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DT1018 144 SubIndex 000 04 Vendor ID 49544E4C Product code 540B9600 Revision 09000100 Serial number 00000000 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 #x1B01 NC Inputs DT1B00 208 ro o #x1B03 StateVar DT1B03 48 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 #x607D Software position limit DT607D 80 SubIndex 000 02 ro o #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 ro 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 #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 #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 65536 060000CCE8030000 0010800080108000 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