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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 Modes 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 Modes 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 Modes 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 Modes 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 Modes 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 Modes 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 DT1A21 528 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 9 Input Object 9 UDINT 32 272 rw o 10 Input Object 10 UDINT 32 304 rw o 11 Input Object 11 UDINT 32 336 rw o 12 Input Object 12 UDINT 32 368 rw o 13 Input Object 13 UDINT 32 400 rw o 14 Input Object 14 UDINT 32 432 rw o 15 Input Object 15 UDINT 32 464 rw o 16 Input Object 16 UDINT 32 496 rw 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 ro m 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 #x1000 Device type UDINT 32 92010A00 ro m #x1001 Error Register USINT 8 ro m #x1008 Device name STRING(11) 88 3030303030303030303030 ro m #x1009 Hardware version STRING(4) 32 30303030 ro o #x100A Software version STRING(32) 256 3030303030303030303030303030303030303030303030303030303030303030 ro o #x1018 Identity DT1018 144 SubIndex 000 #x04 Vendor ID #x49544E4C Product code #x540B9600 Revision #xA000100 Serial number #x00000000 ro o #x1602 Cyclic Position Mode DT1602 144 ro o #x1603 Cyclic Position Velocity Mode DT1603 176 ro o #x1604 Cyclic Position Velocity Torque Mode DT1604 208 ro o #x1606 Cyclic Torque Mode DT1606 144 ro o #x1613 Cyclic Position Velocity DT1613 112 ro o #x1614 Cyclic Position Velocity Torque DT1614 144 ro o #x1620 User Defined Outputs DT1600 272 ro o #x1708 Config Module DT1708 112 ro o #x1711 Torque/force limits DT1711 80 ro o #x1728 Par Channel 1 DT172x 48 ro o #x1729 Par Channel 2 DT172x 48 ro o #x172A Par Channel 3 DT172x 48 ro o #x172B Par Channel 4 DT172x 48 ro o #x1A02 Cyclic Mode Inputs DT1A02 208 ro o #x1A03 Cyclic Mode Inputs 2 DT1A03 208 ro o #x1A12 Cyclic Inputs DT1A12 144 ro o #x1A20 User Defined Inputs DT1A00 272 rw o #x1A21 User Defined Inputs_2 DT1A21 528 rw o #x1B00 Default Inputs DT1B00 208 ro o #x1b08 Config Module DT1B08 112 ro o #x1b10 Input DemVel DT1B10 48 ro o #x1b11 Input ActVel DT1B11 48 ro o #x1b12 Input ActVelFilt DT1B12 48 ro o #x1b28 Mon Channel 1 DT1B2x 48 ro o #x1b29 Mon Channel 2 DT1B2x 48 ro o #x1b2A Mon Channel 3 DT1B2x 48 ro o #x1b2B Mon Channel 4 DT1B2x 48 ro o #x1c00 Sync manager type DT1C00 48 ro o #x1C12 Sync Manager 2 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1603 rw #x1C13 Sync Manager 3 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1A02 rw #x1c32 SM output parameter DT1C3X 209 SubIndex 000 20 ro #x1c33 SM input parameter DT1C3X 209 SubIndex 000 20 ro #x6007 Abort connection option code INT 16 0000 rw o #x603F Error code UINT 16 ro o T #x6040 Controlword UINT 16 rw o R #x6041 Statusword UINT 16 ro o T #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 #x6064 Position actual value ( units ) DINT 32 ro o T #x606B Velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x6071 Target torque INT 16 rw o R #x6072 Max Torque UINT 16 rw o R #x6077 Torque actual value INT 16 ro o T #x607a Target position DINT 32 rw o R #x607c Home offset DINT 32 rw o R #x607F Max profile velocity UDINT 32 rw o R #x6081 Profile 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 R #x6098 Homing method SINT 8 rw o #x6099 Homing speeds DT6099 80 Number of entries 02 rw o #x609a Homing acceleration UDINT 32 rw o #x60A3 Profile jerk use USINT 8 rw o #x60A4 Profile jerk DT60A4 48 Number of entries 01 rw o #x60e0 Positive torque limit value UINT 16 rw o R #x60e1 Negative torque limit value UINT 16 rw o R #x60F4 Following error actual value DINT 32 ro o T #x60FC Position demand internal value DINT 32 ro o T #x60FD Digital Inputs UDINT 32 ro o T #x60FF Target velocity Command speed for the csv mode DINT 32 rw R #x6502 Supported drive modes UDINT 32 ro o T 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 Modes 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 Modes 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 Modes 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 Modes 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 limit value UINT #x60E1 0 16 Negative torque limit value 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 Modes 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 Modes 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 #x1A21 User Defined Inputs_2 #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 #x1b03 StateVar #x1b62 0 16 StateVar UINT #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 #x00010001 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 0 1 SS1 command BOOL #x6670 0 1 SS2 command BOOL #x6668 0 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 0 1 SLS_0 command BOOL #x6691 0 1 SLS_1 command BOOL #x6692 0 1 SLS_2 command BOOL #x6693 0 1 SLS_3 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 0 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 0 1 SLS_0 Active BOOL #x6691 0 1 SLS_1 Active BOOL #x6692 0 1 SLS_2 Active BOOL #x6693 0 1 SLS_3 Active BOOL #x6650 0 1 SS1 Active BOOL #x6670 0 1 SS2 Active BOOL #x0000 0 1 Reserved BOOL #x6632 0 1 Error Ack State BOOL #xE600 3 16 FSoE Slave CRC_0 UINT #x2423 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 Communication Parameter Length UINT #xE901 4 16 Watchdog Time UINT #xE901 8 16 Application Parameter Length 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 rw 1 FSoE Master Cmd UDINT 32 16 rw 2 STO command UDINT 32 48 rw 3 SS1 command UDINT 32 80 rw 4 SS2 command UDINT 32 112 rw 5 SOS command UDINT 32 144 rw 6 reserved 0.4 UDINT 32 176 rw 7 reserved 0.5 UDINT 32 208 rw 8 reserved 0.6 UDINT 32 240 rw 9 Error Ack UDINT 32 272 rw 10 SLS_0 command UDINT 32 304 rw 11 SLS_1 command UDINT 32 336 rw 12 SLS_2 command UDINT 32 368 rw 13 SLS_3 command UDINT 32 400 rw 14 reserved 0.12 UDINT 32 432 rw 15 reserved 0.13 UDINT 32 464 rw 16 reserved 0.14 UDINT 32 496 rw 17 reserved 0.15 UDINT 32 528 rw 18 FSoE Master CRC_0 UDINT 32 560 rw 19 FSoE Master ConnectionID UDINT 32 592 rw DT1A40 688 0 SubIndex 000 USINT 8 0 rw 1 FSoE Slave Cmd UDINT 32 16 rw 2 STO Active UDINT 32 48 rw 3 reserved 0.1 UDINT 32 80 rw 4 reserved 0.2 UDINT 32 112 rw 5 SOS Active UDINT 32 144 rw 6 reserved 0.4 UDINT 32 176 rw 7 reserved 0.5 UDINT 32 208 rw 8 reserved 0.6 UDINT 32 240 rw 9 Error UDINT 32 272 rw 10 SLS_0 Active UDINT 32 304 rw 11 SLS_1 Active UDINT 32 336 rw 12 SLS_2 Active UDINT 32 368 rw 13 SLS_3 Active UDINT 32 400 rw 14 SS1 Active UDINT 32 432 rw 15 SS2 Active UDINT 32 464 rw 16 reserved 0.14 UDINT 32 496 rw 17 Error Ack State UDINT 32 528 rw 18 FSoE Slave CRC_0 UDINT 32 560 rw 19 Safe Position UDINT 32 592 rw 20 FSoE Slave CRC_1 UDINT 32 624 rw 21 FSoE Slave ConnectionID UDINT 32 656 rw 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 Watchdog Time UINT 16 64 ro 5 Unique Device ID ARRAY [0..5] OF BYTE 48 80 ro 6 Connection Type UINT 16 128 ro 7 Communication Parameter Length UINT 16 144 ro 8 Application Parameter Length UINT 16 160 ro 9 SRA CRC UDINT 32 176 ro 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 #x1640 Safety Outputs DT1640 624 SubIndex 000 #x13 #x13 #x13 FSoE Master Cmd #x00000000 #xFFFFFFFF #xE7000108 STO command #x00000000 #xFFFFFFFF #x66400001 SS1 command #x00000000 #xFFFFFFFF #x66500001 SS2 command #x00000000 #xFFFFFFFF #x66700001 SOS command #x00000000 #xFFFFFFFF #x66680001 reserved 0.4 #x00000000 #xFFFFFFFF #x00000001 reserved 0.5 #x00000000 #xFFFFFFFF #x00000001 reserved 0.6 #x00000000 #xFFFFFFFF #x00000001 Error Ack #x00000000 #xFFFFFFFF #x66320001 SLS_0 command #x00000000 #xFFFFFFFF #x66900001 SLS_1 command #x00000000 #xFFFFFFFF #x66910001 SLS_2 command #x00000000 #xFFFFFFFF #x66920001 SLS_3 command #x00000000 #xFFFFFFFF #x66930001 reserved 0.12 #x00000000 #xFFFFFFFF #x00000001 reserved 0.13 #x00000000 #xFFFFFFFF #x00000001 reserved 0.14 #x00000000 #xFFFFFFFF #x00000001 reserved 0.15 #x00000000 #xFFFFFFFF #x00000001 FSoE Master CRC_0 #x00000000 #xFFFFFFFF #xE7000310 FSoE Master ConnectionID #x00000000 #xFFFFFFFF #xE7000210 #x1A40 Safety Inputs DT1A40 688 SubIndex 000 #x15 #x15 #x15 FSoE Slave Cmd #x00000000 #xFFFFFFFF #xE6000108 STO Active #x00000000 #xFFFFFFFF #x66400001 reserved 0.1 #x00000000 #xFFFFFFFF #x00000001 reserved 0.2 #x00000000 #xFFFFFFFF #x00000001 SOS Active #x00000000 #xFFFFFFFF #x66680001 reserved 0.4 #x00000000 #xFFFFFFFF #x00000001 reserved 0.5 #x00000000 #xFFFFFFFF #x00000001 reserved 0.6 #x00000000 #xFFFFFFFF #x00000001 Error #x00000000 #xFFFFFFFF #x66320001 SLS_0 Active #x00000000 #xFFFFFFFF #x66900001 SLS_1 Active #x00000000 #xFFFFFFFF #x66910001 SLS_2 Active #x00000000 #xFFFFFFFF #x66920001 SLS_3 Active #x00000000 #xFFFFFFFF #x66930001 SS1 Active #x00000000 #xFFFFFFFF #x66500001 SS2 Active #x00000000 #xFFFFFFFF #x66700001 reserved 0.14 #x00000000 #xFFFFFFFF #x00000001 Error Ack State #x00000000 #xFFFFFFFF #x66320001 FSoE Slave CRC_0 #x00000000 #xFFFFFFFF #xE6000310 Safe Position #x00000000 #xFFFFFFFF #x24230010 FSoE Slave CRC_1 #x00000000 #xFFFFFFFF #xE6000410 FSoE Slave ConnectionID #x00000000 #xFFFFFFFF #xE6000210 #xE600 FSoE Slave Frame Elements DTE600 72 SubIndex 000 #x04 FSoE Slave Cmd FSoE Slave Conn_ID FSoE Slave CRC_0 FSoE Slave CRC_1 SubIndexAccess #xE700 FSoE Master Frame Elements DTE700 56 SubIndex 000 #x03 FSoE Master Cmd FSoE Master Conn_ID FSoE Master CRC_0 SubIndexAccess #xE901 FSoE Connection Communication Parameter DTE901 208 SubIndex 000 #x09 Version 01 SafetyAddress #x4C00 #x4CFE #x4C00 ConnectionID #x0000 Watchdog Time #x0064 #x7530 #x01F4 Unique Device ID 000000000000 Connection Type #x0001 Communication Parameter Length #x0002 Application Parameter Length #x0000 SRA CRC #x00000000 SubIndexAccess #xEA00 FSOE Connection Diagnosis DTEA00 32 Number of Entries 01 Connection State 0000 ro o #xF980 Device Safety Address DTF980 32 Number of Entries 01 FSoE Address 0000 ro o #x6632 Error Ack BOOL 1 ro #x6640 STO command BOOL 1 ro #x6650 SS1 command BOOL 1 ro #x6668 SOS command BOOL 1 ro #x6670 SS2 command BOOL 1 ro #x6690 SLS_0 command BOOL 1 ro #x6691 SLS_1 command BOOL 1 ro #x6692 SLS_2 command BOOL 1 ro #x6693 SLS_3 command BOOL 1 ro #x2423 Safe Position INT 16 ro