#x4C4E5449
NTI AG
424d76000000000000003e00000028000000100000000e000000010001000000000038000000c40e0000c40e0000000000000000000000000000ffffff00000000000000000000000000444400004c4400004c4400005c44000054440000744400006444000065f40000000000000000000000000000
CiA402 Drives
CiA402 Drives
424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FFFF00FFC0C0C0FF0000FF0000FF0000808080FF00FF000000000000000000000000000000000000000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF0000000000000000000000000000000000000000000000FF0000FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF000000000000000000000000000000000000000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FF000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF000000000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FF
C1251-MIDS-XC-2S
http://www.linmot.com
CiA402 Drives
402
1
BIT2
2
BIT3
3
BOOL
1
DINT
32
INT
16
WORD
16
UDINT
32
UINT
16
USINT
8
SINT
8
STRING(11)
88
STRING(2)
16
STRING(4)
32
STRING(32)
256
DT1018
144
0
SubIndex 000
USINT
8
0
ro
o
1
Vendor ID
UDINT
32
16
ro
o
2
Product code
UDINT
32
48
ro
o
3
Revision
UDINT
32
80
ro
o
4
Serial number
UDINT
32
112
ro
o
DT1600
272
0
Number of elements
USINT
8
0
ro
o
1
Output Object 1
UDINT
32
16
ro
o
2
Output Object 2
UDINT
32
48
ro
o
3
Output Object 3
UDINT
32
80
ro
o
4
Output Object 4
UDINT
32
112
ro
o
5
Output Object 5
UDINT
32
144
ro
o
6
Output Object 6
UDINT
32
176
ro
o
7
Output Object 7
UDINT
32
208
ro
o
8
Output Object 8
UDINT
32
240
ro
o
DT1602
144
0
Number of elements
USINT
8
0
ro
o
1
Controlword
UDINT
32
16
ro
o
2
Target position
UDINT
32
48
ro
o
3
Mode of Operation
UDINT
32
80
ro
o
4
Padding Byte
UDINT
32
112
ro
o
DT1603
176
0
Number of elements
USINT
8
0
ro
o
1
Controlword
UDINT
32
16
ro
o
2
Target position
UDINT
32
48
rw
o
3
Target velocity
UDINT
32
80
rw
o
4
Mode of Operation
UDINT
32
112
rw
o
5
Padding Byte
UDINT
32
144
rw
o
DT1604
208
0
Number of elements
USINT
8
0
ro
o
1
Controlword
UDINT
32
16
rw
o
2
Target position
UDINT
32
48
rw
o
3
Target velocity
UDINT
32
80
rw
o
4
Target torque
UDINT
32
112
rw
o
5
Mode of Operation
UDINT
32
144
rw
o
6
Padding Byte
UDINT
32
176
rw
o
DT1606
144
0
Number of elements
USINT
8
0
ro
o
1
Controlword
UDINT
32
16
rw
o
2
Target torque
UDINT
32
48
rw
o
3
Mode of Operation
UDINT
32
80
rw
o
4
Padding Byte
UDINT
32
112
rw
o
DT1613
112
0
Number of elements
USINT
8
0
ro
o
1
Controlword
UDINT
32
16
rw
o
2
Target position
UDINT
32
48
rw
o
3
Target velocity
UDINT
32
80
rw
o
DT1614
144
0
Number of elements
USINT
8
0
ro
o
1
Controlword
UDINT
32
16
rw
o
2
Target position
UDINT
32
48
rw
o
3
Target velocity
UDINT
32
80
rw
o
4
Target torque
UDINT
32
112
rw
o
DT1700
240
0
SubIndex 000
USINT
8
0
ro
o
1
ControlWord
UDINT
32
16
ro
o
2
MotionCommandHeader
UDINT
32
48
ro
o
3
Motion Command Par 1
UDINT
32
80
ro
o
4
Motion Command Par 2
UDINT
32
112
ro
o
5
Motion Command Par 3
UDINT
32
144
ro
o
6
Motion Command Par 4
UDINT
32
176
ro
o
7
Motion Command Par 5
UDINT
32
208
ro
o
DT1701
144
0
SubIndex 000
USINT
8
0
ro
o
1
ControlWord
UDINT
32
16
ro
o
2
SetpointPosition
UDINT
32
48
ro
o
3
Setpoint Velocity
UDINT
32
80
ro
o
4
Setpoint Acceleration
UDINT
32
112
ro
o
DT1708
112
0
SubIndex 000
USINT
8
0
ro
o
1
Config ControlWord
UDINT
32
16
ro
o
2
Config Index Out
UDINT
32
48
ro
o
3
Config Value Out
UDINT
32
80
ro
o
DT1711
80
0
SubIndex 000
USINT
8
0
ro
o
1
Positive torque/force limit
UDINT
32
16
ro
o
2
Negative torque/force limit
UDINT
32
48
ro
o
DT172x
48
0
SubIndex 000
USINT
8
0
ro
o
1
Par Channel
UDINT
32
16
ro
o
DT1A00
272
0
Number of elements
USINT
8
0
ro
o
1
Input Object 1
UDINT
32
16
rw
o
2
Input Object 2
UDINT
32
48
rw
o
3
Input Object 3
UDINT
32
80
rw
o
4
Input Object 4
UDINT
32
112
rw
o
5
Input Object 5
UDINT
32
144
rw
o
6
Input Object 6
UDINT
32
176
rw
o
7
Input Object 7
UDINT
32
208
rw
o
8
Input Object 8
UDINT
32
240
rw
o
DT1A02
208
0
Number of elements
USINT
8
0
ro
o
1
Statusword
UDINT
32
16
ro
o
2
Position actual value
UDINT
32
48
ro
o
3
DemandPosition
UDINT
32
80
ro
o
4
DemandCurrent
UDINT
32
112
ro
o
5
Mode of Operation display
UDINT
32
144
ro
o
6
Padding Byte
UDINT
32
176
ro
o
DT1A03
208
0
Number of elements
USINT
8
0
ro
o
1
Statusword
UDINT
32
16
ro
o
2
Position actual value
UDINT
32
48
ro
o
3
Position demand value
UDINT
32
80
ro
o
4
Torque actual value
UDINT
32
112
ro
o
5
Mode of Operation display
UDINT
32
144
ro
o
6
Padding Byte
UDINT
32
176
ro
o
DT1A12
144
0
Number of elements
USINT
8
0
ro
o
1
Statusword
UDINT
32
16
ro
o
2
Position actual value
UDINT
32
48
ro
o
3
DemandPosition
UDINT
32
80
ro
o
4
DemandCurrent
UDINT
32
112
ro
o
DT1B00
208
0
SubIndex 000
USINT
8
0
ro
o
1
StateVar
UDINT
32
16
ro
o
2
StatusWord
UDINT
32
48
ro
o
3
WarnWord
UDINT
32
80
ro
o
4
DemandPosition
UDINT
32
112
ro
o
5
ActualPosition
UDINT
32
144
ro
o
6
DemandCurrent
UDINT
32
176
ro
o
DT1B08
112
0
SubIndex 000
USINT
8
0
ro
o
1
Config Status Word
UDINT
32
16
ro
o
2
Config Index In
UDINT
32
48
ro
o
3
Config Value In
UDINT
32
80
ro
o
DT1B10
48
0
SubIndex 000
USINT
8
0
ro
o
1
Input Dem Vel
UDINT
32
16
ro
o
DT1B11
48
0
SubIndex 000
USINT
8
0
ro
o
1
Input Act Vel
UDINT
32
16
ro
o
DT1B12
48
0
SubIndex 000
USINT
8
0
ro
o
1
Input Act Vel Filt
UDINT
32
16
ro
o
DT1B2x
48
0
SubIndex 000
USINT
8
0
ro
o
1
Mon Channel
UDINT
32
16
ro
o
DT1C00ARR
USINT
32
1
4
DT1C00
48
0
Number of elements
USINT
8
0
ro
o
Elements
DT1C00ARR
32
16
ro
o
DT1C1XARR
UINT
128
1
8
DT1C1X
144
0
SubIndex 000
USINT
8
0
rw
o
Elements
DT1C1XARR
128
16
rw
o
DT1C3X
209
0
SubIndex 000
USINT
8
0
ro
1
Sync mode
UINT
16
16
rw
2
Cycle Time
UDINT
32
32
rw
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
11
SM event missed counter
UINT
16
176
ro
12
Cycle exceeded counter
UINT
16
192
ro
32
Sync Error
BOOL
1
208
ro
DT6099
80
0
Number of entries
USINT
8
0
1
Speed during search for switch
UDINT
32
16
rw
m
2
Speed during search for zero
UDINT
32
48
rw
m
DT60A4
48
0
Number of entries
USINT
8
0
ro
m
1
Profile jerk 1
UDINT
32
16
rw
m
Outputs
Inputs
MBoxState
MBoxOut
MBoxIn
Outputs
Inputs
#x1602
Cylic Position Mode
#x1603
#x1604
#x1606
#x1613
#x1614
#x6040
0
16
Controlword
UINT
#x607A
0
32
Target position
DINT
#x6060
0
8
Mode of Operation
SINT
#x0000
0
8
Byte Padding
USINT
#x1603
Cylic Position Velocity Mode
#x1602
#x1604
#x1606
#x1613
#x1614
#x6040
0
16
Controlword
UINT
#x607A
0
32
Target position
DINT
#x60FF
0
32
Target velocity
DINT
#x6060
0
8
Mode of Operation
SINT
#x0000
0
8
Byte Padding
USINT
#x1604
Cylic Position Velocity Torque Mode
#x1602
#x1603
#x1606
#x1613
#x1614
#x6040
0
16
Controlword
UINT
#x607A
0
32
Target position
DINT
#x60FF
0
32
Target velocity
DINT
#x6071
0
16
Target torque
INT
#x6060
0
8
Mode of Operation
SINT
#x0000
0
8
Byte Padding
USINT
#x1606
Cylic Torque Mode
#x1602
#x1603
#x1604
#x1613
#x1614
#x6040
0
16
Controlword
UINT
#x6071
0
16
Target torque
INT
#x6060
0
8
Mode of Operation
SINT
#x0000
0
8
Byte Padding
USINT
#x1613
Cylic Position Velocity
#x1602
#x1603
#x1604
#x1606
#x1614
#x6040
0
16
Controlword
UINT
#x607A
0
32
Target position
DINT
#x60FF
0
32
Target velocity
DINT
#x1614
Cylic Position Velocity Torque
#x1602
#x1603
#x1604
#x1606
#x1613
#x6040
0
16
Controlword
UINT
#x607A
0
32
Target position
DINT
#x60FF
0
32
Target velocity
DINT
#x6071
0
16
Target torque
INT
#x1620
User Defined Outputs
#x1700
Default Outputs
#x1602
#x1603
#x1604
#x1613
#x1614
#x1D52
0
16
Control Word
UINT
#x1DB0
0
16
Motion Command Header
UINT
#x1E40
0
32
Motion Command Par 1
DINT
#x1E41
0
32
Motion Command Par 2
DINT
#x1E42
0
32
Motion Command Par 3
DINT
#x1E43
0
32
Motion Command Par 4
DINT
#x1E44
0
32
Motion Command Par 5
DINT
#x1708
Config Module
#x1709
0
16
Config Control Word
UINT
#x170A
0
16
Config Index Out
UINT
#x170B
0
32
Config Value Out
DINT
#x1710
Max Current Set A
#x13A6
0
32
Max Current Set A
UDINT
#x1711
Torque/force limits
#x60E0
0
16
Positive torque/force limit
UINT
#x60E1
0
16
Negative torque/force limit
UINT
#x1728
Par Channel 1
#x20B0
0
32
Par Channel 1
DINT
#x1729
Par Channel 2
#x20B1
0
32
Par Channel 2
DINT
#x172A
Par Channel 3
#x20B2
0
32
Par Channel 3
DINT
#x172B
Par Channel 4
#x20B3
0
32
Par Channel 4
DINT
#x1A02
Cylic Mode Inputs
#x6041
0
16
Statusword
UINT
#x6064
0
32
Position actual value (units)
DINT
#x1B8A
0
32
DemandPosition
DINT
#x1B93
0
32
DemandCurrent
DINT
#x6061
0
8
Mode of Operation display
SINT
#x0000
0
8
Byte Padding
USINT
#x1A03
Cylic Mode Inputs 2
#x6041
0
16
Statusword
UINT
#x6064
0
32
Position actual value (units)
DINT
#x6062
0
32
Position demand value
DINT
#x6077
0
16
Torque actual value
INT
#x6061
0
8
Mode of Operation display
SINT
#x0000
0
8
Byte Padding
USINT
#x1A12
Cylic Inputs
#x6041
0
16
Statusword
UINT
#x6064
0
32
Position actual value (units)
DINT
#x1B8A
0
32
DemandPosition
DINT
#x1B93
0
32
DemandCurrent
DINT
#x1A20
User Defined Inputs
#x1b03
StateVar
#x1b62
0
16
StateVar
UINT
#x1b00
Default Inputs
#x1A02
#x1A03
#x1B62
0
16
StateVar
UINT
#x1D51
0
16
StatusWord
UINT
#x1D8E
0
16
WarnWord
UINT
#x1B8A
0
32
DemandPosition
DINT
#x1B8D
0
32
ActualPosition
DINT
#x1B93
0
32
DemandCurrent
DINT
#x1b08
Config Module
#x1B09
0
16
Config Status Word
UINT
#x1B0A
0
16
Config Index In
UINT
#x1B0B
0
32
Config Value In
DINT
#x1b10
Input DemVel
#x1B8B
0
32
DemandVelocity
DINT
#x1b11
Input ActVel
#x1B8E
0
32
ActualVelocity
DINT
#x1b12
Input ActVelFilt
#x1BAF
0
32
ActualVelocityFilt
DINT
#x1b28
Mon Channel 1
#x20A8
0
32
Mon Channel 1
DINT
#x1b29
Mon Channel 2
#x20A9
0
32
Mon Channel 2
DINT
#x1b2A
Mon Channel 3
#x20AA
0
32
Mon Channel 3
DINT
#x1b2B
Mon Channel 4
#x20AB
0
32
Mon Channel 4
DINT
#x1b16
Input DemCurrFilt
#x1B98
0
32
DemandCurrentFilt
DINT
DC
DC-Synchron
#x300
0
0
0
Synchron
SM-Synchron
#x0
0
0
0
#x00001001
65536
060000CCE8030000
0010800080108000
424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff
Safety Process Data
Safety Process Data
#x1640
Safety Outputs
#xE700
1
8
FSoE Master Command
USINT
#x6640
0
1
STO command
BOOL
#x6650
1
1
SS1 command
BOOL
#x6670
1
1
SS2 command
BOOL
#x6668
1
1
SOS command
BOOL
#x0000
0
1
Reserved
BOOL
#x0000
0
1
Reserved
BOOL
#x0000
0
1
Reserved
BOOL
#x6632
0
1
Error Ack
BOOL
#x6690
1
1
SLS_1 command
BOOL
#x6690
2
1
SLS_2 command
BOOL
#x6690
3
1
SLS_3 command
BOOL
#x6690
4
1
SLS_4 command
BOOL
#x0000
0
1
Reserved
BOOL
#x0000
0
1
Reserved
BOOL
#x0000
0
1
Reserved
BOOL
#x0000
0
1
Reserved
BOOL
#xE700
3
16
FSoE Master CRC_0
UINT
#xE700
2
16
FSoE Master ConnectionID
UINT
#x1A40
Safety Inputs
#xE600
1
8
FSoE Slave Command
USINT
#x6640
0
1
STO Active
BOOL
#x0000
0
1
Reserved
BOOL
#x0000
0
1
Reserved
BOOL
#x6668
1
1
SOS Active
BOOL
#x0000
0
1
Reserved
BOOL
#x0000
0
1
Reserved
BOOL
#x0000
0
1
Reserved
BOOL
#x6632
0
1
Error
BOOL
#x6690
1
1
SLS_1 Active
BOOL
#x6690
2
1
SLS_2 Active
BOOL
#x6690
3
1
SLS_3 Active
BOOL
#x6690
4
1
SLS_4 Active
BOOL
#x6650
1
1
SS1 Active
BOOL
#x6670
1
1
SS2 Active
BOOL
#x0000
0
1
Reserved
BOOL
#x6632
0
1
Error Ack State
BOOL
#xE600
3
16
FSoE Slave CRC_0
UINT
#x23D4
0
16
Safe Position
INT
#xE600
4
16
FSoE Slave CRC_1
UINT
#xE600
2
16
FSoE Slave ConnectionID
UINT
#x1E00
SafetyParameterSet
#xE901
7
16
ComParameterLength
UINT
#xE901
4
16
WatchdogTime
UINT
#xE901
8
16
ApplParameterLength
UINT
#xB4
#x4B4
Rotation
r
#xB5
#x4B5
Encoder unit
eu
BOOL
1
DINT
32
INT
16
UDINT
32
UINT
16
USINT
8
ARRAY [0..5] OF BYTE
USINT
48
0
6
STRING(2)
16
DT1640
624
0
SubIndex 000
USINT
8
0
ro
o
1
FSoE Master Cmd
UDINT
32
16
ro
o
2
STO command
UDINT
32
48
ro
o
3
SS1 command
UDINT
32
80
ro
o
4
SS2 command
UDINT
32
112
ro
o
5
SOS command
UDINT
32
144
ro
o
6
reserved 0.4
UDINT
32
176
ro
o
7
reserved 0.5
UDINT
32
208
ro
o
8
reserved 0.6
UDINT
32
240
ro
o
9
Error Ack
UDINT
32
272
ro
o
10
SLS_1 command
UDINT
32
304
ro
o
11
SLS_2 command
UDINT
32
336
ro
o
12
SLS_3 command
UDINT
32
368
ro
o
13
SLS_4 command
UDINT
32
400
ro
o
14
reserved 0.12
UDINT
32
432
ro
o
15
reserved 0.13
UDINT
32
464
ro
o
16
reserved 0.14
UDINT
32
496
ro
o
17
reserved 0.15
UDINT
32
528
ro
o
18
FSoE Master CRC_0
UDINT
32
560
ro
o
19
FSoE Master ConnectionID
UDINT
32
592
ro
o
DT1A40
688
0
SubIndex 000
USINT
8
0
ro
o
1
FSoE Slave Cmd
UDINT
32
16
ro
o
2
STO Active
UDINT
32
48
ro
o
3
reserved 0.1
UDINT
32
80
ro
o
4
reserved 0.2
UDINT
32
112
ro
o
5
SOS Active
UDINT
32
144
ro
o
6
reserved 0.4
UDINT
32
176
ro
o
7
reserved 0.5
UDINT
32
208
ro
o
8
reserved 0.6
UDINT
32
240
ro
o
9
Error
UDINT
32
272
ro
o
10
SLS_1 Active
UDINT
32
304
ro
o
11
SLS_2 Active
UDINT
32
336
ro
o
12
SLS_3 Active
UDINT
32
368
ro
o
13
SLS_4 Active
UDINT
32
400
ro
o
14
SS1 Active
UDINT
32
432
ro
o
15
SS2 Active
UDINT
32
464
ro
o
16
reserved 0.14
UDINT
32
496
ro
o
17
Error Ack State
UDINT
32
528
ro
o
18
FSoE Slave CRC_0
UDINT
32
560
ro
o
19
Safe Position
UDINT
32
592
ro
o
20
FSoE Slave CRC_1
UDINT
32
624
ro
o
21
FSoE Slave ConnectionID
UDINT
32
656
ro
o
DTE600
72
0
SubIndex 000
USINT
8
0
ro
1
FSoE Slave Cmd
USINT
FSoE Slave Cmd
8
16
ro
T
2
FSoE Slave Conn_ID
UINT
FSoE Slave Conn_ID
16
24
ro
T
3
FSoE Slave CRC_0
UINT
FSoE Slave CRC_0
16
40
ro
T
4
FSoE Slave CRC_1
UINT
FSoE Slave CRC_1
16
56
ro
T
DTE700
56
0
SubIndex 000
USINT
8
0
ro
1
FSoE Master Cmd
USINT
FSoE Master Cmd
8
16
ro
R
2
FSoE Master Conn_ID
UINT
FSoE Master Conn_ID
16
24
ro
R
3
FSoE Master CRC_0
UINT
FSoE Master CRC_0
16
40
ro
R
DTE901
208
0
SubIndex 000
USINT
8
0
ro
1
Version
STRING(2)
16
16
ro
2
SafetyAddress
UINT
16
32
ro
3
ConnectionID
UINT
16
48
ro
4
WatchdogTime
UINT
16
64
ro
5
Unique Device ID
ARRAY [0..5] OF BYTE
48
80
ro
6
Connection Type
UINT
16
128
ro
7
ComParameterLength
UINT
16
144
ro
8
ApplParameterLength
UINT
16
160
ro
9
SRA CRC
UDINT
32
176
rw
DTEA00EN16
UINT
16
Init
0
Reset
42
Session
78
Connection
10
Parameter
82
Data
54
Failsafe
8
DTEA00
32
0
Number of Entries
USINT
8
0
ro
o
1
Connection State
DTEA00EN16
16
16
ro
o
DTF980
32
0
Number of Entries
USINT
8
0
ro
o
1
FSoE Address
UINT
16
16
ro
o