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12UDINT32368rwo13Input Object 13UDINT32400rwo14Input Object 14UDINT32432rwo15Input Object 15UDINT32464rwo16Input Object 16UDINT32496rwoDT1B002080SubIndex 000USINT80roo1StateVarUDINT3216roo2StatusWordUDINT3248roo3WarnWordUDINT3280roo4DemandPositionUDINT32112roo5ActualPositionUDINT32144roo6DemandCurrentUDINT32176rooDT1B03480SubIndex 000USINT80roo1StateVarUDINT3216rooDT1B081120SubIndex 000USINT80roo1Config Status WordUDINT3216roo2Config Index InUDINT3248roo3Config Value InUDINT3280rooDT1B10480SubIndex 000USINT80roo1Input Dem VelUDINT3216rooDT1B11480SubIndex 000USINT80roo1Input Act VelUDINT3216rooDT1B12480SubIndex 000USINT80roo1Input Act Vel FiltUDINT3216rooDT1B2x480SubIndex 000USINT80roo1Mon ChannelUDINT3216rooDT1C00ARRUSINT3214DT1C00480Number of elementsUSINT80rooElementsDT1C00ARR3216rooDT1C1XARRUINT12818DT1C1X1440SubIndex 000USINT80rwoElementsDT1C1XARR12816rwoDT1C3X2090SubIndex 000USINT80ro1Sync modeUINT1616rw2Cycle TimeUDINT3232rw4Synchronization Types supportedUINT1664ro5Minimum Cycle TimeUDINT3280ro6Calc and Copy TimeUDINT32112ro9Delay TimeUDINT32144ro11SM event missed counterUINT16176ro12Cycle exceeded counterUINT16192ro32Sync ErrorBOOL1208roDT607D800SubIndex 000USINT80ro1Min position limitDINT3216rw12Max position limitDINT3248rw1DT6099800Number of entriesUSINT801Speed during search for switchUDINT3216rwm2Speed during search for zeroUDINT3248rwmDT60A4480Number of entriesUSINT80rom1Profile jerk 1UDINT3216rwmOutputsInputsMBoxStateMBoxOutMBoxInOutputsInputs#x1602Cylic Position Mode#x1603#x1604#x1606#x1613#x1614#x6040016ControlwordUINT#x607A032Target positionDINT#x606008Modes of operationSINT#x000008Byte PaddingUSINT#x1603Cylic Position Velocity Mode#x1602#x1604#x1606#x1613#x1614#x6040016ControlwordUINT#x607A032Target positionDINT#x60FF032Target velocityDINT#x606008Modes of operationSINT#x000008Byte PaddingUSINT#x1604Cylic Position Velocity Torque Mode#x1602#x1603#x1606#x1613#x1614#x6040016ControlwordUINT#x607A032Target positionDINT#x60FF032Target velocityDINT#x6071016Target torqueINT#x606008Modes of operationSINT#x000008Byte PaddingUSINT#x1606Cylic Torque Mode#x1602#x1603#x1604#x1613#x1614#x6040016ControlwordUINT#x6071016Target torqueINT#x606008Modes of operationSINT#x000008Byte PaddingUSINT#x1613Cylic Position Velocity#x1602#x1603#x1604#x1606#x1614#x6040016ControlwordUINT#x607A032Target positionDINT#x60FF032Target velocityDINT#x1614Cylic Position Velocity Torque#x1602#x1603#x1604#x1606#x1613#x6040016ControlwordUINT#x607A032Target positionDINT#x60FF032Target velocityDINT#x6071016Target torqueINT#x1620User Defined Outputs#x1700Default Outputs#x1602#x1603#x1604#x1613#x1614#x1D52016Control WordUINT#x1DB0016Motion Command HeaderUINT#x1E40032Motion Command Par 1DINT#x1E41032Motion Command Par 2DINT#x1E42032Motion Command Par 3DINT#x1E43032Motion Command Par 4DINT#x1E44032Motion Command Par 5DINT#x1708Config Module#x1709016Config Control WordUINT#x170A016Config Index OutUINT#x170B032Config Value OutDINT#x1710Max Current Set A#x13A6032Max Current Set AUDINT#x1711Torque/force limits#x60E0016Positive torque limit valueUINT#x60E1016Negative torque limit valueUINT#x1728Par Channel 1#x20B0032Par Channel 1DINT#x1729Par Channel 2#x20B1032Par Channel 2DINT#x172APar Channel 3#x20B2032Par Channel 3DINT#x172BPar Channel 4#x20B3032Par Channel 4DINT#x1A02Cylic Mode Inputs#x6041016StatuswordUINT#x6064032Position actual value (units)DINT#x1B8A032DemandPositionDINT#x1B93032DemandCurrentDINT#x606108Modes of operation displaySINT#x000008Byte PaddingUSINT#x1A03Cylic Mode Inputs 2#x6041016StatuswordUINT#x6064032Position actual value (units)DINT#x6062032Position demand valueDINT#x6077016Torque actual valueINT#x606108Modes of operation displaySINT#x000008Byte PaddingUSINT#x1A12Cylic Inputs#x6041016StatuswordUINT#x6064032Position actual value (units)DINT#x1B8A032DemandPositionDINT#x1B93032DemandCurrentDINT#x1A20User Defined Inputs#x1A21User Defined Inputs_2#x1b03StateVar#x1b62016StateVarUINT#x1b00Default Inputs#x1A02#x1A03#x1B62016StateVarUINT#x1D51016StatusWordUINT#x1D8E016WarnWordUINT#x1B8A032DemandPositionDINT#x1B8D032ActualPositionDINT#x1B93032DemandCurrentDINT#x1b08Config Module#x1B09016Config Status WordUINT#x1B0A016Config Index InUINT#x1B0B032Config Value InDINT#x1b10Input DemVel#x1B8B032DemandVelocityDINT#x1b11Input ActVel#x1B8E032ActualVelocityDINT#x1b12Input ActVelFilt#x1BAF032ActualVelocityFiltDINT#x1b28Mon Channel 1#x20A8032Mon Channel 1DINT#x1b29Mon Channel 2#x20A9032Mon Channel 2DINT#x1b2AMon Channel 3#x20AA032Mon Channel 3DINT#x1b2BMon Channel 4#x20AB032Mon Channel 4DINT#x1b16Input DemCurrFilt#x1B98032DemandCurrentFiltDINTDCDC-Synchron#x300000SynchronSM-Synchron#x000065536060000CCE80300000010800080108000424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffffE1450-MIDS-QN-0Shttp://www.linmot.comCiA402 Drives4021BIT22BIT33BOOL1DINT32INT16WORD16UDINT32UINT16USINT8SINT8STRING(11)88STRING(2)16STRING(4)32STRING(32)256DT10181440SubIndex 000USINT80roo1Vendor IDUDINT3216roo2Product codeUDINT3248roo3RevisionUDINT3280roo4Serial numberUDINT32112rooDT16002720Number of elementsUSINT80roo1Output Object 1UDINT3216roo2Output Object 2UDINT3248roo3Output Object 3UDINT3280roo4Output Object 4UDINT32112roo5Output Object 5UDINT32144roo6Output Object 6UDINT32176roo7Output Object 7UDINT32208roo8Output Object 8UDINT32240rooDT16021440Number of elementsUSINT80roo1ControlwordUDINT3216roo2Target positionUDINT3248roo3Modes of OperationUDINT3280roo4Padding ByteUDINT32112rooDT16031760Number of elementsUSINT80roo1ControlwordUDINT3216roo2Target positionUDINT3248rwo3Target velocityUDINT3280rwo4Modes of OperationUDINT32112rwo5Padding ByteUDINT32144rwoDT16042080Number of elementsUSINT80roo1ControlwordUDINT3216rwo2Target positionUDINT3248rwo3Target velocityUDINT3280rwo4Target torqueUDINT32112rwo5Modes of OperationUDINT32144rwo6Padding ByteUDINT32176rwoDT16061440Number of elementsUSINT80roo1ControlwordUDINT3216rwo2Target torqueUDINT3248rwo3Modes of OperationUDINT3280rwo4Padding ByteUDINT32112rwoDT16131120Number of elementsUSINT80roo1ControlwordUDINT3216rwo2Target positionUDINT3248rwo3Target velocityUDINT3280rwoDT16141440Number of elementsUSINT80roo1ControlwordUDINT3216rwo2Target positionUDINT3248rwo3Target velocityUDINT3280rwo4Target torqueUDINT32112rwoDT17002400SubIndex 000USINT80roo1ControlWordUDINT3216roo2MotionCommandHeaderUDINT3248roo3Motion Command Par 1UDINT3280roo4Motion Command Par 2UDINT32112roo5Motion Command Par 3UDINT32144roo6Motion Command Par 4UDINT32176roo7Motion Command Par 5UDINT32208rooDT17011440SubIndex 000USINT80roo1ControlWordUDINT3216roo2SetpointPositionUDINT3248roo3Setpoint VelocityUDINT3280roo4Setpoint AccelerationUDINT32112rooDT17081120SubIndex 000USINT80roo1Config ControlWordUDINT3216roo2Config Index OutUDINT3248roo3Config Value OutUDINT3280rooDT1711800SubIndex 000USINT80roo1Positive torque/force limitUDINT3216roo2Negative torque/force limitUDINT3248rooDT172x480SubIndex 000USINT80roo1Par ChannelUDINT3216rooDT1A002720Number of elementsUSINT80roo1Input Object 1UDINT3216rwo2Input Object 2UDINT3248rwo3Input Object 3UDINT3280rwo4Input Object 4UDINT32112rwo5Input Object 5UDINT32144rwo6Input Object 6UDINT32176rwo7Input Object 7UDINT32208rwo8Input Object 8UDINT32240rwoDT1A022080Number of elementsUSINT80roo1StatuswordUDINT3216roo2Position actual valueUDINT3248roo3DemandPositionUDINT3280roo4DemandCurrentUDINT32112roo5Modes of Operation displayUDINT32144roo6Padding ByteUDINT32176rooDT1A032080Number of elementsUSINT80roo1StatuswordUDINT3216roo2Position actual valueUDINT3248roo3Position demand valueUDINT3280roo4Torque actual valueUDINT32112roo5Modes of Operation displayUDINT32144roo6Padding ByteUDINT32176rooDT1A121440Number of elementsUSINT80roo1StatuswordUDINT3216roo2Position actual valueUDINT3248roo3DemandPositionUDINT3280roo4DemandCurrentUDINT32112rooDT1A215280Number of elementsUSINT80roo1Input Object 1UDINT3216rwo2Input Object 2UDINT3248rwo3Input Object 3UDINT3280rwo4Input Object 4UDINT32112rwo5Input Object 5UDINT32144rwo6Input Object 6UDINT32176rwo7Input Object 7UDINT32208rwo8Input Object 8UDINT32240rwo9Input Object 9UDINT32272rwo10Input Object 10UDINT32304rwo11Input Object 11UDINT32336rwo12Input Object 12UDINT32368rwo13Input Object 13UDINT32400rwo14Input Object 14UDINT32432rwo15Input Object 15UDINT32464rwo16Input Object 16UDINT32496rwoDT1B002080SubIndex 000USINT80roo1StateVarUDINT3216roo2StatusWordUDINT3248roo3WarnWordUDINT3280roo4DemandPositionUDINT32112roo5ActualPositionUDINT32144roo6DemandCurrentUDINT32176rooDT1B03480SubIndex 000USINT80roo1StateVarUDINT3216rooDT1B081120SubIndex 000USINT80roo1Config Status WordUDINT3216roo2Config Index InUDINT3248roo3Config Value InUDINT3280rooDT1B10480SubIndex 000USINT80roo1Input Dem VelUDINT3216rooDT1B11480SubIndex 000USINT80roo1Input Act VelUDINT3216rooDT1B12480SubIndex 000USINT80roo1Input Act Vel FiltUDINT3216rooDT1B2x480SubIndex 000USINT80roo1Mon ChannelUDINT3216rooDT1C00ARRUSINT3214DT1C00480Number of elementsUSINT80rooElementsDT1C00ARR3216rooDT1C1XARRUINT12818DT1C1X1440SubIndex 000USINT80rwoElementsDT1C1XARR12816rwoDT1C3X2090SubIndex 000USINT80ro1Sync modeUINT1616rw2Cycle TimeUDINT3232rw4Synchronization Types supportedUINT1664ro5Minimum Cycle TimeUDINT3280ro6Calc and Copy TimeUDINT32112ro9Delay TimeUDINT32144ro11SM event missed counterUINT16176ro12Cycle exceeded counterUINT16192ro32Sync ErrorBOOL1208roDT607D800SubIndex 000USINT80ro1Min position limitDINT3216rw12Max position limitDINT3248rw1DT6099800Number of entriesUSINT801Speed during search for switchUDINT3216rwm2Speed during search for zeroUDINT3248rwmDT60A4480Number of entriesUSINT80rom1Profile jerk 1UDINT3216rwmOutputsInputsMBoxStateMBoxOutMBoxInOutputsInputs#x1602Cylic Position Mode#x1603#x1604#x1606#x1613#x1614#x6040016ControlwordUINT#x607A032Target positionDINT#x606008Modes of operationSINT#x000008Byte PaddingUSINT#x1603Cylic Position Velocity Mode#x1602#x1604#x1606#x1613#x1614#x6040016ControlwordUINT#x607A032Target positionDINT#x60FF032Target velocityDINT#x606008Modes of operationSINT#x000008Byte PaddingUSINT#x1604Cylic Position Velocity Torque Mode#x1602#x1603#x1606#x1613#x1614#x6040016ControlwordUINT#x607A032Target positionDINT#x60FF032Target velocityDINT#x6071016Target torqueINT#x606008Modes of operationSINT#x000008Byte PaddingUSINT#x1606Cylic Torque Mode#x1602#x1603#x1604#x1613#x1614#x6040016ControlwordUINT#x6071016Target torqueINT#x606008Modes of operationSINT#x000008Byte PaddingUSINT#x1613Cylic Position Velocity#x1602#x1603#x1604#x1606#x1614#x6040016ControlwordUINT#x607A032Target positionDINT#x60FF032Target velocityDINT#x1614Cylic Position Velocity Torque#x1602#x1603#x1604#x1606#x1613#x6040016ControlwordUINT#x607A032Target positionDINT#x60FF032Target velocityDINT#x6071016Target torqueINT#x1620User Defined Outputs#x1700Default Outputs#x1602#x1603#x1604#x1613#x1614#x1D52016Control WordUINT#x1DB0016Motion Command HeaderUINT#x1E40032Motion Command Par 1DINT#x1E41032Motion Command Par 2DINT#x1E42032Motion Command Par 3DINT#x1E43032Motion Command Par 4DINT#x1E44032Motion Command Par 5DINT#x1708Config Module#x1709016Config Control WordUINT#x170A016Config Index OutUINT#x170B032Config Value OutDINT#x1710Max Current Set A#x13A6032Max Current Set AUDINT#x1711Torque/force limits#x60E0016Positive torque limit valueUINT#x60E1016Negative torque limit valueUINT#x1728Par Channel 1#x20B0032Par Channel 1DINT#x1729Par Channel 2#x20B1032Par Channel 2DINT#x172APar Channel 3#x20B2032Par Channel 3DINT#x172BPar Channel 4#x20B3032Par Channel 4DINT#x1A02Cylic Mode Inputs#x6041016StatuswordUINT#x6064032Position actual value (units)DINT#x1B8A032DemandPositionDINT#x1B93032DemandCurrentDINT#x606108Modes of operation displaySINT#x000008Byte PaddingUSINT#x1A03Cylic Mode Inputs 2#x6041016StatuswordUINT#x6064032Position actual value (units)DINT#x6062032Position demand valueDINT#x6077016Torque actual valueINT#x606108Modes of operation displaySINT#x000008Byte PaddingUSINT#x1A12Cylic Inputs#x6041016StatuswordUINT#x6064032Position actual value (units)DINT#x1B8A032DemandPositionDINT#x1B93032DemandCurrentDINT#x1A20User Defined Inputs#x1A21User Defined Inputs_2#x1b03StateVar#x1b62016StateVarUINT#x1b00Default Inputs#x1A02#x1A03#x1B62016StateVarUINT#x1D51016StatusWordUINT#x1D8E016WarnWordUINT#x1B8A032DemandPositionDINT#x1B8D032ActualPositionDINT#x1B93032DemandCurrentDINT#x1b08Config Module#x1B09016Config Status WordUINT#x1B0A016Config Index InUINT#x1B0B032Config Value InDINT#x1b10Input DemVel#x1B8B032DemandVelocityDINT#x1b11Input ActVel#x1B8E032ActualVelocityDINT#x1b12Input ActVelFilt#x1BAF032ActualVelocityFiltDINT#x1b28Mon Channel 1#x20A8032Mon Channel 1DINT#x1b29Mon Channel 2#x20A9032Mon Channel 2DINT#x1b2AMon Channel 3#x20AA032Mon Channel 3DINT#x1b2BMon Channel 4#x20AB032Mon Channel 4DINT#x1b16Input DemCurrFilt#x1B98032DemandCurrentFiltDINTDCDC-Synchron#x300000SynchronSM-Synchron#x000065536060000CCE80300000010800080108000424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff