRipIdent UINT 16 1392 rw o RT 132 u16TrqRipIdentSpdRef UINT 16 1408 rw o RT 133 u16TrqRipIdentState UINT 16 1424 rw o RT 134 u16TrqRipIdentDir UINT 16 1440 rw o RT DT2008 400 0 Number of entries USINT 8 0 ro o 1 u16HdiPulseType UINT 16 16 rw o RT 2 u16HdiFltrTime UINT 16 32 rw o RT 6 u16Di0FltrTime UINT 16 48 rw o RT 7 u16Di0FuncSel UINT 16 64 rw o RT 8 u16Di0ValidLevel UINT 16 80 rw o RT 9 u16Di1FltrTime UINT 16 96 rw o RT 10 u16Di1FuncSel UINT 16 112 rw o RT 11 u16Di1ValidLevel UINT 16 128 rw o RT 12 u16Di2FltrTime UINT 16 144 rw o RT 13 u16Di2FuncSel UINT 16 160 rw o RT 14 u16Di2ValidLevel UINT 16 176 rw o RT 15 u16Di3FltrTime UINT 16 192 rw o RT 16 u16Di3FuncSel UINT 16 208 rw o RT 17 u16Di3ValidLevel UINT 16 224 rw o RT 18 u16Di4FltrTime UINT 16 240 rw o RT 19 u16Di4FuncSel UINT 16 256 rw o RT 20 u16Di4ValidLevel UINT 16 272 rw o RT 36 u16DoForceOutCmd UINT 16 288 rw o RT 37 u16Do0FuncSel UINT 16 304 rw o RT 38 u16Do0ValidLevel UINT 16 320 rw o RT 39 u16Do1FuncSel UINT 16 336 rw o RT 40 u16Do1ValidLevel UINT 16 352 rw o RT 41 u16Do2FuncSel UINT 16 368 rw o RT 42 u16Do2ValidLevel UINT 16 384 rw o RT DT2009 464 0 Number of entries USINT 8 0 ro o 1 u16VdiSet UINT 16 16 rw o RT 2 u16VdiLogic UINT 16 32 ro o T 3 u16VdoFlag UINT 16 48 ro o T 4 u16VdoLogic UINT 16 64 ro o T 5 u16Vdi00FuncSel UINT 16 80 rw o RT 6 u16Vdi00ValidLevel UINT 16 96 rw o RT 7 u16Vdi01FuncSel UINT 16 112 rw o RT 8 u16Vdi01ValidLevel UINT 16 128 rw o RT 9 u16Vdi02FuncSel UINT 16 144 rw o RT 10 u16Vdi02ValidLevel UINT 16 160 rw o RT 11 u16Vdi03FuncSel UINT 16 176 rw o RT 12 u16Vdi03ValidLevel UINT 16 192 rw o RT 13 u16Vdi04FuncSel UINT 16 208 rw o RT 14 u16Vdi04ValidLevel UINT 16 224 rw o RT 15 u16Vdi05FuncSel UINT 16 240 rw o RT 16 u16Vdi05ValidLevel UINT 16 256 rw o RT 37 u16Vdo00FuncSel UINT 16 272 rw o RT 38 u16Vdo00ValidLevel UINT 16 288 rw o RT 39 u16Vdo01FuncSel UINT 16 304 rw o RT 40 u16Vdo01ValidLevel UINT 16 320 rw o RT 41 u16Vdo02FuncSel UINT 16 336 rw o RT 42 u16Vdo02ValidLevel UINT 16 352 rw o RT 43 u16Vdo03FuncSel UINT 16 368 rw o RT 44 u16Vdo03ValidLevel UINT 16 384 rw o RT 45 u16Vdo04FuncSel UINT 16 400 rw o RT 46 u16Vdo04ValidLevel UINT 16 416 rw o RT 47 u16Vdo05FuncSel UINT 16 432 rw o RT 48 u16Vdo05ValidLevel UINT 16 448 rw o RT DT2010 1616 0 Number of entries USINT 8 0 ro o 1 u16MultStepMode UINT 16 16 rw o RT 2 u16StartStep UINT 16 32 rw o RT 3 u16EndStep UINT 16 48 rw o RT 4 u16CurStep UINT 16 64 ro o T 5 s32Step00Ref DINT 32 80 rw o RT 7 u16Step00AccTime UINT 16 112 rw o RT 8 u16Step00DecTime UINT 16 128 rw o RT 9 u16Step00SpdLim UINT 16 144 rw o RT 10 u16Step00HoldTime UINT 16 160 rw o RT 11 s32Step01Ref DINT 32 176 rw o RT 13 u16Step01AccTime UINT 16 208 rw o RT 14 u16Step01DecTime UINT 16 224 rw o RT 15 u16Step01SpdLim UINT 16 240 rw o RT 16 u16Step01HoldTime UINT 16 256 rw o RT 17 s32Step02Ref DINT 32 272 rw o RT 19 u16Step02AccTime UINT 16 304 rw o RT 20 u16Step02DecTime UINT 16 320 rw o RT 21 u16Step02SpdLim UINT 16 336 rw o RT 22 u16Step02HoldTime UINT 16 352 rw o RT 23 s32Step03Ref DINT 32 368 rw o RT 25 u16Step03AccTime UINT 16 400 rw o RT 26 u16Step03DecTime UINT 16 416 rw o RT 27 u16Step03SpdLim UINT 16 432 rw o RT 28 u16Step03HoldTime UINT 16 448 rw o RT 29 s32Step04Ref DINT 32 464 rw o RT 31 u16Step04AccTime UINT 16 496 rw o RT 32 u16Step04DecTime UINT 16 512 rw o RT 33 u16Step04SpdLim UINT 16 528 rw o RT 34 u16Step04HoldTime UINT 16 544 rw o RT 35 s32Step05Ref DINT 32 560 rw o RT 37 u16Step05AccTime UINT 16 592 rw o RT 38 u16Step05DecTime UINT 16 608 rw o RT 39 u16Step05SpdLim UINT 16 624 rw o RT 40 u16Step05HoldTime UINT 16 640 rw o RT 41 s32Step06Ref DINT 32 656 rw o RT 43 u16Step06AccTime UINT 16 688 rw o RT 44 u16Step06DecTime UINT 16 704 rw o RT 45 u16Step06SpdLim UINT 16 720 rw o RT 46 u16Step06HoldTime UINT 16 736 rw o RT 47 s32Step07Ref DINT 32 752 rw o RT 49 u16Step07AccTime UINT 16 784 rw o RT 50 u16Step07DecTime UINT 16 800 rw o RT 51 u16Step07SpdLim UINT 16 816 rw o RT 52 u16Step07HoldTime UINT 16 832 rw o RT 53 s32Step08Ref DINT 32 848 rw o RT 55 u16Step08AccTime UINT 16 880 rw o RT 56 u16Step08DecTime UINT 16 896 rw o RT 57 u16Step08SpdLim UINT 16 912 rw o RT 58 u16Step08HoldTime UINT 16 928 rw o RT 59 s32Step09Ref DINT 32 944 rw o RT 61 u16Step09AccTime UINT 16 976 rw o RT 62 u16Step09DecTime UINT 16 992 rw o RT 63 u16Step09SpdLim UINT 16 1008 rw o RT 64 u16Step09HoldTime UINT 16 1024 rw o RT 65 s32Step10Ref DINT 32 1040 rw o RT 67 u16Step10AccTime UINT 16 1072 rw o RT 68 u16Step10DecTime UINT 16 1088 rw o RT 69 u16Step10SpdLim UINT 16 1104 rw o RT 70 u16Step10HoldTime UINT 16 1120 rw o RT 71 s32Step11Ref DINT 32 1136 rw o RT 73 u16Step11AccTime UINT 16 1168 rw o RT 74 u16Step11DecTime UINT 16 1184 rw o RT 75 u16Step11SpdLim UINT 16 1200 rw o RT 76 u16Step11HoldTime UINT 16 1216 rw o RT 77 s32Step12Ref DINT 32 1232 rw o RT 79 u16Step12AccTime UINT 16 1264 rw o RT 80 u16Step12DecTime UINT 16 1280 rw o RT 81 u16Step12SpdLim UINT 16 1296 rw o RT 82 u16Step12HoldTime UINT 16 1312 rw o RT 83 s32Step13Ref DINT 32 1328 rw o RT 85 u16Step13AccTime UINT 16 1360 rw o RT 86 u16Step13DecTime UINT 16 1376 rw o RT 87 u16Step13SpdLim UINT 16 1392 rw o RT 88 u16Step13HoldTime UINT 16 1408 rw o RT 89 s32Step14Ref DINT 32 1424 rw o RT 91 u16Step14AccTime UINT 16 1456 rw o RT 92 u16Step14DecTime UINT 16 1472 rw o RT 93 u16Step14SpdLim UINT 16 1488 rw o RT 94 u16Step14HoldTime UINT 16 1504 rw o RT 95 s32Step15Ref DINT 32 1520 rw o RT 97 u16Step15AccTime UINT 16 1552 rw o RT 98 u16Step15DecTime UINT 16 1568 rw o RT 99 u16Step15SpdLim UINT 16 1584 rw o RT 100 u16Step15HoldTime UINT 16 1600 rw o RT DT2011 2208 0 Number of entries USINT 8 0 ro o 1 u16PanelVer UINT 16 16 ro o T 2 u16PanelCode UINT 16 32 rw o RT 3 u16PanelLock UINT 16 48 rw o RT 4 u16PanelMenuType UINT 16 64 rw o RT 5 u16PanelParaOperate UINT 16 80 rw o RT 6 s16PanelDigRef INT 16 96 ro o T 7 u16PanelDispPwrOn UINT 16 112 rw o RT 11 u16PanelDispSpdFbFltrTc UINT 16 128 rw o RT 21 u16CommAddr UINT 16 144 rw o RT 22 u16ModBaudrate UINT 16 160 rw o RT 23 u16ModDataFmt UINT 16 176 rw o RT 24 u16ModMasterEndian UINT 16 192 rw o RT 25 u16ModWordOrder UINT 16 208 rw o RT 26 u16ModDisconnectTime UINT 16 224 rw o RT 27 u16ModAckDelay UINT 16 240 rw o RT 31 u16LogMode UINT 16 256 rw o RT 32 u16LogAlmNoReq UINT 16 272 rw o RT 33 u16LogTrigState UINT 16 288 rw o RT 34 u16LogTrigObj UINT 16 304 rw o RT 35 s64LogTrigThresholdLo UDINT 32 320 rw o RT 37 s64LogTrigThresholdHi UDINT 32 352 rw o RT 39 u16LogTrigParaAddr UINT 16 384 rw o RT 40 u16LogTrigEdge UINT 16 400 rw o RT 41 u16LogTrigSet UINT 16 416 rw o RT 42 u16LogTrigIndex UINT 16 432 rw o RT 43 u16LogShakeHand UINT 16 448 rw o RT 44 u16LogUploadErr UINT 16 464 ro o T 45 u16LogSampPrd UINT 16 480 rw o RT 46 u16LogSampPoints UINT 16 496 rw o RT 47 u16LogChNum UINT 16 512 rw o RT 48 u16LogCh0Index UINT 16 528 rw o RT 49 u16LogCh1Index UINT 16 544 rw o RT 50 u16LogCh2Index UINT 16 560 rw o RT 51 u16LogCh3Index UINT 16 576 rw o RT 52 u16LogCh4Index UINT 16 592 rw o RT 53 u16LogCh5Index UINT 16 608 rw o RT 54 u16LogCh6Index UINT 16 624 rw o RT 55 u16LogCh7Index UINT 16 640 rw o RT 56 u16CurveTraceState UINT 16 656 rw o RT 57 u16CurveTraceType UINT 16 672 rw o RT 71 u16CanBaudrate UINT 16 688 rw o RT 81 u16EcatState UINT 16 704 ro o T 82 u16EcatPort0ErrCnt UINT 16 720 ro o T 83 u16EcatPort1ErrCnt UINT 16 736 ro o T 84 u16EcatRxErrCnt UINT 16 752 ro o T 85 u16EcatPdiErrCnt UINT 16 768 ro o T 86 u16EcatSync0Time UINT 16 784 ro o T 88 u16EcatCompEnble UINT 16 800 rw o RT 91 u32CopScanPrd UDINT 32 816 ro o T 93 u16PdoInhTime UINT 16 848 rw o RT 94 u16CopState UINT 16 864 ro o T 101 u16Ds402CtrlWord UINT 16 880 ro o T 102 u16Ds402StatusWord UINT 16 896 ro o T 103 s16VlSpdTgt INT 16 912 ro o T 104 s16VlSpdRef INT 16 928 ro o T 105 s16VlSpdOut INT 16 944 ro o T 107 u32SpdMin UDINT 32 960 ro o T 109 u32SpdMax UDINT 32 992 ro o T 111 u32AccSpdDelt UDINT 32 1024 ro o T 113 u16AccSpdDeltTime UINT 16 1056 ro o T 115 u32DecSpdDelt UDINT 32 1072 ro o T 117 u16DecSpdDeltTime UINT 16 1104 ro o T 118 s16OperaMode INT 16 1120 ro o T 119 s16OperaModeDisp INT 16 1136 ro o T 120 u16CtrlModeTgt UINT 16 1152 ro o T 121 u32PosErrOverTh UDINT 32 1168 ro o T 123 u16PosErrOverTime UINT 16 1200 ro o T 125 s32PvSpdEnc DINT 32 1216 ro o T 127 s16PvEncSel INT 16 1248 ro o T 128 u16SpdArriveTime UINT 16 1264 ro o T 129 u16ZeroSpdTH UINT 16 1280 ro o T 130 u16ZeroSpdTime UINT 16 1296 ro o T 131 s16TqTrqTgt INT 16 1312 ro o T 132 u16TqCurMax UINT 16 1328 ro o T 133 u16PpPcPosTgtSyncCnt UINT 16 1344 ro o T 135 s32PpPcPosTgt DINT 32 1360 ro o T 137 s32PpPcPosTgtSync DINT 32 1392 ro o T 139 s32HmOffset DINT 32 1424 ro o T 142 u16RefPolarity UINT 16 1456 ro o T 143 u32SpdProfileMax UDINT 32 1472 ro o T 145 u32PpPvSpdProfile UDINT 32 1504 ro o T 147 u32PpPvAccSpdProfile UDINT 32 1536 ro o T 149 u32PpPvDecSpdProfile UDINT 32 1568 ro o T 151 u32MaxAccSpd UDINT 32 1600 ro o T 153 u32MaxDecSpd UDINT 32 1632 ro o T 155 u32QuickStopDec UDINT 32 1664 ro o T 157 s16PpPvMotionProfileSel INT 16 1696 ro o T 159 u32TqTrqSlope UDINT 32 1712 ro o T 161 s16TqTrqProfileSel INT 16 1744 ro o T 163 u32MotShaftRes UDINT 32 1760 ro o T 165 u32DrvShaftRes UDINT 32 1792 ro o T 167 s16HmHomingMode INT 16 1824 ro o T 169 u32HmHomingSpd UDINT 32 1840 ro o T 171 u32HmZeroHomingSpd UDINT 32 1872 ro o T 173 u32HmHomingSpdAcc UDINT 32 1904 ro o T 175 s32PosOffset DINT 32 1936 ro o T 177 s32SpdOffset DINT 32 1968 ro o T 179 s16TrqOffset UINT 16 2000 ro o T 180 u16TrqMaxFwd UINT 16 2016 ro o T 181 u16TrqMaxRev UINT 16 2032 ro o T 183 u32DiStatus UDINT 32 2048 ro o T 185 s32PvSpdTgt DINT 32 2080 ro o T 187 s32PosLimRev DINT 32 2112 rw o RT 189 s32PosLimFwd DINT 32 2144 rw o RT 191 u32DoControl UDINT 32 2176 rw o RT DT2012 1680 0 Number of entries USINT 8 0 ro o 1 u16AlmFatalStopMode UINT 16 16 rw o RT 2 u16AlmNormalStopMode UINT 16 32 rw o RT 3 u16AlmPosLimStopMode UINT 16 48 rw o RT 7 u32ErrMask0 UDINT 32 64 rw o RT 9 u32ErrMask1 UDINT 32 96 rw o RT 11 u32ErrMask2 UDINT 32 128 rw o RT 13 u32ErrMask3 UDINT 32 160 rw o RT 15 u32WrnMask0 UDINT 32 192 rw o RT 17 u32WrnMask1 UDINT 32 224 rw o RT 19 u32FaultMask UDINT 32 256 rw o RT 21 u16AlmFatalErr UINT 16 288 ro o T 22 u16AlmSequence UINT 16 304 ro o T 23 u16AlmSrcLog UINT 16 320 ro o T 25 u16AlmLog0 UINT 16 336 ro o T 26 u16AlmLog1 UINT 16 352 ro o T 27 u16AlmLog2 UINT 16 368 ro o T 28 u16AlmLog3 UINT 16 384 ro o T 29 u16AlmLog4 UINT 16 400 ro o T 30 u16AlmLog5 UINT 16 416 ro o T 31 u16AlmLog6 UINT 16 432 ro o T 32 u16AlmLog7 UINT 16 448 ro o T 33 u16AlmLog8 UINT 16 464 ro o T 34 u16AlmLog9 UINT 16 480 ro o T 35 u16AlmLog10 UINT 16 496 ro o T 36 u16AlmLog11 UINT 16 512 ro o T 37 u16AlmLog12 UINT 16 528 ro o T 38 u16AlmLog13 UINT 16 544 ro o T 39 u16AlmLog14 UINT 16 560 ro o T 40 u16AlmLog15 UINT 16 576 ro o T 41 u32AlmLogTime0 UDINT 32 592 ro o T 43 u32AlmLogTime1 UDINT 32 624 ro o T 45 u32AlmLogTime2 UDINT 32 656 ro o T 47 u32AlmLogTime3 UDINT 32 688 ro o T 49 u32AlmLogTime4 UDINT 32 720 ro o T 51 u32AlmLogTime5 UDINT 32 752 ro o T 53 u32AlmLogTime6 UDINT 32 784 ro o T 55 u32AlmLogTime7 UDINT 32 816 ro o T 57 u32AlmLogTime8 UDINT 32 848 ro o T 59 u32AlmLogTime9 UDINT 32 880 ro o T 61 u32AlmLogTime10 UDINT 32 912 ro o T 63 u32AlmLogTime11 UDINT 32 944 ro o T 65 u32AlmLogTime12 UDINT 32 976 ro o T 67 u32AlmLogTime13 UDINT 32 1008 ro o T 69 u32AlmLogTime14 UDINT 32 1040 ro o T 71 u32AlmLogTime15 UDINT 32 1072 ro o T 73 u16AlmPwrOnLock UINT 16 1104 rw o RT 74 u16AlmUmdcLatest UINT 16 1120 ro o T 75 s16AlmTrqLatest INT 16 1136 ro o T 76 s16AlmSpdLatest INT 16 1152 ro o T 79 u16HisUmdcMax UINT 16 1168 ro o T 80 u16HisCurMax UINT 16 1184 ro o T 81 u16HisInvtTempMax UINT 16 1200 ro o T 82 u16MotStallReason UINT 16 1216 ro o T 83 u16AdjGainIbase UINT 16 1232 ro o T 84 u16AdjGainImid UINT 16 1248 ro o T 85 u16AdjGainImax UINT 16 1264 ro o T 86 u16MotOLDrt UINT 16 1280 ro o T 87 u16AmpOLDrt UINT 16 1296 ro o T 88 u16OLWrnRatio UINT 16 1312 ro o T 89 s32MotMidOLThold DINT 32 1328 ro o T 91 s32MotMaxOLThold DINT 32 1360 ro o T 93 s32MotMidOLSum DINT 32 1392 ro o T 95 s32MotMaxOLSum DINT 32 1424 ro o T 97 s32AmpMidOLThold DINT 32 1456 ro o T 99 s32AmpMaxOLThold DINT 32 1488 ro o T 101 s32AmpMidOLSum DINT 32 1520 ro o T 103 s32AmpMaxOLSum DINT 32 1552 ro o T 105 u16UnRgMeanPower UINT 16 1584 ro o T 106 u16UnRgCyclePower UINT 16 1600 ro o T 107 u16FlyingRunTrqThold UINT 16 1616 rw o RT 108 u16FlyingRunSpdThold UINT 16 1632 rw o RT 109 u16FlyingRunSpdFltrTc UINT 16 1648 rw o RT 110 u16FlyingRunDetTime UINT 16 1664 rw o RT DT2013 1152 0 Number of entries USINT 8 0 ro o 1 u32SysRunTime UDINT 32 16 ro o T 3 s32HdiPulse DINT 32 48 ro o T 5 u16DiState UINT 16 80 ro o T 6 u16DoState UINT 16 96 ro o T 7 s16Uai0 INT 16 112 ro o T 8 s16Uai1 INT 16 128 ro o T 9 s16Uai2 INT 16 144 ro o T 10 s16UaiSi0 INT 16 160 ro o T 11 s16UaiSi1 INT 16 176 ro o T 12 s16UaiSi2 INT 16 192 ro o T 13 u16UaoSi0 UINT 16 208 ro o T 14 u16UaoSi1 UINT 16 224 ro o T 15 u16UaoSi2 UINT 16 240 ro o T 21 u16UmdcSi UINT 16 256 ro o T 22 u16UcdcSi UINT 16 272 ro o T 23 s16IaFbSi INT 16 288 ro o T 24 s16IbFbSi INT 16 304 ro o T 25 s16IcFbSi INT 16 320 ro o T 26 s16TempInvtSi INT 16 336 ro o T 30 u16UmdcOnCnt UINT 16 352 ro o T 31 s64EncUnitPosRefLo UDINT 32 368 ro o T 33 s64EncUnitPosRefHi UDINT 32 400 ro o T 35 s64EncUnitPosFbLo UDINT 32 432 ro o T 37 s64EncUnitPosFbHi UDINT 32 464 ro o T 39 s32EncUnitPosErr DINT 32 496 ro o T 41 s64UserPosRefLo UDINT 32 528 ro o T 43 s64UserPosRefHi UDINT 32 560 ro o T 45 s64UserPosFbLo UDINT 32 592 ro o T 47 s64UserPosFbHi UDINT 32 624 ro o T 49 s32UserSpdRef DINT 32 656 ro o T 51 s32UserSpdFb DINT 32 688 ro o T 53 s16UserTrqRef INT 16 720 ro o T 54 s16UserTrqFb INT 16 736 ro o T 55 s16UserDigTrqRef INT 16 752 ro o T 56 s16UserDigTrqFb INT 16 768 ro o T 61 u16SysState UINT 16 784 ro o T 65 u16PwmState UINT 16 800 ro o T 66 u16LogicCtrlSrc UINT 16 816 ro o T 67 u16PlanCtrlModeOut UINT 16 832 ro o T 68 s16PowerRatio INT 16 848 ro o T 71 u16ProbeFunc01 UINT 16 864 rw o RT 72 u16ProbeStatus01 UINT 16 880 ro o T 73 s64Probe0PosEdgePosLo UDINT 32 896 ro o T 75 s64Probe0PosEdgePosHi UDINT 32 928 ro o T 77 s64Probe0NegEdgePosLo UDINT 32 960 ro o T 79 s64Probe0NegEdgePosHi UDINT 32 992 ro o T 81 s64Probe1PosEdgePosLo UDINT 32 1024 ro o T 83 s64Probe1PosEdgePosHi UDINT 32 1056 ro o T 85 s64Probe1NegEdgePosLo UDINT 32 1088 ro o T 87 s64Probe1NegEdgePosHi UDINT 32 1120 ro o T DT6046 80 0 Number of entries USINT 16 0 ro 1 u32SpdMin UDINT 32 16 rw o RT 2 u32SpdMax UDINT 32 48 rw o RT DT6048 64 0 Number of entries USINT 16 0 ro 1 u32AccSpdDelta UDINT 32 16 rw o RT 2 u16AccSpdDeltaTime UINT 16 48 rw o RT DT6049 64 0 Number of entries USINT 16 0 ro 1 u32DecSpdDelta UDINT 32 16 rw o RT 2 u16DecSpdDeltaTime UINT 16 48 rw o RT DT607D 80 0 Number of entries USINT 16 0 ro 1 s32MinPosLim DINT 32 16 rw o RT 2 s32MaxPosLim DINT 32 48 rw o RT DT6091 80 0 Number of entries USINT 16 0 ro 1 u32MotShaftRes UDINT 32 16 rw o RT 2 u32DrvShaftRes UDINT 32 48 rw o RT DT6099 80 0 Number of entries USINT 16 0 ro 1 u32HmHomingSpd UDINT 32 16 rw o RT 2 u32HmZeroHomingSpd UDINT 32 48 rw o 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 #x2000 Group0 DT2000 16 ro #x2001 Group1 DT2001 16 ro #x2002 Group2 DT2002 16 ro #x2003 Group3 DT2003 16 ro #x2004 Group4 DT2004 16 ro #x2005 Group5 DT2005 16 ro #x2006 Group6 DT2006 16 ro #x2007 Group7 DT2007 16 ro #x2008 Group8 DT2008 16 ro #x2009 Group9 DT2009 16 ro #x200A Group10 DT2010 16 ro #x200B Group11 DT2011 16 ro #x200C Group12 DT2012 16 ro #x200D Group13 DT2013 16 ro #x200F Group15 DT2015 16 ro #x603F Error code UINT 16 ro o T #x6040 Controlword UINT 16 rw o RT #x6041 Statusword UINT 16 ro o T #x6042 vl target velocity INT 16 rw o RT #x6043 vl velocity demand INT 16 ro o T #x6044 vl velocity actual value INT 16 ro o T #x6046 vl velocity min max amount DT6046 80 ro #x6048 vl velocity acceleration DT6048 64 ro #x6049 vl velocity deceleration DT6049 64 ro #x605A Quick Stop option code UINT 16 rw o RT #x605C Enble Off Stop option code UINT 16 rw o RT #x605D Halt option code UINT 16 rw o RT #x605E Alm Normal Stop option code UINT 16 rw o RT #x6060 Mode of operation INT 16 rw o RT #x6061 Mode of operation display INT 16 ro o T #x6062 Position Command value DINT 32 ro o T #x6063 Position actual internal value DINT 32 ro o T #x6064 Position actual value DINT 32 ro o T #x6065 Following error window DINT 32 rw o RT #x6066 Following error window time UINT 16 rw o RT #x6067 Position window UDINT 32 rw o RT #x6068 Position window time UINT 16 rw o RT #x6069 Velocity sensor actual value DINT 32 ro o T #x606A Sensor selection actual value INT 16 rw o RT #x606B Velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x606D Velocity Wwindow UINT 16 rw o RT #x606e Velocity window time UINT 16 rw o RT #x606F Zero Velocity window UINT 16 rw o RT #x6070 Zero Velocity window time UINT 16 rw o RT #x6071 Target torque INT 16 rw o RT #x6072 Max torque UINT 16 rw o RT #x6073 Max current UINT 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 #x607C home offset DINT 32 rw o RT #x607e command polarity UINT 16 rw o RT #x607D Soft Pos Lim DT607D 80 ro #x607F Max profile 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 deceleration UDINT 32 rw o RT #x6086 Motion Profile type INT 16 rw o RT #x6087 Torque slope UDINT 32 rw o RT #x6088 Torque profile type INT 16 rw o RT #x6091 Gear ratio DT6091 80 ro #x6098 Homing Mode INT 16 rw o RT #x6099 Homing speeds DT6099 80 ro #x609A Homing accelerated speeds UDINT 32 rw o RT #x60B0 Position Offset DINT 32 rw o RT #x60B1 Velocity Offset DINT 32 rw o RT #x60B2 Torque Offset INT 16 rw o RT #x60B8 Touch probe function UINT 16 rw o RT #x60B9 Touch probe status UINT 16 ro o T #x60BA Touch Probe 1 positive edge DINT 32 ro o T #x60BB Touch Probe 1 Negative edge DINT 32 ro o T #x60BC Touch Probe 2 positive edge DINT 32 ro o T #x60BD Touch Probe 2 Negative edge DINT 32 ro o T #x60C5 Max acceleration UDINT 32 rw o RT #x60C6 Max deceleration UDINT 32 rw o RT #x60E0 Forward Torque Limit Value INT 16 rw o RT #x60E1 Reverse Torque Limit Value INT 16 rw o RT #x60F4 Following err actual value DINT 32 ro o T #x60FC Position demand value DINT 32 ro o T #x60FD Digital inputs UDINT 32 ro o T #x60FE Digital outputs UDINT 32 rw o RT #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 #x1602 Outputs #x1600 #x1601 #x1603 Outputs #x6060 0 16 Mode of operation INT #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 1 positive edge DINT #x60BB 0 32 Touch Probe 1 Negative edge 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 #x1A03 Inputs DcSync DC for synchronization #x0300 0 0 DcOff DC unused #x0000 25000 100 2048 080C00046400 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