#x556 Xinje Electric Co., Ltd. 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StepDrive StepDrive 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XINJE-DP3C(L) CoE Drive Rev2.1 XINJE-DP3C(L) EtherCAT(CoE) Drive Rev2.1 v1.2.21 EtherCAT Communication Unit for Stepdrive http://www.xinje.com 3000 10000 5000 200 100 2000 4096 4 3 MII MII StepDrive 402 BIT2 2 BOOL 1 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(8) 64 STRING(3) 24 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 rw o 2 Sync Error Counter Limit UINT 16 48 rw o DT16XX 336 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 006 UDINT 32 144 rw 6 SubIndex 007 UDINT 32 176 rw 7 SubIndex 008 UDINT 32 208 rw 8 SubIndex 009 UDINT 32 240 rw 9 SubIndex 010 UDINT 32 272 rw 10 SubIndex 011 UDINT 32 304 rw DT1600 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1601 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1602 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1603 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1AXX 336 0 SubIndex 000 USINT 8 0 rw 1 SubIndex 001 UDINT 32 16 rw 2 SubIndex 002 UDINT 32 48 rw 3 SubIndex 003 UDINT 32 80 rw 4 SubIndex 004 UDINT 32 112 rw 5 SubIndex 006 UDINT 32 144 rw 6 SubIndex 007 UDINT 32 176 rw 7 SubIndex 008 UDINT 32 208 rw 8 SubIndex 009 UDINT 32 240 rw 9 SubIndex 010 UDINT 32 272 rw 10 SubIndex 011 UDINT 32 304 rw DT1A00 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1A01 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1A02 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1A03 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1A04 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro DT1A06 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1A08 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1A0F 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro DT1C1X 80 0 Number of assigned PDOs USINT 8 0 rw 1 Index of assigned PDO UINT 16 16 rw 2 Index of assigned PD1 UINT 16 32 rw 3 Index of assigned PD2 UINT 16 48 rw 4 Index of assigned PD3 UINT 16 64 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 64 1 4 DT1C12 80 0 SubIndex 000 USINT 8 0 ro o Elements DT1C12ARR 64 16 ro DT1C13ARR UINT 128 1 8 DT1C13 144 0 SubIndex 000 USINT 8 0 ro o Elements DT1C13ARR 128 16 ro DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT607B 80 0 Number of Entries USINT 8 0 ro 1 Min position range limit DINT 32 16 rw R 2 Max position range limit DINT 32 48 rw R DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw R 2 Max position limit DINT 32 48 rw R DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro 2 Motor revolutions UDINT 32 48 ro DT6091 80 0 Number of Entries USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6092 80 0 Number of Entries USINT 8 0 ro 1 Feed UDINT 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw 2 Speed during search for zero UDINT 32 48 rw DT60A4 80 0 Number of Entries USINT 8 0 ro 1 Profile jerk1 UDINT 32 16 rw 2 Profile jerk2 UDINT 32 48 rw DT60C2 48 0 Number of Entries USINT 8 0 ro 1 Interpolation time period USINT 8 16 rw 2 Interpolation time index SINT 8 32 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw R 2 Bit mask UDINT 32 48 rw R #x1000 Device type UDINT 32 92010400 ro m #x1001 Error register USINT 8 00 ro o #x1008 Device name STRING(3) 24 56483343 ro o #x1009 Hardware version STRING(3) 24 312E30 ro o #x100A Software version STRING(3) 24 352E3131 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 56050000 Product code 3C000000 Revision 00011920 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x1600 Rx 1st process data mapping DT16XX 336 rw #x1601 Rx 2nd process data mapping DT16XX 336 rw #x1602 Rx 3rd process data mapping DT16XX 336 rw #x1603 Rx 4th process data mapping DT16XX 336 rw #x1A00 Tx 1st process data mapping DT1AXX 336 rw #x1A01 Tx 2nd process data mapping DT1AXX 336 rw #x1A02 Tx 3rd process data mapping DT1AXX 336 rw #x1A03 Tx 4th process data mapping DT1AXX 336 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SyncManager 2 assignment DT1C1X 80 rw #x1C13 SyncManager 3 assignment DT1C1X 80 rw #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 #x2000 DRV's Parameter P0-00 UINT 16 rw #x2001 DRV's Parameter P0-01 UINT 16 rw #x2002 DRV's Parameter P0-02 UINT 16 rw #x2003 DRV's Parameter P0-03 UINT 16 rw #x2004 DRV's Parameter P0-04 UINT 16 rw #x2005 DRV's Parameter P0-05 UINT 16 rw #x2006 DRV's Parameter P0-06 UINT 16 rw #x2007 DRV's Parameter P0-07 UINT 16 rw #x2008 DRV's Parameter P0-08 UINT 16 rw #x2009 DRV's Parameter P0-09 UINT 16 rw #x200A DRV's Parameter P0-10 UINT 16 rw #x200B DRV's Parameter P0-11 UINT 16 rw #x200C DRV's Parameter P0-12 UINT 16 rw #x200D DRV's Parameter P0-13 UINT 16 rw #x200E DRV's Parameter P0-14 UINT 16 rw #x200F DRV's Parameter P0-15 UINT 16 rw #x2010 DRV's Parameter P0-16 UINT 16 rw #x2011 DRV's Parameter P0-17 UINT 16 rw #x2012 DRV's Parameter P0-18 UINT 16 rw #x2013 DRV's Parameter P0-19 UINT 16 rw #x2100 DRV's Parameter P1-00 UINT 16 rw #x2101 DRV's Parameter P1-01 UINT 16 rw #x2102 DRV's Parameter P1-02 UINT 16 rw #x2103 DRV's Parameter P1-03 UINT 16 rw #x2104 DRV's Parameter P1-04 UINT 16 rw #x2105 DRV's Parameter P1-05 UINT 16 rw #x2106 DRV's Parameter P1-06 UINT 16 rw #x2107 DRV's Parameter P1-07 UINT 16 rw #x2108 DRV's Parameter P1-08 UINT 16 rw #x2109 DRV's Parameter P1-09 UINT 16 rw #x210A DRV's Parameter P1-10 UINT 16 rw #x210B DRV's Parameter P1-11 UINT 16 rw #x210C DRV's Parameter P1-12 UINT 16 rw #x210D DRV's Parameter P1-13 UINT 16 rw #x210E DRV's Parameter P1-14 UINT 16 rw #x2200 DRV's Parameter P2-00 UINT 16 rw #x2201 DRV's Parameter P2-01 UINT 16 rw #x2202 DRV's Parameter P2-02 UINT 16 rw #x2203 DRV's Parameter P2-03 UINT 16 rw #x2204 DRV's Parameter P2-04 UINT 16 rw #x2205 DRV's Parameter P2-05 UINT 16 rw #x2206 DRV's Parameter P2-06 UINT 16 rw #x2207 DRV's Parameter P2-07 UINT 16 rw #x2208 DRV's Parameter P2-08 UINT 16 rw #x2209 DRV's Parameter P2-09 UINT 16 rw #x220A DRV's Parameter P2-10 UINT 16 rw #x220B DRV's Parameter P2-11 UINT 16 rw #x220C DRV's Parameter P2-12 UINT 16 rw #x220D DRV's Parameter P2-13 UINT 16 rw #x220E DRV's Parameter P2-14 UINT 16 rw #x220F DRV's Parameter P2-15 UINT 16 rw #x2210 DRV's Parameter P2-16 UINT 16 rw #x2211 DRV's Parameter P2-17 UINT 16 rw #x2212 DRV's Parameter P2-18 UINT 16 rw #x2213 DRV's Parameter P2-19 UINT 16 rw #x2300 DRV's Parameter P3-00 UINT 16 rw #x2301 DRV's Parameter P3-01 UINT 16 rw #x2302 DRV's Parameter P3-02 UINT 16 rw #x2303 DRV's Parameter P3-03 UINT 16 rw #x2304 DRV's Parameter P3-04 UINT 16 rw #x2305 DRV's Parameter P3-05 UINT 16 rw #x2306 DRV's Parameter P3-06 UINT 16 rw #x2307 DRV's Parameter P3-07 UINT 16 rw #x2308 DRV's Parameter P3-08 UINT 16 rw #x2309 DRV's Parameter P3-09 UINT 16 rw #x2400 DRV's Parameter P4-00 UINT 16 rw #x2401 DRV's Parameter P4-01 UINT 16 rw #x2402 DRV's Parameter P4-02 UINT 16 rw #x2403 DRV's Parameter P4-03 UINT 16 rw #x2404 DRV's Parameter P4-04 UINT 16 rw #x2405 DRV's Parameter P4-05 UINT 16 rw #x2406 DRV's Parameter P4-06 UINT 16 rw #x2407 DRV's Parameter P4-07 UINT 16 rw #x2408 DRV's Parameter P4-08 UINT 16 rw #x2409 DRV's Parameter P4-09 UINT 16 rw #x2500 DRV's Parameter P5-00 UINT 16 rw #x2501 DRV's Parameter P5-01 UINT 16 rw #x2502 DRV's Parameter P5-02 UINT 16 rw #x2503 DRV's Parameter P5-03 UINT 16 rw #x2504 DRV's Parameter P5-04 UINT 16 rw #x2505 DRV's Parameter P5-05 UINT 16 rw #x2506 DRV's Parameter P5-06 UINT 16 rw #x2507 DRV's Parameter P5-07 UINT 16 rw #x2508 DRV's Parameter P5-08 UINT 16 rw #x2509 DRV's Parameter P5-09 UINT 16 rw #x250A DRV's Parameter P5-10 UINT 16 rw #x250B DRV's Parameter P5-11 UINT 16 rw #x250C DRV's Parameter P5-12 UINT 16 rw #x250D DRV's Parameter P5-13 UINT 16 rw #x250E DRV's Parameter P5-14 UINT 16 rw #x2600 DRV's Parameter P6-00 UINT 16 rw #x2601 DRV's Parameter P6-01 UINT 16 rw #x2602 DRV's Parameter P6-02 UINT 16 rw #x2603 DRV's Parameter P6-03 UINT 16 rw #x2604 DRV's Parameter P6-04 UINT 16 rw #x2605 DRV's Parameter P6-05 UINT 16 rw #x2606 DRV's Parameter P6-06 UINT 16 rw #x2607 DRV's Parameter P6-07 UINT 16 rw #x2608 DRV's Parameter P6-08 UINT 16 rw #x2609 DRV's Parameter P6-09 UINT 16 rw #x260A DRV's Parameter P6-10 UINT 16 rw #x260B DRV's Parameter P6-11 UINT 16 rw #x260C DRV's Parameter P6-12 UINT 16 rw #x260D DRV's Parameter P6-13 UINT 16 rw #x260E DRV's Parameter P6-14 UINT 16 rw #x2700 DRV's Parameter P7-00 UINT 16 rw #x2701 DRV's Parameter P7-01 UINT 16 rw #x2702 DRV's Parameter P7-02 UINT 16 rw #x2703 DRV's Parameter P7-03 UINT 16 rw #x2704 DRV's Parameter P7-04 UINT 16 rw #x2800 DRV's Parameter P8-00 UINT 16 rw #x2801 DRV's Parameter P8-01 UINT 16 rw #x2802 DRV's Parameter P8-02 UINT 16 rw #x2803 DRV's Parameter P8-03 UINT 16 rw #x2804 DRV's Parameter P8-04 UINT 16 rw #x2805 DRV's Parameter P8-05 UINT 16 rw #x2806 DRV's Parameter P8-06 UINT 16 rw #x2807 DRV's Parameter P8-07 UINT 16 rw #x2808 DRV's Parameter P8-08 UINT 16 rw #x2809 DRV's Parameter P8-09 UINT 16 rw #x280A DRV's Parameter P8-10 UINT 16 rw #x280B DRV's Parameter P8-11 UINT 16 rw #x280C DRV's Parameter P8-12 UINT 16 rw #x280D DRV's Parameter P8-13 UINT 16 rw #x280E DRV's Parameter P8-14 UINT 16 rw #x280F DRV's Parameter P8-15 UINT 16 rw #x2810 DRV's Parameter P8-16 UINT 16 rw #x2811 DRV's Parameter P8-17 UINT 16 rw #x2812 DRV's Parameter P8-18 UINT 16 rw #x2813 DRV's Parameter P8-19 UINT 16 rw #x2814 DRV's Parameter P8-20 UINT 16 rw #x2815 DRV's Parameter P8-21 UINT 16 rw #x2816 DRV's Parameter P8-22 UINT 16 rw #x2817 DRV's Parameter P8-23 UINT 16 rw #x2818 DRV's Parameter P8-24 UINT 16 rw #x2819 DRV's Parameter P8-25 UINT 16 rw #x281A DRV's Parameter P8-26 UINT 16 rw #x3000 DRV's Monitor U0-00 INT 16 ro #x3001 DRV's Monitor U0-01 INT 16 ro #x3002 DRV's Monitor U0-02 UINT 16 ro #x3003 DRV's Monitor U0-03 UINT 16 ro #x3004 DRV's Monitor U0-04 UINT 16 ro #x3005 DRV's Monitor U0-05 UINT 16 ro #x3006 DRV's Monitor U0-06 UINT 16 ro #x3007 DRV's Monitor U0-07 UINT 16 ro #x3008 DRV's Monitor U0-08 UINT 16 ro #x3009 DRV's Monitor U0-09 UINT 16 ro #x300A DRV's Monitor U0-10 UINT 16 ro #x300B DRV's Monitor U0-11 UINT 16 ro #x300C DRV's Monitor U0-12 UINT 16 ro #x300D DRV's Monitor U0-13 UINT 16 ro #x300E DRV's Monitor U0-14 UINT 16 ro #x300F DRV's Monitor U0-15 UINT 16 ro #x3010 DRV's Monitor U0-16 UINT 16 ro #x3011 DRV's Monitor U0-17 UINT 16 ro #x3012 DRV's Monitor U0-18 UINT 16 ro #x3013 DRV's Monitor U0-19 UINT 16 ro #x3014 DRV's Monitor U0-20 UINT 16 ro #x3015 DRV's Monitor U0-21 UINT 16 ro #x3016 DRV's Monitor U0-22 UINT 16 ro #x3017 DRV's Monitor U0-23 UINT 16 ro #x3018 DRV's Monitor U0-24 INT 16 ro #x3019 DRV's Monitor U0-25 INT 16 ro #x301A DRV's Monitor U0-26 INT 16 ro #x301B DRV's Monitor U0-27 INT 16 ro #x301C DRV's Monitor U0-28 UINT 16 ro #x301D DRV's Monitor U0-29 INT 16 ro #x301E DRV's Monitor U0-30 INT 16 ro #x301F DRV's Monitor U0-31 UINT 16 ro #x3020 DRV's Monitor U0-32 UINT 16 ro #x3021 DRV's Monitor U0-33 UINT 16 ro #x3022 DRV's Monitor U0-34 UINT 16 ro #x3023 DRV's Monitor U0-35 UINT 16 ro #x3024 DRV's Monitor U0-36 UINT 16 ro #x3025 DRV's Monitor U0-37 UINT 16 ro #x3026 DRV's Monitor U0-38 UINT 16 ro #x3027 DRV's Monitor U0-39 UINT 16 ro #x3028 DRV's Monitor U0-40 UINT 16 ro #x3029 DRV's Monitor U0-41 UINT 16 ro #x302A DRV's Monitor U0-42 UINT 16 ro #x302B DRV's Monitor U0-43 UINT 16 ro #x302C DRV's Monitor U0-44 UINT 16 ro #x302D DRV's Monitor U0-45 UINT 16 ro #x302E DRV's Monitor U0-46 UINT 16 ro #x302F DRV's Monitor U0-47 UINT 16 ro #x3030 DRV's Monitor U0-48 UINT 16 ro #x3031 DRV's Monitor U0-49 UINT 16 ro #x3100 DRV's Monitor U1-00 UINT 16 ro #x3101 DRV's Monitor U1-01 INT 16 ro #x3102 DRV's Monitor U1-02 INT 16 ro #x3103 DRV's Monitor U1-03 INT 16 ro #x3104 DRV's Monitor U1-04 INT 16 ro #x3105 DRV's Monitor U1-05 INT 16 ro #x3106 DRV's Monitor U1-06 INT 16 ro #x3107 DRV's Monitor U1-07 INT 16 ro #x3108 DRV's Monitor U1-08 INT 16 ro #x3109 DRV's Monitor U1-09 INT 16 ro #x310A DRV's Monitor U1-10 INT 16 ro #x310B DRV's Monitor U1-11 INT 16 ro #x310C DRV's Monitor U1-12 INT 16 ro #x310D DRV's Monitor U1-13 UINT 16 ro #x310E DRV's Monitor U1-14 UINT 16 ro #x310F DRV's Monitor U1-15 UINT 16 ro #x3110 DRV's Monitor U1-16 UINT 16 ro #x3111 DRV's Monitor U1-17 UINT 16 ro #x3112 DRV's Monitor U1-18 UINT 16 ro #x3113 DRV's Monitor U1-19 UINT 16 ro #x3114 DRV's Monitor U1-20 UINT 16 ro #x3115 DRV's Monitor U1-21 UINT 16 ro #x3116 DRV's Monitor U1-22 UINT 16 ro #x3117 DRV's Monitor U1-23 UINT 16 ro #x3118 DRV's Monitor U1-24 UINT 16 ro #x3119 DRV's Monitor U1-25 UINT 16 ro #x311A DRV's Monitor U1-26 UINT 16 ro #x311B DRV's Monitor U1-27 UINT 16 ro #x311C DRV's Monitor U1-28 UINT 16 ro #x311D DRV's Monitor U1-29 UINT 16 ro #x3200 DRV's Monitor U2-00 UINT 16 ro #x3201 DRV's Monitor U2-01 UINT 16 ro #x3202 DRV's Monitor U2-02 UINT 16 ro #x3203 DRV's Monitor U2-03 UINT 16 ro #x3204 DRV's Monitor U2-04 UINT 16 ro #x3205 DRV's Monitor U2-05 UINT 16 ro #x3206 DRV's Monitor U2-06 UINT 16 ro #x3207 DRV's Monitor U2-07 UINT 16 ro #x3208 DRV's Monitor U2-08 UINT 16 ro #x3209 DRV's Monitor U2-09 UINT 16 ro #x320A DRV's Monitor U2-10 UINT 16 ro #x320B DRV's Monitor U2-11 UINT 16 ro #x320C DRV's Monitor U2-12 UINT 16 ro #x320D DRV's Monitor U2-13 UINT 16 ro #x320E DRV's Monitor U2-14 UINT 16 ro #x320F DRV's Monitor U2-15 UINT 16 ro #x3210 DRV's Monitor U2-16 UINT 16 ro #x3211 DRV's Monitor U2-17 UINT 16 ro #x3212 DRV's Monitor U2-18 UINT 16 ro #x3213 DRV's Monitor U2-19 UINT 16 ro #x3300 DRV's Monitor U3-00 UINT 16 ro #x3301 DRV's Monitor U3-01 UINT 16 ro #x3302 DRV's Monitor U3-02 UINT 16 ro #x3303 DRV's Monitor U3-03 UINT 16 ro #x3304 DRV's Monitor U3-04 UINT 16 ro #x3305 DRV's Monitor U3-05 UINT 16 ro #x3306 DRV's Monitor U3-06 UINT 16 ro #x3307 DRV's Monitor U3-07 UINT 16 ro #x3308 DRV's Monitor U3-08 UINT 16 ro #x3309 DRV's Monitor U3-09 UINT 16 ro #x330A DRV's Monitor U3-10 UINT 16 ro #x330B DRV's Monitor U3-11 UINT 16 ro #x3400 DRV's Monitor U4-00 UINT 16 ro #x3401 DRV's Monitor U4-01 UINT 16 ro #x3402 DRV's Monitor U4-02 UINT 16 ro #x3403 DRV's Monitor U4-03 UINT 16 ro #x3404 DRV's Monitor U4-04 UINT 16 ro #x3405 DRV's Monitor U4-05 UINT 16 ro #x3406 DRV's Monitor U4-06 UINT 16 ro #x3407 DRV's Monitor U4-07 UINT 16 ro #x3408 DRV's Monitor U4-08 UINT 16 ro #x3409 DRV's Monitor U4-09 UINT 16 ro #x4000 DRV's Func F0-00 BOOL 8 rw #x4001 DRV's Func F0-01 BOOL 8 rw #x4002 DRV's Func F0-02 BOOL 8 rw #x603F Error code UINT 16 ro T #x6040 ControlWord UINT 16 rw R #x6041 StatusWord UINT 16 ro T #x605A Quickstop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw R #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw R #x6066 Following error window time UINT 16 rw R #x6067 Position window UDINT 32 rw R #x6068 Position window time UINT 16 rw R #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw R #x606E Velocity window time UINT 16 rw R #x606F Velocity threshold UINT 16 rw R #x6070 Velocity threshold time UINT 16 rw R #x6071 Target torque INT 16 rw R #x6072 Max torque UINT 16 rw R #x6073 Max current UINT 16 ro #x6074 Torque demand value INT 16 ro T #x6075 Motor rated current UDINT 32 ro #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x6078 Current actual value INT 16 ro T #x6079 DC link circuit voltage UDINT 32 ro T #x607A Target position DINT 32 rw R #x607B Position range limit DT607B 80 ro #x607C Home offset DINT 32 rw R #x607D Software position limit DT607D 80 rw R #x607E Polarity USINT 8 rw #x607F Max profile velocity UDINT 32 rw R #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 rw R #x6083 Profile acceleration UDINT 32 rw R #x6084 Profile deceleration UDINT 32 rw R #x6085 Quick stop deceleration UDINT 32 rw R #x6086 Motion profile type INT 16 rw R #x6087 Torque slope UDINT 32 rw R #x6088 Torque profile type INT 16 rw R #x608F Position encoder resolution DT608F 80 ro #x6091 Gear ratio DT6091 80 ro #x6092 Feed constant DT6092 80 ro #x6098 Homing method SINT 8 rw R #x6099 Homing speeds DT6099 80 rw R #x609A Homing acceleration UDINT 32 rw R #x60A4 Profile jerk DT60A4 80 ro #x60B0 Position offset DINT 32 rw R #x60B1 Velocity offset DINT 32 rw R #x60B2 Torque offset INT 16 rw R #x60B8 Touch Probe Function UINT 16 rw R #x60B9 Touch Probe Status UINT 16 ro T #x60BA Touch Probe Pos1 Pos Value DINT 32 ro T #x60BB Touch Probe Pos1 Neg Value DINT 32 ro T #x60BC Touch Probe Pos2 Pos Value DINT 32 ro T #x60BD Touch Probe Pos2 Neg Value DINT 32 ro T #x60C2 Interpolation time period DT60C2 48 ro #x60C5 Max acceleration UDINT 32 rw R #x60C6 Max deceleration UDINT 32 rw R #x60E0 Positive torque limit UINT 16 rw R #x60E1 Negtive torque limit UINT 16 rw R #x60F4 Following error actual value DINT 32 ro T #x60FA Control effort DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro R #x60FF Target velocity DINT 32 rw R #x6502 Supported drive modes UDINT 32 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st RxPDO Mapping #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 TargetPosition object 0x607A:0 DINT #x60B8 0 16 Touch Probe Function object 0x60B8:0 UINT #x1601 2nd RxPDO Mapping #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 TargetPosition object 0x607A:0 DINT #x6081 0 32 Profile Velocity object 0x6081:0 UDINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x6060 0 8 ModeOfOperation object 0x6060:0 SINT #x1602 3rd RxPDO Mapping #x6040 0 16 Control Word object 0x6040:0 UINT #x60FF 0 32 TargetVelocity object 0x60FF:0 DINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x6060 0 8 ModeOfOperation object 0x6060:0 SINT #x1603 4th RxPDO Mapping #x6040 0 16 Control Word object 0x6040:0 UINT #x6098 0 8 Homing method object 0x6098:0 SINT #x6099 1 32 Homing Velocity(Fast) object 0x6099 UDINT #x6099 2 32 Homing Velocity(Slow) object 0x6099 UDINT #x609a 0 32 Homing Acceleration UDINT #x607C 0 32 Homing Offset DINT #x6060 0 8 ModeOfOperation object 0x6060:0 SINT #x60FE 1 32 Digital outputs UDINT #x1a00 1st TxPDO Mapping #x603F #x00 16 Error code UINT #x6041 #x00 16 Status Word UINT #x6061 #x00 8 Modes of Operation display SINT #x6064 #x00 32 Position Actual Value DINT #x60B9 #x00 16 Touch Probe Status UINT #x60BA #x00 32 Touch Probe 1 Positive Value DINT #x60FD #x00 32 Digital Inputs UDINT #x1a01 2nd TxPDO Mapping #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x606C 0 32 Velocity actual value object 0x606C:0 DINT #x1a02 3rd TxPDO Mapping #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x606C 0 32 Velocity actual value object 0x606C:0 DINT #x1a03 4th TxPDO Mapping #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x606C 0 32 Velocity actual value object 0x606C:0 DINT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC DC-Synchron #x300 0 0 Synchron SM-Synchron #x0 2048 003C0000FF01 DRIVE