#x0000009A Elmo Motion Control 424DE6000000000000007600000028000000100000000E000000010004000000000070000000C40E0000C40E000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF79999997FFFFFFFF99977999FFFFFFFF9998FF89FFFFFFFF99999FFFFFFFFFFF999997FFFF777777999999FFFF777777799999FFFF877777FFFFFFFFFFF77777FFFFFFFF78ff8777FFFFFFFF77777777FFFFFFFF77777777FFFFFFFFFFFFFFFF SimplIQ_GOLD Elmo Motion Control Gold EtherCAT Family Devices 424DE6000000000000007600000028000000100000000E000000010004000000000070000000C40E0000C40E000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF79999997FFFFFFFF99977999FFFFFFFF9998FF89FFFFFFFF99999FFFFFFFFFFF999997FFFF777777999999FFFF777777799999FFFF877777FFFFFFFFFFF77777FFFFFFFF78ff8777FFFFFFFF77777777FFFFFFFF77777777FFFFFFFFFFFFFFFF Elmo Drive SimplIQ_GOLD 402 DINT 32 INT 16 INT24 24 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(8) 64 STRING(19) 152 DT1400 96 0 largest sub-index supported USINT 8 0 rw m 1 COB-ID used by PDO1 RX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m 3 Inhibit time UINT 16 64 rw o 4 CMS priority group USINT 8 80 rw o DT1600 96 0 largest sub-index supported USINT 8 0 rw o 1 Target Position UDINT 32 16 rw o 2 Digital Outputs UDINT 32 48 rw o 3 Controlword UINT 16 80 rw o DT1800 96 0 largest sub-index supported USINT 8 0 rw o 1 COB-ID for PDO1 TX UDINT 32 16 rw o 2 Transmission Type USINT 8 48 rw o 3 Inhibit Time UINT 16 64 rw o 4 CMS priority group USINT 8 80 rw o DT1A00 96 0 largest sub-index supported USINT 8 0 rw o 1 Position Actual Value UDINT 32 16 rw o 2 Digital Inputs UDINT 32 48 rw o 3 statusword UINT 16 80 rw o DT60FEARR DINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro c Elements DT60FEARR 64 16 rw o #x1400 1st receive PDO-Parameter DT1400 96 largest sub-index supported 04 Transmission Type ff rw o #x1600 1st receive PDO-Mapping DT1600 96 #x1800 1st transmit PDO-Parameter DT1800 96 largest sub-index supported 04 Transmission Type ff rw o #x1A00 1st transmit PDO-Mapping DT1A00 96 #x6040 Controlword UINT 16 rw m R #x6041 Statusword UINT 16 ro m T #x6064 Position actual value DINT 32 ro o T #x607A Target position DINT 32 rw o R #x60FD Digital inputs DINT 32 ro o T #x60FE Digital outputs DT60FE 80 Outputs Inputs MBoxOut MBoxIn Outputs Inputs Drive #x1600 Outputs #x607A 0 32 Target Position DINT #x60FE 1 32 Digital Outputs DINT #x6040 0 16 Control word UINT #x1A00 Inputs #x6064 0 32 Position actual value DINT #x60FD 0 32 Digital Inputs DINT #x6041 0 16 Status word UINT DC Sync DC for synchronization #x0300 0 0 DC Off DC unused #x0000 2048 050C0304E803 00188C0000198C00 30 00000000002F0101000001000000000011110000000000000000000000000000 41 000018800026000101 DRIVE Elmo Drive SimplIQ_GOLD 402 DINT 32 INT 16 INT24 24 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(8) 64 STRING(19) 152 DT1400 96 0 largest sub-index supported USINT 8 0 rw m 1 COB-ID used by PDO1 RX UDINT 32 16 rw m 2 Transmission Type USINT 8 48 rw m 3 Inhibit time UINT 16 64 rw o 4 CMS priority group USINT 8 80 rw o DT1600 96 0 largest sub-index supported USINT 8 0 rw o 1 Target Position UDINT 32 16 rw o 2 Digital Outputs UDINT 32 48 rw o 3 Controlword UINT 16 80 rw o DT1800 96 0 largest sub-index supported USINT 8 0 rw o 1 COB-ID for PDO1 TX UDINT 32 16 rw o 2 Transmission Type USINT 8 48 rw o 3 Inhibit Time UINT 16 64 rw o 4 CMS priority group USINT 8 80 rw o DT1A00 96 0 largest sub-index supported USINT 8 0 rw o 1 Position Actual Value UDINT 32 16 rw o 2 Digital Inputs UDINT 32 48 rw o 3 statusword UINT 16 80 rw o DT60FEARR DINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro c Elements DT60FEARR 64 16 rw o #x1400 1st receive PDO-Parameter DT1400 96 largest sub-index supported 04 Transmission Type ff rw o #x1600 1st receive PDO-Mapping DT1600 96 #x1800 1st transmit PDO-Parameter DT1800 96 largest sub-index supported 04 Transmission Type ff rw o #x1A00 1st transmit PDO-Mapping DT1A00 96 #x6040 Controlword UINT 16 rw m R #x6041 Statusword UINT 16 ro m T #x6064 Position actual value DINT 32 ro o T #x607A Target position DINT 32 rw o R #x60FD Digital inputs DINT 32 ro o T #x60FE Digital outputs DT60FE 80 Outputs Inputs MBoxOut MBoxIn Outputs Inputs Drive #x1600 Outputs #x607A 0 32 Target Position DINT #x60FE 1 32 Digital Outputs DINT #x6040 0 16 Control word UINT #x1A00 Inputs #x6064 0 32 Position actual value DINT #x60FD 0 32 Digital Inputs DINT #x6041 0 16 Status word UINT DC Sync DC for synchronization #x0300 0 0 DC Off DC unused #x0000 2048 050C0304E803 00188C0000198C00 30 00000000002F0101000001000000000011110000000000000000000000000000 41 000018800026000101 DRIVE Elmo Drive false SimplIQ_GOLD 402 SINT 8 USINT 8 INT 16 UINT 16 INT24 24 DINT 32 UDINT 32 REAL 32 STRING(0) 0 STRING(8) 64 STRING(19) 152 STRING(64) 512 DT1010ARR UDINT 32 1 1 DT1010 48 0 Number of elements USINT 8 0 ro m Elements DT1010ARR 32 16 rw o DT1011ARR UDINT 32 1 1 DT1011 48 0 Number of elements USINT 8 0 ro m Elements DT1011ARR 32 16 rw o DT1018 144 0 No of elements USINT 8 0 ro o 1 Vendor Id UDINT 32 16 ro o 2 Product Code UDINT 32 48 ro o 3 Revision Number UDINT 32 80 ro o 4 Serial Number UDINT 32 112 ro o DT10E0 48 0 No of elements USINT 8 0 ro o 1 Configured Alias Reg INT 16 16 rw o 2 Write Configured Alias Persistent INT 16 32 rw o DT10F1 80 0 Highest sub-index supported USINT 8 0 ro m 1 Local Error Reaction UDINT 32 16 ro o 2 Sync error counter limit UDINT 32 48 rw o DT1111 208 0 No of elements USINT 8 0 ro o 1 IP Address UDINT 32 16 rw m 2 Subnet Mask UDINT 32 48 rw o 3 Default Gateway UDINT 32 80 rw o 4 DNS Server UDINT 32 112 rw o 5 DNS Name STRING(8) 64 144 rw o DT1600 112 0 largest sub-index supported USINT 8 0 ro o 1 Target Position UDINT 32 16 ro o 2 Digital Outputs UDINT 32 48 ro o 3 Controlword UDINT 32 80 ro o DT1601 80 0 largest sub-index supported USINT 8 0 ro o 1 Target Velocity UDINT 32 16 ro o 2 Controlword UDINT 32 48 ro o DT1602 80 0 largest sub-index supported USINT 8 0 ro o 1 Target Torque UDINT 32 16 ro o 2 Controlword UDINT 32 48 ro o DT1603 144 0 largest sub-index supported USINT 8 0 ro o 1 Target Position UDINT 32 16 ro o 2 Digital Outputs UDINT 32 48 ro o 3 Velocity Offset UDINT 32 80 ro o 4 Controlword UDINT 32 112 ro o DT1604 144 0 largest sub-index supported USINT 8 0 ro o 1 Target Position UDINT 32 16 ro o 2 Target Velocity UDINT 32 48 ro o 3 Max.Torque UDINT 32 80 ro o 4 Controlword UDINT 32 112 ro o DT1605 240 0 largest sub-index supported USINT 8 0 ro o 1 Target Position UDINT 32 16 ro o 2 Target Velocity UDINT 32 48 ro o 3 Target Torque UDINT 32 80 ro o 4 Max.Torque UDINT 32 112 ro o 5 Controlword UDINT 32 144 ro o 6 Mode Of Operation UDINT 32 176 ro o 7 Padding UDINT 32 208 ro o DT1606 208 0 largest sub-index supported USINT 8 0 ro o 1 Target Position DINT 32 16 ro o 2 Digital Outputs DINT 32 48 ro o 3 Target Velocity DINT 32 80 ro o 4 Velocity Offset DINT 32 112 ro o 5 Torque Offset INT 16 144 ro o 6 Controlword UINT 16 176 ro o DT1607ARR UDINT 256 1 8 DT1607 272 0 number of elements USINT 8 0 rw o Elements DT1607ARR 256 16 rw o DT1608ARR UDINT 256 1 8 DT1608 272 0 number of elements USINT 8 0 rw o Elements DT1608ARR 256 16 rw o DT1A00 112 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Digital Inputs UDINT 32 48 ro o 3 Statusword UDINT 32 80 ro o DT1A01 112 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Torque Actual Value UDINT 32 48 ro o 3 Statusword UDINT 32 80 ro o DT1A02 176 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Torque Actual Value UDINT 32 48 ro o 3 statusword UDINT 32 80 ro o 4 Mode Of Operation UDINT 32 112 ro o 5 Padding UDINT 32 144 ro o DT1A03 144 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Digital Inputs UDINT 32 48 ro o 3 Velocity Actual Value UDINT 32 80 ro o 4 statusword UDINT 32 112 ro o DT1A04 208 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Following Position Error UDINT 32 48 ro o 3 Torque Actual Value UDINT 32 80 ro o 4 statusword UDINT 32 112 ro o 5 Mode Of Operation UDINT 32 144 ro o 6 Padding UDINT 32 176 ro o DT1A07ARR UDINT 256 1 8 DT1A07 272 0 number of elements USINT 8 0 rw o Elements DT1A07ARR 256 16 rw o DT1A08ARR UDINT 256 1 8 DT1A08 272 0 number of elements USINT 8 0 rw o Elements DT1A08ARR 256 16 rw o DT1C00ARR UINT 64 1 4 DT1C00 80 0 Number of errors USINT 8 0 ro m Elements DT1C00ARR 64 16 ro m DT1C10 16 0 SM0 PDO Assigment USINT 8 0 DT1C11 16 0 SM1 PDO Assigment USINT 8 0 DT1C12ARR UINT 480 1 30 DT1C12 496 0 number of PDOs USINT 8 0 rw o Elements DT1C12ARR 480 16 rw o DT1C13ARR UINT 560 1 35 DT1C13 576 0 number of PDOs USINT 8 0 rw o Elements DT1C13ARR 560 16 rw o DT1C32 608 0 largest sub-index supported USINT 8 0 ro m 1 Sync Type UINT 16 16 rw m 2 Cycle Time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o 4 Sync types supported UINT 16 96 ro m 5 Minimum cycle time UDINT 32 112 ro m 6 Calc and copy time UDINT 32 144 ro m 7 Minimum delay time UINT 16 176 rw o 8 Get cycle time UINT 16 192 rw c 9 Delay time UDINT 32 208 ro m 10 Sync0 cycle time UINT 16 240 ro o 11 SM event missed counter UINT 16 256 ro o 12 Cycle exceeded counter UINT 16 272 ro m 13 Shift too short counter UINT 16 288 ro o 14 SubIndex 00E UINT 16 304 ro o 15 SubIndex 00F UINT 16 320 ro o 16 SubIndex 010 UINT 16 336 ro o 17 SubIndex 011 UINT 16 352 ro o 18 SubIndex 012 UINT 16 368 ro o 19 SubIndex 013 UINT 16 384 ro o 20 SubIndex 014 UINT 16 400 ro o 21 SubIndex 015 UINT 16 416 ro o 22 SubIndex 016 UINT 16 432 ro o 23 SubIndex 017 UINT 16 448 ro o 24 SubIndex 018 UINT 16 464 ro o 25 SubIndex 019 UINT 16 480 ro o 26 SubIndex 01A UINT 16 496 ro o 27 SubIndex 01B UINT 16 512 ro o 28 SubIndex 01C UINT 16 528 ro o 29 SubIndex 01D UINT 16 544 ro o 30 SubIndex 01E UINT 16 560 ro o 31 SubIndex 01F UINT 16 576 ro o 32 Sync error UINT 16 592 ro c DT1C33 608 0 largest sub-index supported USINT 8 0 ro m 1 Sync Type UINT 16 16 rw m 2 Cycle Time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o 4 Sync types supported UINT 16 96 ro m 5 Minimum cycle time UDINT 32 112 ro m 6 Calc and copy time UDINT 32 144 ro m 7 Min delay time UINT 16 176 rw o 8 Get cycle time UINT 16 192 rw c 9 Delay time UDINT 32 208 ro m 10 Sync0 cycle time UINT 16 240 ro o 11 SM event missed counter UINT 16 256 ro o 12 Cycle exceeded counter UINT 16 272 ro m 13 Shift too short counter UINT 16 288 ro o 14 SubIndex 00E UINT 16 304 ro o 15 SubIndex 00F UINT 16 320 ro o 16 SubIndex 010 UINT 16 336 ro o 17 SubIndex 011 UINT 16 352 ro o 18 SubIndex 012 UINT 16 368 ro o 19 SubIndex 013 UINT 16 384 ro o 20 SubIndex 014 UINT 16 400 ro o 21 SubIndex 015 UINT 16 416 ro o 22 SubIndex 016 UINT 16 432 ro o 23 SubIndex 017 UINT 16 448 ro o 24 SubIndex 018 UINT 16 464 ro o 25 SubIndex 019 UINT 16 480 ro o 26 SubIndex 01A UINT 16 496 ro o 27 SubIndex 01B UINT 16 512 ro o 28 SubIndex 01C UINT 16 528 ro o 29 SubIndex 01D UINT 16 544 ro o 30 SubIndex 01E UINT 16 560 ro o 31 SubIndex 01F UINT 16 576 ro o 32 Sync error UINT 16 592 ro c DT2020 160 0 Number of subindexes USINT 8 0 ro o 1 Torque limit INT 16 16 rw o 2 Time limit UDINT 32 32 rw o 3 Distance limit in counts UDINT 32 64 rw o 4 Detection Velocity Limit UDINT 32 96 rw o 5 Detection Velocity Time UDINT 32 128 rw o DT207B 80 0 Highest sub-index supported USINT 8 0 ro o 1 Min auxiliary position range limit UDINT 32 16 rw o 2 Max auxiliary position range limit UDINT 32 48 rw o DT2081 208 0 Largest sub index supported USINT 8 0 ro o 1 Serial Encoder Error DINT 32 16 ro o 2 Profiler Data Base Error DINT 32 48 ro o 3 DL Error DINT 32 80 ro o 4 SDO ELMO Format Error DINT 32 112 ro o 5 MO Failed to start Reason DINT 32 144 ro o 6 ECAM error DINT 32 176 ro o DT20B0 304 0 largest sub-index supported USINT 8 0 ro o 1 Main position feedback socket (CA[45]) UDINT 32 16 rw o 2 Speed feedback socket (CA[46]) UDINT 32 48 rw o 3 Commutation socket (CA[47]) UDINT 32 80 rw o 4 Position reference socket (CA[68]) UDINT 32 112 rw o 5 Speed reference socket (CA[69]) UDINT 32 144 rw o 6 Current reference socket (CA[70]) UDINT 32 176 rw o 7 Touch-probe socket (CA[87]) UDINT 32 208 rw o 8 Homing 402 - capture socket (OV[54]) UDINT 32 240 rw o 9 Additional position socket (CA[79]) UDINT 32 272 rw o DT20FC 48 0 Number of subindexes USINT 8 0 ro o 1 Clear Absolute Multi Pos UINT 16 16 wo o 2 Reset EnDAT Error UINT 16 32 wo o DT2110ARR REAL 2016 1 63 DT2110 2032 0 Number of entries USINT 8 0 ro o Elements DT2110ARR 2016 16 rw o DT2202 112 0 largest sub-index supported USINT 8 0 ro o 1 Extended Inputs Value UDINT 32 16 ro o 2 Extended Inputs Logic UDINT 32 48 rw o 3 Extended Inputs Mask UDINT 32 80 rw o DT2205 48 0 Number of subindexes USINT 8 0 ro o 1 Analog input 1 INT 16 16 ro o 2 Analog input 2 INT 16 32 ro o DT22A1 112 0 largest sub-index supported USINT 8 0 ro m 1 Extended Outputs Value UDINT 32 16 rw o R 2 Extended Outputs Logic UDINT 32 48 rw o 3 Extended Outputs Mask UDINT 32 80 rw o DT22A3 64 0 largest sub-index supported USINT 8 0 ro o 1 Drive Temperature [C] UINT 16 16 ro o 2 Drive Temperature [F] UINT 16 32 ro o 3 Sensor Temperature UINT 16 48 ro o DT2F00 784 0 Number of sub indexes USINT 8 0 ro o 1 UI[1] DINT 32 16 rw o 2 UI[2] DINT 32 48 rw o 3 UI[3] DINT 32 80 rw o 4 UI[4] DINT 32 112 rw o 5 UI[5] DINT 32 144 rw o 6 UI[6] DINT 32 176 rw o 7 UI[7] DINT 32 208 rw o 8 UI[8] DINT 32 240 rw o 9 UI[9] DINT 32 272 rw o 10 UI[10] DINT 32 304 rw o 11 UI[11] DINT 32 336 rw o 12 UI[12] DINT 32 368 rw o 13 UI[13] DINT 32 400 rw o 14 UI[14] DINT 32 432 rw o 15 UI[15] DINT 32 464 rw o 16 UI[16] DINT 32 496 rw o 17 UI[17] DINT 32 528 rw o 18 UI[18] DINT 32 560 rw o 19 UI[19] DINT 32 592 rw o 20 UI[20] DINT 32 624 rw o 21 UI[21] DINT 32 656 rw o 22 UI[22] DINT 32 688 rw o 23 UI[23] DINT 32 720 rw o 24 UI[24] DINT 32 752 rw o DT2F01 784 0 Number of sub indexes USINT 8 0 ro o 1 UF[1] REAL 32 16 rw o 2 UF[2] REAL 32 48 rw o 3 UF[3] REAL 32 80 rw o 4 UF[4] REAL 32 112 rw o 5 UF[5] REAL 32 144 rw o 6 UF[6] REAL 32 176 rw o 7 UF[7] REAL 32 208 rw o 8 UF[8] REAL 32 240 rw o 9 UF[9] REAL 32 272 rw o 10 UF[10] REAL 32 304 rw o 11 UF[11] REAL 32 336 rw o 12 UF[12] REAL 32 368 rw o 13 UF[13] REAL 32 400 rw o 14 UF[14] REAL 32 432 rw o 15 UF[15] REAL 32 464 rw o 16 UF[16] REAL 32 496 rw o 17 UF[17] REAL 32 528 rw o 18 UF[18] REAL 32 560 rw o 19 UF[19] REAL 32 592 rw o 20 UF[20] REAL 32 624 rw o 21 UF[21] REAL 32 656 rw o 22 UF[22] REAL 32 688 rw o 23 UF[23] REAL 32 720 rw o 24 UF[24] REAL 32 752 rw o DT2F45 144 0 largest sub-index supported USINT 8 0 ro o 1 Low voltage level [mV] UDINT 32 16 rw o 2 High voltage level [mV] UDINT 32 48 rw o 3 Analog sensors min amplitude [A2D^2] UDINT 32 80 rw o 4 High Temperature sensing [C] UDINT 32 112 rw o DT604AARR DINT 64 1 2 DT604A 80 0 Number of entries USINT 8 0 Elements DT604AARR 64 16 rw o DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 ro o Elements DT607BARR 64 16 rw o DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro o Elements DT607DARR 64 16 rw o DT608FARR UDINT 64 1 2 DT608F 80 0 Number of entries USINT 8 0 ro o Elements DT608FARR 64 16 rw o DT6090ARR DINT 64 1 2 DT6090 80 0 Number of entries USINT 8 0 ro o Elements DT6090ARR 64 16 rw o DT6091ARR UDINT 64 1 2 DT6091 80 0 Number of entries USINT 8 0 ro o Elements DT6091ARR 64 16 rw o DT6092ARR UDINT 64 1 2 DT6092 80 0 Number of entries USINT 8 0 ro o Elements DT6092ARR 64 16 rw o DT6096 80 0 Number of sub indexes USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 2 Divisor UDINT 32 48 rw o DT6097 80 0 Number of sub indexes USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 2 Divisor UDINT 32 48 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro o Elements DT6099ARR 64 16 rw o DT60C2 48 0 No of elements USINT 8 0 ro o 1 Interpolation time period value USINT 8 16 rw m 2 Interpolation time index SINT 8 32 rw m DT60E3ARR SINT 264 1 33 DT60E3 280 0 number of PDOs USINT 8 0 ro o Elements DT60E3ARR 264 16 ro o DT60FE 80 0 Number of entries USINT 8 0 ro c 1 Physical outputs UDINT 32 16 rw o R 2 Bit mask UDINT 32 48 rw o #x1000 Device Type UDINT 32 92010200 ro m #x1001 Error Register USINT 8 00 ro m #x1002 Manufacturer Status Register UDINT 32 ro o T #x1008 Manufacturer Device Name STRING(19) 152 456C6D6F204D6F74696F6E20436F6E74726F6C ro o #x1009 Manufacture Hardware Version STRING(0) 0 ro o #x100A Manufacturer Software Version STRING(0) 0 ro o #x100B Node-ID UDINT 32 ro o #x1010 Store Parameters DT1010 48 #x1011 Restore Parameters DT1011 48 #x1018 Identity Object DT1018 144 #x10E0 Device ID Reload DT10E0 48 #x10F1 Sync error setting DT10F1 80 Highest sub-index supported 02 Local Error Reaction #x00000002 Sync error counter limit 00000000 #x1600 1st receive PDO-Mapping DT1600 112 #x1601 2nd receive PDO-Mapping DT1601 80 #x1602 3rd receive PDO-Mapping DT1602 80 #x1603 4th receive PDO-Mapping DT1603 144 #x1604 5th receive PDO-Mapping DT1604 144 #x1605 6th receive PDO-Mapping DT1605 240 #x1606 7th receive PDO-Mapping DT1606 208 #x1607 8th receive PDO-Mapping DT1607 272 #x1608 9th receive PDO-Mapping DT1608 272 #x1A00 1st transmit PDO-Mapping DT1A00 112 #x1A01 2nd transmit PDO-Mapping DT1A01 112 #x1A02 3rd transmit PDO-Mapping DT1A02 176 #x1A03 4th transmit PDO-Mapping DT1A03 144 #x1A04 5th transmit PDO-Mapping DT1A04 208 #x1A07 8th transmit PDO-Mapping DT1A07 272 #x1A08 9th transmit PDO-Mapping DT1A08 272 #x1C00 SM Communication Type DT1C00 80 #x1C10 Sync Manager 0 Communication Type DT1C10 16 rw o #x1C11 Sync Manager 1 Communication Type DT1C11 16 rw o #x1C12 Sync Manager 2 Communication Type DT1C12 496 #x1C13 Sync Manager 3 Communication Type DT1C13 576 #x1C32 SM output parameter DT1C32 608 largest sub-index supported #x20 Sync Type #x0002 Cycle Time #x000F4240 Shift time #x00000000 Sync types supported #x0007 Minimum cycle time #x0003D090 Calc and copy time 00000000 Minimum delay time 0000 Get cycle time 0000 Delay time 00000000 Sync0 cycle time 0000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 SubIndex 00E 0000 SubIndex 00F 0000 SubIndex 010 0000 SubIndex 011 0000 SubIndex 012 0000 SubIndex 013 0000 SubIndex 014 0000 SubIndex 015 0000 SubIndex 016 0000 SubIndex 017 0000 SubIndex 018 0000 SubIndex 019 0000 SubIndex 01A 0000 SubIndex 01B 0000 SubIndex 01C 0000 SubIndex 01D 0000 SubIndex 01E 0000 SubIndex 01F 0000 Sync error 0000 #x1C33 SM input parameter DT1C33 608 largest sub-index supported #x20 Sync Type #x0002 Cycle Time #x000F4240 Shift time 00000000 Sync types supported #x0007 Minimum cycle time #x0003D090 Calc and copy time 00000000 Min delay time 0000 Get cycle time 0000 Delay time 00000000 Sync0 cycle time 0000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 SubIndex 00E 0000 SubIndex 00F 0000 SubIndex 010 0000 SubIndex 011 0000 SubIndex 012 0000 SubIndex 013 0000 SubIndex 014 0000 SubIndex 015 0000 SubIndex 016 0000 SubIndex 017 0000 SubIndex 018 0000 SubIndex 019 0000 SubIndex 01A 0000 SubIndex 01B 0000 SubIndex 01C 0000 SubIndex 01D 0000 SubIndex 01E 0000 SubIndex 01F 0000 Sync error 0000 #x2005 Fast Reference DINT 32 rw o R #x200A Manufacture Boot Version STRING(64) 512 ro o #x2020 Homing on block limits DT2020 160 #x2041 Timestamp UDINT 32 ro o #x2046 DC clock inhibit time UINT 16 rw o #x2060 Parameters Checksum UDINT 32 ro o #x2061 FoE Download Parameters Error UINT 16 ro o #x2062 FoE Parameters Last String Send To Drive STRING(64) 512 ro o #x207B YM[] Auxiliary Position range limit DT207B 80 #x2081 EE[] Extendend Error DT2081 208 Largest sub index supported 06 Serial Encoder Error 00000000 Profiler Data Base Error 00000000 DL Error 00000000 SDO ELMO Format Error 00000000 MO Failed to start Reason 00000000 ECAM error 00000000 #x2085 Extra Status Reg INT 16 ro o T #x2086 STO Status Reg UDINT 32 ro o #x2087 PAL Version UINT 16 ro o #x20A0 Additional position actual value DINT 32 rw o T #x20B0 Socket Additional Functions DT20B0 304 #x20E0 Ecat alias object UINT 16 rw o #x20FC Absolute Sensors Functions DT20FC 48 #x20FD Clear Digital Inputs DINT 32 rw o #x2110 KI for inner loop DT2110 2032 #x2111 KP for inner loop DT2110 2032 #x2112 KP for outer loop DT2110 2032 #x2113 Vel Filt1 Param 1 DT2110 2032 #x2114 Vel Filt1 Param 2 DT2110 2032 #x2115 Vel Filt1 Param 3 DT2110 2032 #x2116 Vel Filt1 Param 4 DT2110 2032 #x2117 Vel Filt2 Param 1 DT2110 2032 #x2118 Vel Filt2 Param 2 DT2110 2032 #x2119 Vel Filt2 Param 3 DT2110 2032 #x211A Vel Filt2 Param 4 DT2110 2032 #x211B Pos Filt2 Param 1 DT2110 2032 #x211C Pos Filt2 Param 2 DT2110 2032 #x211D Pos Filt2 Param 3 DT2110 2032 #x211E Pos Filt2 Param 4 DT2110 2032 #x2202 Extended Inputs DT2202 112 largest sub-index supported 03 Extended Inputs Value 00000000 Extended Inputs Logic 00000000 Extended Inputs Mask FFFFFFFF #x2203 App Object UDINT 32 ro o T #x2205 Analog Input DT2205 48 #x2206 Digital Supply In mV UINT 16 ro o #x22A1 Extended Outputs DT22A1 112 #x22A3 Temperature Array DT22A3 64 #x22A4 Motor temperature INT 16 ro o #x2E00 Gain scheduling manual index UINT 16 rw o #x2E10 Set Position On TouchProbe UINT 16 rw o #x2E15 Gantry Yaw Offset INT 16 rw o #x2F00 UI[] Commands DT2F00 784 #x2F01 UF[] Commands DT2F01 784 #x2F05 Hardware Type WS[8] UINT 16 ro o #x2F41 Configuration Object UDINT 32 rw o #x2F45 ET[] Extra Threshold DT2F45 144 largest sub-index supported 04 Low voltage level [mV] 0000 High voltage level [mV] 0000 Analog sensors min amplitude [A2D^2] 0000 High Temperature sensing [C] 5500 #x2F75 Interpolation cycle timeout UINT 16 1 rw o #x6007 Abort connection code INT 16 rw o #x603F Error Code UINT 16 ro o #x6040 Controlword UINT 16 rw m R #x6041 Statusword UINT 16 ro m T #x605A Quick Stop option code INT 16 2 rw o #x605B Shutdown option code INT 16 rw o #x605C Disable operation option code INT 16 rw o #x605D Halt option code INT 16 rw o #x605E Fault reaction option code INT 16 rw o #x6060 Modes of operation SINT 8 rw o R #x6061 Modes of operation display SINT 8 ro o T #x6062 Position demand 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 Position following error window UDINT 32 rw o #x6066 Following error time out UINT 16 rw o #x6067 Position window UDINT 32 rw o #x6068 Position window time UINT 16 rw o #x6069 Velocity sensor actual value DINT 32 ro o T #x606A Velocity sensor selection code INT 16 rw o #x606B Velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x606D Velocity window UINT 16 rw o #x606E Velocity window time UINT 16 rw o #x606F Velocity threshold UINT 16 rw o R #x6070 Velocity threshold time UINT 16 rw o R #x6071 Target torque INT 16 rw o R #x6072 Maximal torque UINT 16 rw o R #x6073 Maximal Current UINT 16 rw o R #x6074 Torque demand INT 16 ro o T #x6075 Motor rated current UDINT 32 rw o #x6076 Motor rated torque UDINT 32 rw o #x6077 Torque actual value INT 16 ro o T #x6078 Current actual value INT 16 ro o T #x6079 DC link voltage UDINT 32 ro o T #x607A Target position DINT 32 rw o R #x607B Position range limit DT607B 80 #x607C Home offset DINT 32 rw o #x607D Software position limit DT607D 80 #x607E Polarity USINT 8 rw o R #x607F Max profile velocity UDINT 32 rw o #x6080 Max motor speed UDINT 32 rw o #x6081 Profile velocity UDINT 32 rw o R #x6082 End velocity UDINT 32 rw o R #x6083 Profile acceleration UDINT 32 rw o R #x6084 Profile deceleration UDINT 32 rw o R #x6085 Quick stop deceleration UDINT 32 rw o R #x6086 Motion profile type INT 16 rw o #x6087 Torque slope UDINT 32 rw o R #x608F Position encoder resolution DT608F 80 #x6090 Velocity encoder resolution DT6090 80 #x6091 Gear ratio DT6091 80 #x6092 Feed constant DT6092 80 #x6096 Velocity factor DT6096 80 #x6097 Acceleration factor DT6097 80 #x6098 Homing method SINT 8 rw o #x6099 Homing speeds DT6099 80 #x609A Homing acceleration UDINT 32 rw o #x60B0 Position offset DINT 32 rw o R #x60B1 Velocity offset DINT 32 rw o R #x60B2 Torque offset INT 16 rw o R #x60B8 Touch probe function UINT 16 rw o R #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 #x60C2 Interpolation time period DT60C2 48 #x60C5 Max acceleration UDINT 32 rw o #x60C6 Max deceleration UDINT 32 rw o #x60E3 Supported Homing Method DT60E3 280 #x60F2 Positioning option code UINT 16 rw o #x60F4 Following error actual value DINT 32 ro o T #x60FA Control effort DINT 32 ro o T #x60FC Position demand internal value DINT 32 ro o T #x60FD Digital inputs DINT 32 ro o T #x60FE Digital outputs DT60FE 80 #x60FF Target velocity DINT 32 rw o R #x6502 Supported drive modes UDINT 32 ro o Outputs Inputs MBoxOut MBoxIn Outputs Inputs Drive #x1600 Outputs #x1601 #x1602 #x1603 #x1604 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FE 1 32 Digital Outputs UDINT #x6040 0 16 Control word UINT #x1601 Outputs #x1600 #x1602 #x1603 #x1604 #x1605 #x1606 #x60FF 0 32 Target Velocity DINT #x6040 0 16 Control word UINT #x1602 Outputs #x1600 #x1601 #x1603 #x1604 #x1605 #x1606 #x6071 0 16 Target Torque INT #x6040 0 16 Control word UINT #x1603 Outputs #x1600 #x1601 #x1602 #x1604 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FE 1 32 Digital Outputs UDINT #x60B1 0 32 Velocity Offset DINT #x6040 0 16 Control word UINT #x1604 Outputs #x1600 #x1601 #x1602 #x1603 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x6072 0 16 Max. Torque UINT #x6040 0 16 Control word UINT #x1605 Outputs #x1600 #x1601 #x1602 #x1603 #x1604 #x1606 #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x6071 0 16 Target Torque INT #x6072 0 16 Max. Torque UINT #x6040 0 16 Control word UINT #x6060 0 8 Mode of operation SINT #x0 8 #x1606 Outputs #x1600 #x1601 #x1602 #x1603 #x1604 #x1605 #x607A 0 32 Target Position DINT #x60FE 1 32 Digital Outputs UDINT #x60FF 0 32 Target Velocity DINT #x60B1 0 32 Velocity Offset DINT #x60B2 0 16 Torque Offset INT #x6040 0 16 Control word UINT #x1607 Outputs #x1608 Outputs #x160A Outputs #x6040 0 16 Control word UINT #x160B Outputs #x6060 0 8 Mode of operation SINT #x0 8 #x160C Outputs #x6071 0 16 Target Torque INT #x160D Outputs #x6072 0 16 Max. Torque UINT #x160E Outputs #x6073 0 16 Max. Current UINT #x160F Outputs #x607A 0 32 Target Position DINT #x1611 Outputs #x6081 0 32 Profile Velocity UDINT #x1612 Outputs #x6082 0 32 End velocity UDINT #x1613 Outputs #x6083 0 32 Profile Acceleration UDINT #x1614 Outputs #x6084 0 32 Profile Deceleration UDINT #x1615 Outputs #x6087 0 32 Torque Slope UDINT #x1616 Outputs #x60B0 0 32 Position Offset DINT #x1617 Outputs #x60B1 0 32 Velocity Offset DINT #x1618 Outputs #x60B2 0 16 Torque Offset INT #x1619 Outputs #x60B8 0 16 Touch Probe Function UINT #x161A Outputs #x2E00 0 16 Gain scheduling manual index UINT #x161C Outputs #x60FF 0 32 Target Velocity DINT #x161D Outputs #x60FE 1 32 Digital Outputs UDINT #x161E Outputs #x607E 0 8 Polarity USINT #x0 8 #x161F Outputs #x6085 0 32 Quick stop deceleration UDINT #x1620 Outputs #x22A1 1 32 Extended Outputs UDINT #x1621 Outputs #x2005 0 32 Fast Reference DINT #x1A00 Inputs #x1A01 #x1A02 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x60FD 0 32 Digital Inputs DINT #x6041 0 16 Status word UINT #x1A01 Inputs #x1A00 #x1A02 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x606B 0 32 Velocity demand value DINT #x6074 0 16 Torque demand value INT #x6041 0 16 Status word UINT #x1A02 Inputs #x1A00 #x1A01 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Status word UINT #x6061 0 8 Mode of operation display SINT #x0 8 #x1A03 Inputs #x1A00 #x1A01 #x1A02 #x1A04 #x6064 0 32 Position actual value DINT #x60FD 0 32 Digital Inputs DINT #x606C 0 32 Velocity actual value DINT #x6041 0 16 Status word UINT #x1A04 Inputs #x1A00 #x1A01 #x1A02 #x1A03 #x6064 0 32 Position actual value DINT #x60F4 0 32 Position Following error actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Status word UINT #x6061 0 8 Mode of operation display SINT #x0 8 #x1A07 Inputs #x1A08 Inputs #x1A0A Inputs #x6041 0 16 Status word UINT #x1A0B Inputs #x6061 0 8 Mode of operation display SINT #x0 8 #x1A0C Inputs #x6062 0 32 Position Demand [UU] DINT #x1A0D Inputs #x6063 0 32 Actual position [counts] DINT #x1A0E Inputs #x6064 0 32 Position actual value DINT #x1A0F Inputs #x6069 0 32 Velocity sensor actual value [counts/sec] DINT #x1A10 Inputs #x606B 0 32 Velocity demand [cnt/sec] DINT #x1A11 Inputs #x606C 0 32 Velocity actual value DINT #x1A12 Inputs #x6074 0 16 Torque demand value INT #x1A13 Inputs #x6077 0 16 Torque actual value INT #x1A14 Inputs #x60B9 0 16 Touch Probe status UINT #x1A15 Inputs #x60BA 0 32 Touch Probe Pos1 Positive DINT #x1A16 Inputs #x60BB 0 32 Touch Probe Pos1 Negative DINT #x1A17 Inputs #x60BC 0 32 Touch probe pos2 pos value DINT #x1A18 Inputs #x6079 0 32 DC link circuit voltage UDINT #x1A19 Inputs #x60F4 0 32 Position Following error DINT #x1A1A Inputs #x60FA 0 32 Control Effort [cnt/sec] DINT #x1A1B Inputs #x60FC 0 32 Position Demand Value [cnt] DINT #x1A1C Inputs #x60FD 0 32 Digital Inputs DINT #x1A1D Inputs #x2205 1 16 Analog Input 1 INT #x1A1E Inputs #x20A0 0 32 Auxiliary position actual value DINT #x1A1F Inputs #x6078 0 16 Current actual value INT #x1A20 Inputs #x60BD 0 32 Touch probe pos2 neg value DINT #x1A21 Inputs #x2085 0 16 Extra Status Reg INT #x1A22 Inputs #x1002 0 32 Elmo Status Reg UDINT #x1A23 Inputs #x2202 1 32 Extended Inputs Value UDINT #x1A24 Inputs #x2203 0 32 App Object UDINT PS #x6060 0 08 Op mode PS #x60C2 1 02 Cycle time DC Sync DC for synchronization #x0300 0 0 DC Off DC unused #x0000 #x0 #x9C2 #x03E8 #x2710 2048 050C0304E803 00188C0000198C00 30 00000000002F0101000001000000000011110000000000000000000000000000 41 000018800026000101 Elmo Drive true SimplIQ_GOLD 402 SINT 8 USINT 8 INT 16 UINT 16 INT24 24 DINT 32 UDINT 32 REAL 32 STRING(0) 0 STRING(8) 64 STRING(19) 152 STRING(64) 512 DT1010ARR UDINT 32 1 1 DT1010 48 0 Number of elements USINT 8 0 ro m Elements DT1010ARR 32 16 rw o DT1011ARR UDINT 32 1 1 DT1011 48 0 Number of elements USINT 8 0 ro m Elements DT1011ARR 32 16 rw o DT1018 144 0 No of elements USINT 8 0 ro o 1 Vendor Id UDINT 32 16 ro o 2 Product Code UDINT 32 48 ro o 3 Revision Number UDINT 32 80 ro o 4 Serial Number UDINT 32 112 ro o DT10E0 48 0 No of elements USINT 8 0 ro o 1 Configured Alias Reg INT 16 16 rw o 2 Write Configured Alias Persistent INT 16 32 rw o DT10F1 80 0 Highest sub-index supported USINT 8 0 ro m 1 Local Error Reaction UDINT 32 16 ro o 2 Sync error counter limit UDINT 32 48 rw o DT1111 208 0 No of elements USINT 8 0 ro o 1 IP Address UDINT 32 16 rw m 2 Subnet Mask UDINT 32 48 rw o 3 Default Gateway UDINT 32 80 rw o 4 DNS Server UDINT 32 112 rw o 5 DNS Name STRING(8) 64 144 rw o DT1600 112 0 largest sub-index supported USINT 8 0 ro o 1 Target Position UDINT 32 16 ro o 2 Digital Outputs UDINT 32 48 ro o 3 Controlword UDINT 32 80 ro o DT1601 80 0 largest sub-index supported USINT 8 0 ro o 1 Target Velocity UDINT 32 16 ro o 2 Controlword UDINT 32 48 ro o DT1602 80 0 largest sub-index supported USINT 8 0 ro o 1 Target Torque UDINT 32 16 ro o 2 Controlword UDINT 32 48 ro o DT1603 144 0 largest sub-index supported USINT 8 0 ro o 1 Target Position UDINT 32 16 ro o 2 Digital Outputs UDINT 32 48 ro o 3 Velocity Offset UDINT 32 80 ro o 4 Controlword UDINT 32 112 ro o DT1604 144 0 largest sub-index supported USINT 8 0 ro o 1 Target Position UDINT 32 16 ro o 2 Target Velocity UDINT 32 48 ro o 3 Max.Torque UDINT 32 80 ro o 4 Controlword UDINT 32 112 ro o DT1605 240 0 largest sub-index supported USINT 8 0 ro o 1 Target Position UDINT 32 16 ro o 2 Target Velocity UDINT 32 48 ro o 3 Target Torque UDINT 32 80 ro o 4 Max.Torque UDINT 32 112 ro o 5 Controlword UDINT 32 144 ro o 6 Mode Of Operation UDINT 32 176 ro o 7 Padding UDINT 32 208 ro o DT1606 208 0 largest sub-index supported USINT 8 0 ro o 1 Target Position DINT 32 16 ro o 2 Digital Outputs DINT 32 48 ro o 3 Target Velocity DINT 32 80 ro o 4 Velocity Offset DINT 32 112 ro o 5 Torque Offset INT 16 144 ro o 6 Controlword UINT 16 176 ro o DT1607ARR UDINT 256 1 8 DT1607 272 0 number of elements USINT 8 0 rw o Elements DT1607ARR 256 16 rw o DT1608ARR UDINT 256 1 8 DT1608 272 0 number of elements USINT 8 0 rw o Elements DT1608ARR 256 16 rw o DT1A00 112 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Digital Inputs UDINT 32 48 ro o 3 Statusword UDINT 32 80 ro o DT1A01 112 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Torque Actual Value UDINT 32 48 ro o 3 Statusword UDINT 32 80 ro o DT1A02 176 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Torque Actual Value UDINT 32 48 ro o 3 statusword UDINT 32 80 ro o 4 Mode Of Operation UDINT 32 112 ro o 5 Padding UDINT 32 144 ro o DT1A03 144 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Digital Inputs UDINT 32 48 ro o 3 Velocity Actual Value UDINT 32 80 ro o 4 statusword UDINT 32 112 ro o DT1A04 208 0 largest sub-index supported USINT 8 0 ro o 1 Position Actual Value UDINT 32 16 ro o 2 Following Position Error UDINT 32 48 ro o 3 Torque Actual Value UDINT 32 80 ro o 4 statusword UDINT 32 112 ro o 5 Mode Of Operation UDINT 32 144 ro o 6 Padding UDINT 32 176 ro o DT1A07ARR UDINT 256 1 8 DT1A07 272 0 number of elements USINT 8 0 rw o Elements DT1A07ARR 256 16 rw o DT1A08ARR UDINT 256 1 8 DT1A08 272 0 number of elements USINT 8 0 rw o Elements DT1A08ARR 256 16 rw o DT1C00ARR UINT 64 1 4 DT1C00 80 0 Number of errors USINT 8 0 ro m Elements DT1C00ARR 64 16 ro m DT1C10 16 0 SM0 PDO Assigment USINT 8 0 DT1C11 16 0 SM1 PDO Assigment USINT 8 0 DT1C12ARR UINT 480 1 30 DT1C12 496 0 number of PDOs USINT 8 0 rw o Elements DT1C12ARR 480 16 rw o DT1C13ARR UINT 560 1 35 DT1C13 576 0 number of PDOs USINT 8 0 rw o Elements DT1C13ARR 560 16 rw o DT1C32 608 0 largest sub-index supported USINT 8 0 ro m 1 Sync Type UINT 16 16 rw m 2 Cycle Time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o 4 Sync types supported UINT 16 96 ro m 5 Minimum cycle time UDINT 32 112 ro m 6 Calc and copy time UDINT 32 144 ro m 7 Minimum delay time UINT 16 176 rw o 8 Get cycle time UINT 16 192 rw c 9 Delay time UDINT 32 208 ro m 10 Sync0 cycle time UINT 16 240 ro o 11 SM event missed counter UINT 16 256 ro o 12 Cycle exceeded counter UINT 16 272 ro m 13 Shift too short counter UINT 16 288 ro o 14 SubIndex 00E UINT 16 304 ro o 15 SubIndex 00F UINT 16 320 ro o 16 SubIndex 010 UINT 16 336 ro o 17 SubIndex 011 UINT 16 352 ro o 18 SubIndex 012 UINT 16 368 ro o 19 SubIndex 013 UINT 16 384 ro o 20 SubIndex 014 UINT 16 400 ro o 21 SubIndex 015 UINT 16 416 ro o 22 SubIndex 016 UINT 16 432 ro o 23 SubIndex 017 UINT 16 448 ro o 24 SubIndex 018 UINT 16 464 ro o 25 SubIndex 019 UINT 16 480 ro o 26 SubIndex 01A UINT 16 496 ro o 27 SubIndex 01B UINT 16 512 ro o 28 SubIndex 01C UINT 16 528 ro o 29 SubIndex 01D UINT 16 544 ro o 30 SubIndex 01E UINT 16 560 ro o 31 SubIndex 01F UINT 16 576 ro o 32 Sync error UINT 16 592 ro c DT1C33 608 0 largest sub-index supported USINT 8 0 ro m 1 Sync Type UINT 16 16 rw m 2 Cycle Time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o 4 Sync types supported UINT 16 96 ro m 5 Minimum cycle time UDINT 32 112 ro m 6 Calc and copy time UDINT 32 144 ro m 7 Minimum delay time UINT 16 176 rw o 8 Get cycle time UINT 16 192 rw c 9 Delay time UDINT 32 208 ro m 10 Sync0 cycle time UINT 16 240 ro o 11 SM event missed counter UINT 16 256 ro o 12 Cycle exceeded counter UINT 16 272 ro m 13 Shift too short counter UINT 16 288 ro o 14 SubIndex 00E UINT 16 304 ro o 15 SubIndex 00F UINT 16 320 ro o 16 SubIndex 010 UINT 16 336 ro o 17 SubIndex 011 UINT 16 352 ro o 18 SubIndex 012 UINT 16 368 ro o 19 SubIndex 013 UINT 16 384 ro o 20 SubIndex 014 UINT 16 400 ro o 21 SubIndex 015 UINT 16 416 ro o 22 SubIndex 016 UINT 16 432 ro o 23 SubIndex 017 UINT 16 448 ro o 24 SubIndex 018 UINT 16 464 ro o 25 SubIndex 019 UINT 16 480 ro o 26 SubIndex 01A UINT 16 496 ro o 27 SubIndex 01B UINT 16 512 ro o 28 SubIndex 01C UINT 16 528 ro o 29 SubIndex 01D UINT 16 544 ro o 30 SubIndex 01E UINT 16 560 ro o 31 SubIndex 01F UINT 16 576 ro o 32 Sync error UINT 16 592 ro c DT2020 160 0 Number of subindexes USINT 8 0 ro o 1 Torque limit INT 16 16 rw o 2 Time limit UDINT 32 32 rw o 3 Distance limit in counts UDINT 32 64 rw o 4 Detection Velocity Limit UDINT 32 96 rw o 5 Detection Velocity Time UDINT 32 128 rw o DT207B 80 0 Highest sub-index supported USINT 8 0 ro o 1 Min auxiliary position range limit UDINT 32 16 rw o 2 Max auxiliary position range limit UDINT 32 48 rw o DT2081 208 0 Largest sub index supported USINT 8 0 ro o 1 Serial Encoder Error DINT 32 16 ro o 2 Profiler Data Base Error DINT 32 48 ro o 3 DL Error DINT 32 80 ro o 4 SDO ELMO Format Error DINT 32 112 ro o 5 MO Failed to start Reason DINT 32 144 ro o 6 ECAM error DINT 32 176 ro o DT20B0 304 0 largest sub-index supported USINT 8 0 ro o 1 Main position feedback socket (CA[45]) UDINT 32 16 rw o 2 Speed feedback socket (CA[46]) UDINT 32 48 rw o 3 Commutation socket (CA[47]) UDINT 32 80 rw o 4 Position reference socket (CA[68]) UDINT 32 112 rw o 5 Speed reference socket (CA[69]) UDINT 32 144 rw o 6 Current reference socket (CA[70]) UDINT 32 176 rw o 7 Touch-probe socket (CA[87]) UDINT 32 208 rw o 8 Homing 402 - capture socket (OV[54]) UDINT 32 240 rw o 9 Additional position socket (CA[79]) UDINT 32 272 rw o DT20FC 48 0 Number of subindexes USINT 8 0 ro o 1 Clear Absolute Multi Pos UINT 16 16 wo o 2 Reset EnDAT Error UINT 16 32 wo o DT2110ARR REAL 2016 1 63 DT2110 2032 0 Number of entries USINT 8 0 ro o Elements DT2110ARR 2016 16 rw o DT2202 112 0 largest sub-index supported USINT 8 0 ro o 1 Extended Inputs Value UDINT 32 16 ro o 2 Extended Inputs Logic UDINT 32 48 rw o 3 Extended Inputs Mask UDINT 32 80 rw o DT2205 48 0 Number of subindexes USINT 8 0 ro o 1 Analog input 1 INT 16 16 ro o 2 Analog input 2 INT 16 32 ro o DT22A1 112 0 largest sub-index supported USINT 8 0 ro m 1 Extended Outputs Value UDINT 32 16 rw o R 2 Extended Outputs Logic UDINT 32 48 rw o 3 Extended Outputs Mask UDINT 32 80 rw o DT22A3 64 0 largest sub-index supported USINT 8 0 ro o 1 Drive Temperature [C] UINT 16 16 ro o 2 Drive Temperature [F] UINT 16 32 ro o 3 Sensor Temperature UINT 16 48 ro o DT2F00 784 0 Number of sub indexes USINT 8 0 ro o 1 UI[1] DINT 32 16 rw o 2 UI[2] DINT 32 48 rw o 3 UI[3] DINT 32 80 rw o 4 UI[4] DINT 32 112 rw o 5 UI[5] DINT 32 144 rw o 6 UI[6] DINT 32 176 rw o 7 UI[7] DINT 32 208 rw o 8 UI[8] DINT 32 240 rw o 9 UI[9] DINT 32 272 rw o 10 UI[10] DINT 32 304 rw o 11 UI[11] DINT 32 336 rw o 12 UI[12] DINT 32 368 rw o 13 UI[13] DINT 32 400 rw o 14 UI[14] DINT 32 432 rw o 15 UI[15] DINT 32 464 rw o 16 UI[16] DINT 32 496 rw o 17 UI[17] DINT 32 528 rw o 18 UI[18] DINT 32 560 rw o 19 UI[19] DINT 32 592 rw o 20 UI[20] DINT 32 624 rw o 21 UI[21] DINT 32 656 rw o 22 UI[22] DINT 32 688 rw o 23 UI[23] DINT 32 720 rw o 24 UI[24] DINT 32 752 rw o DT2F01 784 0 Number of sub indexes USINT 8 0 ro o 1 UF[1] REAL 32 16 rw o 2 UF[2] REAL 32 48 rw o 3 UF[3] REAL 32 80 rw o 4 UF[4] REAL 32 112 rw o 5 UF[5] REAL 32 144 rw o 6 UF[6] REAL 32 176 rw o 7 UF[7] REAL 32 208 rw o 8 UF[8] REAL 32 240 rw o 9 UF[9] REAL 32 272 rw o 10 UF[10] REAL 32 304 rw o 11 UF[11] REAL 32 336 rw o 12 UF[12] REAL 32 368 rw o 13 UF[13] REAL 32 400 rw o 14 UF[14] REAL 32 432 rw o 15 UF[15] REAL 32 464 rw o 16 UF[16] REAL 32 496 rw o 17 UF[17] REAL 32 528 rw o 18 UF[18] REAL 32 560 rw o 19 UF[19] REAL 32 592 rw o 20 UF[20] REAL 32 624 rw o 21 UF[21] REAL 32 656 rw o 22 UF[22] REAL 32 688 rw o 23 UF[23] REAL 32 720 rw o 24 UF[24] REAL 32 752 rw o DT2F45 144 0 largest sub-index supported USINT 8 0 ro o 1 Low voltage level [mV] UDINT 32 16 rw o 2 High voltage level [mV] UDINT 32 48 rw o 3 Analog sensors min amplitude [A2D^2] UDINT 32 80 rw o 4 High Temperature sensing [C] UDINT 32 112 rw o DT604AARR DINT 64 1 2 DT604A 80 0 Number of entries USINT 8 0 Elements DT604AARR 64 16 rw o DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 ro o Elements DT607BARR 64 16 rw o DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro o Elements DT607DARR 64 16 rw o DT608FARR UDINT 64 1 2 DT608F 80 0 Number of entries USINT 8 0 ro o Elements DT608FARR 64 16 rw o DT6090ARR DINT 64 1 2 DT6090 80 0 Number of entries USINT 8 0 ro o Elements DT6090ARR 64 16 rw o DT6091ARR UDINT 64 1 2 DT6091 80 0 Number of entries USINT 8 0 ro o Elements DT6091ARR 64 16 rw o DT6092ARR UDINT 64 1 2 DT6092 80 0 Number of entries USINT 8 0 ro o Elements DT6092ARR 64 16 rw o DT6096 80 0 Number of sub indexes USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 2 Divisor UDINT 32 48 rw o DT6097 80 0 Number of sub indexes USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 2 Divisor UDINT 32 48 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro o Elements DT6099ARR 64 16 rw o DT60C2 48 0 No of elements USINT 8 0 ro o 1 Interpolation time period value USINT 8 16 rw m 2 Interpolation time index SINT 8 32 rw m DT60E3ARR SINT 264 1 33 DT60E3 280 0 number of PDOs USINT 8 0 ro o Elements DT60E3ARR 264 16 ro o DT60FE 80 0 Number of entries USINT 8 0 ro c 1 Physical outputs UDINT 32 16 rw o R 2 Bit mask UDINT 32 48 rw o #x1000 Device Type UDINT 32 92010200 ro m #x1001 Error Register USINT 8 00 ro m #x1002 Manufacturer Status Register UDINT 32 ro o T #x1008 Manufacturer Device Name STRING(19) 152 456C6D6F204D6F74696F6E20436F6E74726F6C ro o #x1009 Manufacture Hardware Version STRING(0) 0 ro o #x100A Manufacturer Software Version STRING(0) 0 ro o #x100B Node-ID UDINT 32 ro o #x1010 Store Parameters DT1010 48 #x1011 Restore Parameters DT1011 48 #x1018 Identity Object DT1018 144 #x10E0 Device ID Reload DT10E0 48 #x10F1 Sync error setting DT10F1 80 Highest sub-index supported 02 Local Error Reaction #x00000002 Sync error counter limit 00000000 #x1600 1st receive PDO-Mapping DT1600 112 #x1601 2nd receive PDO-Mapping DT1601 80 #x1602 3rd receive PDO-Mapping DT1602 80 #x1603 4th receive PDO-Mapping DT1603 144 #x1604 5th receive PDO-Mapping DT1604 144 #x1605 6th receive PDO-Mapping DT1605 240 #x1606 7th receive PDO-Mapping DT1606 208 #x1607 8th receive PDO-Mapping DT1607 272 #x1608 9th receive PDO-Mapping DT1608 272 #x1A00 1st transmit PDO-Mapping DT1A00 112 #x1A01 2nd transmit PDO-Mapping DT1A01 112 #x1A02 3rd transmit PDO-Mapping DT1A02 176 #x1A03 4th transmit PDO-Mapping DT1A03 144 #x1A04 5th transmit PDO-Mapping DT1A04 208 #x1A07 8th transmit PDO-Mapping DT1A07 272 #x1A08 9th transmit PDO-Mapping DT1A08 272 #x1C00 SM Communication Type DT1C00 80 #x1C10 Sync Manager 0 Communication Type DT1C10 16 rw o #x1C11 Sync Manager 1 Communication Type DT1C11 16 rw o #x1C12 Sync Manager 2 Communication Type DT1C12 496 #x1C13 Sync Manager 3 Communication Type DT1C13 576 #x1C32 SM output parameter DT1C32 608 largest sub-index supported #x20 Sync Type #x0002 Cycle Time #x000F4240 Shift time #x00000000 Sync types supported #x0007 Minimum cycle time #x0003D090 Calc and copy time 00000000 Minimum delay time 0000 Get cycle time 0000 Delay time 00000000 Sync0 cycle time 0000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 SubIndex 00E 0000 SubIndex 00F 0000 SubIndex 010 0000 SubIndex 011 0000 SubIndex 012 0000 SubIndex 013 0000 SubIndex 014 0000 SubIndex 015 0000 SubIndex 016 0000 SubIndex 017 0000 SubIndex 018 0000 SubIndex 019 0000 SubIndex 01A 0000 SubIndex 01B 0000 SubIndex 01C 0000 SubIndex 01D 0000 SubIndex 01E 0000 SubIndex 01F 0000 Sync error 0000 #x1C33 SM input parameter DT1C33 608 largest sub-index supported #x20 Sync Type #x0002 Cycle Time #x000F4240 Shift time 00000000 Sync types supported #x0007 Minimum cycle time #x0003D090 Calc and copy time 00000000 Minimum delay time 0000 Get cycle time 0000 Delay time 00000000 Sync0 cycle time 0000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 SubIndex 00E 0000 SubIndex 00F 0000 SubIndex 010 0000 SubIndex 011 0000 SubIndex 012 0000 SubIndex 013 0000 SubIndex 014 0000 SubIndex 015 0000 SubIndex 016 0000 SubIndex 017 0000 SubIndex 018 0000 SubIndex 019 0000 SubIndex 01A 0000 SubIndex 01B 0000 SubIndex 01C 0000 SubIndex 01D 0000 SubIndex 01E 0000 SubIndex 01F 0000 Sync error 0000 #x2005 Fast Reference DINT 32 rw o R #x200A Manufacture Boot Version STRING(64) 512 ro o #x2020 Homing on block limits DT2020 160 #x2041 Timestamp UDINT 32 ro o #x2046 DC clock inhibit time UINT 16 rw o #x2060 Parameters Checksum UDINT 32 ro o #x2061 FoE Download Parameters Error UINT 16 ro o #x2062 FoE Parameters Last String Send To Drive STRING(64) 512 ro o #x207B YM[] Auxiliary Position range limit DT207B 80 #x2081 EE[] Extendend Error DT2081 208 Largest sub index supported 06 Serial Encoder Error 00000000 Profiler Data Base Error 00000000 DL Error 00000000 SDO ELMO Format Error 00000000 MO Failed to start Reason 00000000 ECAM error 00000000 #x2085 Extra Status Reg INT 16 ro o T #x2086 STO Status Reg UDINT 32 ro o #x2087 PAL Version UINT 16 ro o #x20A0 Additional position actual value DINT 32 rw o T #x20B0 Socket Additional Functions DT20B0 304 #x20E0 Ecat alias object UINT 16 rw o #x20FC Absolute Sensors Functions DT20FC 48 #x20FD Clear Digital Inputs DINT 32 rw o #x2110 KI for inner loop DT2110 2032 #x2111 KP for inner loop DT2110 2032 #x2112 KP for outer loop DT2110 2032 #x2113 Vel Filt1 Param 1 DT2110 2032 #x2114 Vel Filt1 Param 2 DT2110 2032 #x2115 Vel Filt1 Param 3 DT2110 2032 #x2116 Vel Filt1 Param 4 DT2110 2032 #x2117 Vel Filt2 Param 1 DT2110 2032 #x2118 Vel Filt2 Param 2 DT2110 2032 #x2119 Vel Filt2 Param 3 DT2110 2032 #x211A Vel Filt2 Param 4 DT2110 2032 #x211B Pos Filt2 Param 1 DT2110 2032 #x211C Pos Filt2 Param 2 DT2110 2032 #x211D Pos Filt2 Param 3 DT2110 2032 #x211E Pos Filt2 Param 4 DT2110 2032 #x2202 Extended Inputs DT2202 112 largest sub-index supported 03 Extended Inputs Value 00000000 Extended Inputs Logic 00000000 Extended Inputs Mask FFFFFFFF #x2203 App Object UDINT 32 ro o T #x2205 Analog Input DT2205 48 #x2206 Digital Supply In mV UINT 16 ro o #x22A1 Extended Outputs DT22A1 112 #x22A3 Temperature Array DT22A3 64 #x22A4 Motor temperature INT 16 ro o #x2E00 Gain scheduling manual index UINT 16 rw o #x2E10 Set Position On TouchProbe UINT 16 rw o #x2E15 Gantry Yaw Offset INT 16 rw o #x2F00 UI[] Commands DT2F00 784 #x2F01 UF[] Commands DT2F01 784 #x2F05 Hardware Type WS[8] UINT 16 ro o #x2F41 Configuration Object UDINT 32 rw o #x2F45 ET[] Extra Threshold DT2F45 144 largest sub-index supported 04 Low voltage level [mV] 0000 High voltage level [mV] 0000 Analog sensors min amplitude [A2D^2] 0000 High Temperature sensing [C] 5500 #x2F75 Interpolation cycle timeout UINT 16 1 rw o #x6007 Abort connection code INT 16 rw o #x603F Error Code UINT 16 ro o #x6040 Controlword UINT 16 rw m R #x6041 Statusword UINT 16 ro m T #x605A Quick Stop option code INT 16 2 rw o #x605B Shutdown option code INT 16 rw o #x605C Disable operation option code INT 16 rw o #x605D Halt option code INT 16 rw o #x605E Fault reaction option code INT 16 rw o #x6060 Modes of operation SINT 8 rw o R #x6061 Modes of operation display SINT 8 ro o T #x6062 Position demand 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 Position following error window UDINT 32 rw o #x6066 Following error time out UINT 16 rw o #x6067 Position window UDINT 32 rw o #x6068 Position window time UINT 16 rw o #x6069 Velocity sensor actual value DINT 32 ro o T #x606A Velocity sensor selection code INT 16 rw o #x606B Velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x606D Velocity window UINT 16 rw o #x606E Velocity window time UINT 16 rw o #x606F Velocity threshold UINT 16 rw o R #x6070 Velocity threshold time UINT 16 rw o R #x6071 Target torque INT 16 rw o R #x6072 Maximal torque UINT 16 rw o R #x6073 Maximal Current UINT 16 rw o R #x6074 Torque demand INT 16 ro o T #x6075 Motor rated current UDINT 32 rw o #x6076 Motor rated torque UDINT 32 rw o #x6077 Torque actual value INT 16 ro o T #x6078 Current actual value INT 16 ro o T #x6079 DC link voltage UDINT 32 ro o T #x607A Target position DINT 32 rw o R #x607B Position range limit DT607B 80 #x607C Home offset DINT 32 rw o #x607D Software position limit DT607D 80 #x607E Polarity USINT 8 rw o R #x607F Max profile velocity UDINT 32 rw o R #x6080 Max motor speed UDINT 32 rw o #x6081 Profile velocity UDINT 32 rw o R #x6082 End velocity UDINT 32 rw o R #x6083 Profile acceleration UDINT 32 rw o R #x6084 Profile deceleration UDINT 32 rw o R #x6085 Quick stop deceleration UDINT 32 rw o R #x6086 Motion profile type INT 16 rw o #x6087 Torque slope UDINT 32 rw o R #x608F Position encoder resolution DT608F 80 #x6090 Velocity encoder resolution DT6090 80 #x6091 Gear ratio DT6091 80 #x6092 Feed constant DT6092 80 #x6096 Velocity factor DT6096 80 #x6097 Acceleration factor DT6097 80 #x6098 Homing method SINT 8 rw o #x6099 Homing speeds DT6099 80 #x609A Homing acceleration UDINT 32 rw o #x60B0 Position offset DINT 32 rw o R #x60B1 Velocity offset DINT 32 rw o R #x60B2 Torque offset INT 16 rw o R #x60B8 Touch probe function UINT 16 rw o R #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 #x60C2 Interpolation time period DT60C2 48 #x60C5 Max acceleration UDINT 32 rw o #x60C6 Max deceleration UDINT 32 rw o #x60E3 Supported Homing Method DT60E3 280 #x60F2 Positioning option code UINT 16 rw o #x60F4 Following error actual value DINT 32 ro o T #x60FA Control effort DINT 32 ro o T #x60FC Position demand internal value DINT 32 ro o T #x60FD Digital inputs DINT 32 ro o T #x60FE Digital outputs DT60FE 80 #x60FF Target velocity DINT 32 rw o R #x6502 Supported drive modes UDINT 32 ro o Outputs Inputs MBoxOut MBoxIn Outputs Inputs Drive #x1600 Outputs #x1601 #x1602 #x1603 #x1604 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FE 1 32 Digital Outputs UDINT #x6040 0 16 Control word UINT #x1601 Outputs #x1600 #x1602 #x1603 #x1604 #x1605 #x1606 #x60FF 0 32 Target Velocity DINT #x6040 0 16 Control word UINT #x1602 Outputs #x1600 #x1601 #x1603 #x1604 #x1605 #x1606 #x6071 0 16 Target Torque INT #x6040 0 16 Control word UINT #x1603 Outputs #x1600 #x1601 #x1602 #x1604 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FE 1 32 Digital Outputs UDINT #x60B1 0 32 Velocity Offset DINT #x6040 0 16 Control word UINT #x1604 Outputs #x1600 #x1601 #x1602 #x1603 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x6072 0 16 Max. Torque UINT #x6040 0 16 Control word UINT #x1605 Outputs #x1600 #x1601 #x1602 #x1603 #x1604 #x1606 #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x6071 0 16 Target Torque INT #x6072 0 16 Max. Torque UINT #x6040 0 16 Control word UINT #x6060 0 8 Mode of operation SINT #x0 8 #x1606 Outputs #x1600 #x1601 #x1602 #x1603 #x1604 #x1605 #x607A 0 32 Target Position DINT #x60FE 1 32 Digital Outputs UDINT #x60FF 0 32 Target Velocity DINT #x60B1 0 32 Velocity Offset DINT #x60B2 0 16 Torque Offset INT #x6040 0 16 Control word UINT #x1607 Outputs #x1608 Outputs #x160A Outputs #x6040 0 16 Control word UINT #x160B Outputs #x6060 0 8 Mode of operation SINT #x0 8 #x160C Outputs #x6071 0 16 Target Torque INT #x160D Outputs #x6072 0 16 Max. Torque UINT #x160E Outputs #x6073 0 16 Max. Current UINT #x160F Outputs #x607A 0 32 Target Position DINT #x1611 Outputs #x6081 0 32 Profile Velocity UDINT #x1612 Outputs #x6082 0 32 End velocity UDINT #x1613 Outputs #x6083 0 32 Profile Acceleration UDINT #x1614 Outputs #x6084 0 32 Profile Deceleration UDINT #x1615 Outputs #x6087 0 32 Torque Slope UDINT #x1616 Outputs #x60B0 0 32 Position Offset DINT #x1617 Outputs #x60B1 0 32 Velocity Offset DINT #x1618 Outputs #x60B2 0 16 Torque Offset INT #x1619 Outputs #x60B8 0 16 Touch Probe Function UINT #x161A Outputs #x2E00 0 16 Gain scheduling manual index UINT #x161C Outputs #x60FF 0 32 Target Velocity DINT #x161D Outputs #x60FE 1 32 Digital Outputs UDINT #x161E Outputs #x607E 0 8 Polarity USINT #x0 8 #x161F Outputs #x6085 0 32 Quick stop deceleration UDINT #x1620 Outputs #x22A1 1 32 Extended Outputs UDINT #x1621 Outputs #x2005 0 32 Fast Reference DINT #x1A00 Inputs #x1A01 #x1A02 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x60FD 0 32 Digital Inputs DINT #x6041 0 16 Status word UINT #x1A01 Inputs #x1A00 #x1A02 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x606B 0 32 Velocity demand value DINT #x6074 0 16 Torque demand value INT #x6041 0 16 Status word UINT #x1A02 Inputs #x1A00 #x1A01 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Status word UINT #x6061 0 8 Mode of operation display SINT #x0 8 #x1A03 Inputs #x1A00 #x1A01 #x1A02 #x1A04 #x6064 0 32 Position actual value DINT #x60FD 0 32 Digital Inputs DINT #x606C 0 32 Velocity actual value DINT #x6041 0 16 Status word UINT #x1A04 Inputs #x1A00 #x1A01 #x1A02 #x1A03 #x6064 0 32 Position actual value DINT #x60F4 0 32 Position Following error actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Status word UINT #x6061 0 8 Mode of operation display SINT #x0 0 8 #x1A07 Inputs #x1A08 Inputs #x1A0A Inputs #x6041 0 16 Status word UINT #x1A0B Inputs #x6061 0 8 Mode of operation display SINT #x0 8 #x1A0C Inputs #x6062 0 32 Position Demand [UU] DINT #x1A0D Inputs #x6063 0 32 Actual position [counts] DINT #x1A0E Inputs #x6064 0 32 Position actual value DINT #x1A0F Inputs #x6069 0 32 Velocity sensor actual value [counts/sec] DINT #x1A10 Inputs #x606B 0 32 Velocity demand [cnt/sec] DINT #x1A11 Inputs #x606C 0 32 Velocity actual value DINT #x1A12 Inputs #x6074 0 16 Torque demand value INT #x1A13 Inputs #x6077 0 16 Torque actual value INT #x1A14 Inputs #x60B9 0 16 Touch Probe status UINT #x1A15 Inputs #x60BA 0 32 Touch Probe Pos1 Positive DINT #x1A16 Inputs #x60BB 0 32 Touch Probe Pos1 Negative DINT #x1A17 Inputs #x60BC 0 32 Touch probe pos2 pos value DINT #x1A18 Inputs #x6079 0 32 DC link circuit voltage UDINT #x1A19 Inputs #x60F4 0 32 Position Following error DINT #x1A1A Inputs #x60FA 0 32 Control Effort [cnt/sec] DINT #x1A1B Inputs #x60FC 0 32 Position Demand Value [cnt] DINT #x1A1C Inputs #x60FD 0 32 Digital Inputs DINT #x1A1D Inputs #x2205 1 16 Analog Input 1 INT #x1A1E Inputs #x20A0 0 32 Auxiliary position actual value DINT #x1A1F Inputs #x6078 0 16 Current actual value INT #x1A20 Inputs #x60BD 0 32 Touch probe pos2 neg value DINT #x1A21 Inputs #x2085 0 16 Extra Status Reg INT #x1A22 Inputs #x1002 0 32 Elmo Status Reg UDINT #x1A23 Inputs #x2202 1 32 Extended Inputs Value UDINT #x1A24 Inputs #x2203 0 32 App Object UDINT PS #x6060 0 08 Op mode PS #x60C2 1 02 Cycle time DC Sync DC for synchronization #x0300 0 0 DC Off DC unused #x0000 #x0 #x9C2 #x03E8 #x2710 2048 050C0304E803 00188C0000198C00 30 00000000002F0101000001000000000011110000000000000000000000000000 41 000018800026000101