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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