#x4C4E5449 NTI AG CiA402 Drives CiA402 Drives DRIVE C1150-DS-XC-0S http://www.linmot.com CiA402 Drives 402 1 BIT2 0 BIT3 0 BOOL 1 DINT 32 INT 16 WORD 16 UDINT 32 UINT 16 USINT 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 rw o 1 Output Object 1 UDINT 32 16 rw o 2 Output Object 2 UDINT 32 48 rw o 3 Output Object 3 UDINT 32 80 rw o 4 Output Object 4 UDINT 32 112 rw o 5 Output Object 5 UDINT 32 144 rw o 6 Output Object 6 UDINT 32 176 rw o 7 Output Object 7 UDINT 32 208 rw o 8 Output Object 8 UDINT 32 240 rw o DT1602 144 0 Number of elements USINT 8 0 rw o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Mode of Operation UDINT 32 80 rw o 4 Padding Byte UDINT 32 112 rw o DT1603 176 0 Number of elements USINT 8 0 rw o 1 Controlword UDINT 32 16 rw o 2 Target 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USINT 8 0 rw Elements DT1C1XARR 128 16 rw #x1000 Device type UDINT 32 92010200 ro o #x1008 Device name STRING(11) 88 3030303030303030303030 ro o #x1009 Hardware version STRING(4) 32 30303030 ro o #x100A Software version STRING(32) 256 3030303030303030303030303030303030303030303030303030303030303030 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 49544E4C Product code 5C079600 Revision 07000100 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 #x1620 User Defined Outputs DT1600 272 rw o #x1708 Config Module DT1708 112 ro o #x1A02 Cyclic Mode Inputs DT1A02 208 ro o #x1A20 User Defined Inputs DT1A00 272 rw 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 #x1C12 Sync Manager 2 PDO Assignment DT1C1X 144 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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 DT1A00 272 0 Number of elements USINT 8 0 rw 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 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 DT1C1XARR UINT 128 1 8 DT1C1X 144 0 SubIndex 000 USINT 8 0 rw Elements DT1C1XARR 128 16 rw #x1000 Device type UDINT 32 92010200 ro o #x1008 Device name STRING(11) 88 3030303030303030303030 ro o #x1009 Hardware version STRING(4) 32 30303030 ro o #x100A Software version STRING(32) 256 3030303030303030303030303030303030303030303030303030303030303030 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 49544E4C Product code 31099600 Revision 07000100 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 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Object 5 UDINT 32 144 rw o 6 Output Object 6 UDINT 32 176 rw o 7 Output Object 7 UDINT 32 208 rw o 8 Output Object 8 UDINT 32 240 rw o DT1602 144 0 Number of elements USINT 8 0 rw o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Mode of Operation UDINT 32 80 rw o 4 Padding Byte UDINT 32 112 rw o DT1603 176 0 Number of elements USINT 8 0 rw 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 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 rw 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 rw 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 DT1700 240 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 MotionCommandHeader UDINT 16 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 DT1A00 272 0 Number of elements USINT 8 0 rw 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 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 DT1C1XARR UINT 128 1 8 DT1C1X 144 0 SubIndex 000 USINT 8 0 rw Elements DT1C1XARR 128 16 rw #x1000 Device type UDINT 32 92010200 ro o #x1008 Device name STRING(11) 88 3030303030303030303030 ro o #x1009 Hardware version STRING(4) 32 30303030 ro o #x100A Software version STRING(32) 256 3030303030303030303030303030303030303030303030303030303030303030 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 49544E4C Product code E3069600 Revision 07000100 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 #x1620 User Defined Outputs DT1600 272 rw o #x1708 Config Module DT1708 112 ro o #x1A02 Cyclic Mode Inputs DT1A02 208 ro o #x1A20 User Defined Inputs DT1A00 272 rw 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 #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 #x6007 Abort connection option code INT 16 0000 rw o #x603F Error code DINT 32 ro o #x6040 Controlword UINT 16 rw o RT #x6041 Statusword WORD 16 ro o RT #x6060 Mode of Operation USINT 8 ro o RT #x6061 Mode of Operation display USINT 8 rw o RT #x6064 Position actual value ( units ) DINT 32 rw o RT #x607a Target position DINT 32 rw o RT Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1602 Cylic Position Mode #x1603 #x1604 #x1606 #x6040 0 16 Controlword WORD #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 #x6040 0 16 Controlword WORD #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 #x6040 0 16 Controlword WORD #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 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