#x00000666 TG-Drives Drive TGZ TGZ Drive TGZ Drive V5.0 TGZ Drive V5.0 100 100 100 100 100 100 1024 4 2 Cyclic synchronous position mode (CSP)#x1701#x1b01Cyclic synchronous velocity mode (CSV)#x1702#x1b01 #x00000012 1 Drive 402 2 LINT 64 LREAL 64 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 BOOL 1 DT1018 144 0 number of entries USINT 8 0 ro 1 Vendor Id UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT1C12ARR UINT 16 1 1 DT1C12 32 0 number of PDOs USINT 8 0 rw Elements DT1C12ARR 16 16 rw DT1C13ARR UINT 16 1 1 DT1C13 32 0 number of PDOs USINT 8 0 rw Elements DT1C13ARR 16 16 rw DT1C32 360 0 SubIndex 000 USINT 8 0 ro 1 Sync mode UINT 16 16 ro 2 Cycle time UDINT 32 32 rw 3 Shift time UDINT 32 64 ro 4 Sync modes supported UINT 16 96 ro 5 Minimum cycle time UDINT 32 112 ro 6 Calc and copy time UDINT 32 144 ro 7 Minimum delay time UDINT 32 176 ro o 8 Command UINT 16 208 rw o 9 Maximum delay time UDINT 32 224 ro o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift too short counter UINT 16 320 ro o 32 Sync error BOOL 1 352 ro o DT4002 48 0 Number of entries USINT 8 0 ro m 1 Analog input 1 UINT 16 16 ro m 2 Analog input 2 UINT 16 32 ro m DT608F 80 0 Number of entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 rw 2 Motor revolutions UDINT 32 48 rw DT607B 80 0 NumberOfEntries USINT 8 0 ro 1 Min position range limit DINT 32 16 rw 2 Max position range limit DINT 32 48 rw DT6099 80 0 NumberOfEntries USINT 8 0 ro 1 SearchSwitch UDINT 32 16 rw 2 SearchZero UDINT 32 48 rw DT60C1 48 0 Number of entries USINT 8 0 ro 1 Interpolated position DINT 32 16 rw DT60C2 32 0 Number of entries USINT 8 0 ro m 1 Interpolation time period value USINT 8 16 rw m 2 Interpolation time index SINT 8 24 rw m DT60FE 80 0 Number of entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw R 2 Bit mask UDINT 32 48 rw DT60E3ARR SINT 72 1 9 DT60E3 88 0 Number of supported modes USINT 8 0 ro Supported modes DT60E3ARR 72 16 ro #x1000 Device Type UDINT 32 92010200 ro m #x1001 Error Register USINT 8 00 ro m #x1018 Identity Object DT1018 144 number of entries #x4 Vendor Id #x666 Product Code #x9 Revision number #x5 Serial number #x1 ro o #x1c12 Output PDO assignment DT1C12 32 number of PDOs 01 Fixed PDO 0117 rw #x1c13 Input PDO assignment DT1C13 32 number of PDOs 01 Fixed PDO 011B rw #x1c32 SM output parameter DT1C32 360 SubIndex 000 20 Sync mode 0100 Cycle time 20A10700 Shift time 00000000 Sync modes supported 0608 Minimum cycle time A0860100 Calc and copy time 00000000 Minimum delay time 00000000 Command 0000 Maximum delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C32 360 SubIndex 000 20 Sync mode 0100 Cycle time 20A10700 Shift time 00000000 Sync modes supported 0600 Minimum cycle time A0860100 Calc and copy time 00000000 Minimum delay time 00000000 Command 0000 Maximum delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x2000 CO-Type1 Servo type 1/5 UDINT 32 ro #x2001 CO-Type2 Servo type 2/5 UDINT 32 ro #x2002 CO-Type3 Servo type 3/5 UDINT 32 ro #x2003 CO-Type4 Servo type 4/5 UDINT 32 ro #x2004 CO-Type5 Servo type 5/5 UDINT 32 ro #x2005 CO-HWver Hardware version UDINT 32 ro #x2006 CO-FWver Firmware version UDINT 32 ro #x2007 CO-FWbuild1 Firmware build 1/5 UDINT 32 ro #x2008 CO-FWbuild2 Firmware build 2/5 UDINT 32 ro #x2009 CO-FWbuild3 Firmware build 3/5 UDINT 32 ro #x200A CO-FWbuild4 Firmware build 4/5 UDINT 32 ro #x200B CO-FWbuild5 Firmware build 5/5 UDINT 32 ro #x200C CO-IPAddress_udp IP address (need save and restart to change) UDINT 32 0 #xFFFFFFFF #xC801A8C0 rw #x200D CO-ID EtherCAT or CAN Node ID (need save and restart to change) DINT 32 1 2147483647 1 rw #x200E CO-SyncTime Measured sync time DINT 32 ro #x200F CO-Enable_1G EtherCAT speed mode DINT 32 0 10 0 rw #x2010 CO-SetCycleTime Desired cycle time UDINT 32 100 2000 500 rw #x2011 CO-UserProgStart Start user PLC program UDINT 32 0 2 0 rw #x201C CO-MapingPar1 Maping parameter 1 UDINT 32 0 #xFFFFFFFF #x3312 rw #x201D CO-MapingPar2 Maping parameter 2 UDINT 32 0 #xFFFFFFFF #x3412 rw #x2022 CO-Eth_PosDelaySync Delay position sync UDINT 32 0 500 0 rw #x2100 M-Name1_I Motor name 1/6 UDINT 32 0 4294967295 0 rw #x2101 M-Name2_I Motor name 2/6 UDINT 32 0 4294967295 0 rw #x2102 M-Name3_I Motor name 3/6 UDINT 32 0 4294967295 0 rw #x2103 M-Name4_I Motor name 4/6 UDINT 32 0 4294967295 0 rw #x2104 M-Name5_I Motor name 5/6 UDINT 32 0 4294967295 0 rw #x2105 M-Name6_I Motor name 6/6 UDINT 32 0 4294967295 0 rw #x2106 M-Inull_I Stall current UDINT 32 0 15000 1000 rw #x2107 M-Ipeak_I Peak current UDINT 32 0 30000 2000 rw #x2108 M-Nmax_I Maximal mechanical speed of motor - error limit UDINT 32 0 100000 10000 rw #x2109 M-Polepairs_I Num polepairs DINT 32 100 5 rw #x210A M-CommutOffset_I Offset of commutation DINT 32 32767 0 rw #x210B M-MinResTerm_I Error limit - Minimal resistivity UDINT 32 0 3000 0 rw #x210C M-MaxResTerm_I Error limit - Maximal resistivity UDINT 32 0 10000 1500 rw #x210D M-StaticBrake_I Static brake UDINT 32 0 1 0 rw #x210E M-ThermalTimeConst_I Thermal time constant UDINT 32 1 2000 10 rw #x210F M-GetCOffset_I Wake and shake: get commutation offset before run UDINT 32 0 1 0 rw #x2110 M-Ke_I Ke UDINT 32 0 10000000 0 rw #x2111 M-CommutationSource_I Commutation source UDINT 32 0 20 0 rw #x2112 M-CommutShiftPositive_I Shift of the commutation angle at max speed LimP DINT 32 16384 0 rw #x2113 M-CommutShiftNegative_I Shift of the commutation angle at max speed LimN DINT 32 16384 0 rw #x2114 M-MinResTermExt_I Error limit - Minimal resistivity of external thermistor UDINT 32 0 3000 0 rw #x2115 M-MaxResTermExt_I Error limit - Maximal resistivity of external thermistor UDINT 32 0 10000 0 rw #x2116 M-SN1_I Serial number 1/4 UDINT 32 0 4294967295 0 rw #x2117 M-SN2_I Serial number 2/4 UDINT 32 0 4294967295 0 rw #x2118 M-SN3_I Serial number 3/4 UDINT 32 0 4294967295 0 rw #x2119 M-SN4_I Serial number 4/4 UDINT 32 0 4294967295 0 rw #x211A M-Un_I nominal voltage UDINT 32 0 #x7FFFFFFF 0 rw #x211B M-Nn_I nominal rpm UDINT 32 0 #x7FFFFFFF 0 rw #x211C M-Mn_I nominal torque UDINT 32 0 #x7FFFFFFF 0 rw #x211D M-M0_I Torque in zero speed UDINT 32 0 #x7FFFFFFF 0 rw #x211E M-In_I nominal current UDINT 32 0 #x7FFFFFFF 0 rw #x211F M-kT_I Torque constant UDINT 32 0 #x7FFFFFFF 0 rw #x2120 M-R2ph_I resistivity two phases UDINT 32 0 #x7FFFFFFF 0 rw #x2121 M-L2ph_I inductance two phases UDINT 32 0 #x7FFFFFFF 0 rw #x2122 M-TempType_I motor temperature sensor type DINT 32 -2147483648 2147483647 0 rw #x2123 M-Rs_I stator resistance UDINT 32 1 1000000 1770 rw #x2124 M-Ls_I stator inductance UDINT 32 1 1000000 3480 rw #x2125 M-Rr_I rotor resistance UDINT 32 1 1000000 1500 rw #x2126 M-Lr_I rotor inductance UDINT 32 1 1000000 3480 rw #x2127 M-Lm_I magnetizing inductance UDINT 32 1 1000000 76100 rw #x2128 M-Id_rms_I nominal rms Id current UDINT 32 0 30000 500 rw #x2129 M-fn_I nominal frequency UDINT 32 10 1000 100 rw #x212A M-Umin_u_f_I Minimal voltage for low frequencies u/f UDINT 32 0 100 0 rw #x212B M-Umax_u_f_I Maximal voltage for higher frequencies stop increasing voltage UDINT 32 0 100 0 rw #x2200 M-Name1_II Motor name 1/6 UDINT 32 0 4294967295 0 rw #x2201 M-Name2_II Motor name 2/6 UDINT 32 0 4294967295 0 rw #x2202 M-Name3_II Motor name 3/6 UDINT 32 0 4294967295 0 rw #x2203 M-Name4_II Motor name 4/6 UDINT 32 0 4294967295 0 rw #x2204 M-Name5_II Motor name 5/6 UDINT 32 0 4294967295 0 rw #x2205 M-Name6_II Motor name 6/6 UDINT 32 0 4294967295 0 rw #x2206 M-Inull_II Stall current UDINT 32 0 15000 1000 rw #x2207 M-Ipeak_II Peak current UDINT 32 0 30000 2000 rw #x2208 M-Nmax_II Maximal mechanical speed of motor - error limit UDINT 32 0 100000 10000 rw #x2209 M-Polepairs_II Num polepairs DINT 32 100 5 rw #x220A M-CommutOffset_II Offset of commutation DINT 32 32767 0 rw #x220B M-MinResTerm_II Error limit - Minimal resistivity UDINT 32 0 3000 0 rw #x220C M-MaxResTerm_II Error limit - Maximal resistivity UDINT 32 0 10000 1500 rw #x220D M-StaticBrake_II Static brake UDINT 32 0 1 0 rw #x220E M-ThermalTimeConst_II Thermal time constant UDINT 32 1 2000 10 rw #x220F M-GetCOffset_II Wake and shake: get commutation offset before run UDINT 32 0 1 0 rw #x2210 M-Ke_II Ke UDINT 32 0 10000000 0 rw #x2211 M-CommutationSource_II Commutation source UDINT 32 0 20 0 rw #x2212 M-CommutShiftPositive_II Shift of the commutation angle at max speed LimP DINT 32 16384 0 rw #x2213 M-CommutShiftNegative_II Shift of the commutation angle at max speed LimN DINT 32 16384 0 rw #x2214 M-MinResTermExt_II Error limit - Minimal resistivity of external thermistor UDINT 32 0 3000 0 rw #x2215 M-MaxResTermExt_II Error limit - Maximal resistivity of external thermistor UDINT 32 0 10000 0 rw #x2216 M-SN1_II Serial number 1/4 UDINT 32 0 4294967295 0 rw #x2217 M-SN2_II Serial number 2/4 UDINT 32 0 4294967295 0 rw #x2218 M-SN3_II Serial number 3/4 UDINT 32 0 4294967295 0 rw #x2219 M-SN4_II Serial number 4/4 UDINT 32 0 4294967295 0 rw #x221A M-Un_II nominal voltage UDINT 32 0 #x7FFFFFFF 0 rw #x221B M-Nn_II nominal rpm UDINT 32 0 #x7FFFFFFF 0 rw #x221C M-Mn_II nominal torque UDINT 32 0 #x7FFFFFFF 0 rw #x221D M-M0_II Torque in zero speed UDINT 32 0 #x7FFFFFFF 0 rw #x221E M-In_II nominal current UDINT 32 0 #x7FFFFFFF 0 rw #x221F M-kT_II Torque constant UDINT 32 0 #x7FFFFFFF 0 rw #x2220 M-R2ph_II resistivity two phases UDINT 32 0 #x7FFFFFFF 0 rw #x2221 M-L2ph_II inductance two phases UDINT 32 0 #x7FFFFFFF 0 rw #x2222 M-TempType_II motor temperature sensor type DINT 32 -2147483648 2147483647 0 rw #x2223 M-Rs_II stator resistance UDINT 32 1 1000000 1770 rw #x2224 M-Ls_II stator inductance UDINT 32 1 1000000 3480 rw #x2225 M-Rr_II rotor resistance UDINT 32 1 1000000 1500 rw #x2226 M-Lr_II rotor inductance UDINT 32 1 1000000 3480 rw #x2227 M-Lm_II magnetizing inductance UDINT 32 1 1000000 76100 rw #x2228 M-Id_rms_II nominal rms Id current UDINT 32 0 30000 500 rw #x2229 M-fn_II nominal frequency UDINT 32 10 1000 100 rw #x222A M-Umin_u_f_II Minimal voltage for low frequencies u/f UDINT 32 0 100 0 rw #x222B M-Umax_u_f_II Maximal voltage for higher frequencies stop increasing voltage UDINT 32 0 100 0 rw #x2300 D-Name1_I Drive name 1/3 UDINT 32 0 4294967295 rw #x2301 D-Name2_I Drive name 2/3 UDINT 32 0 4294967295 rw #x2302 D-Name3_I Drive name 3/3 UDINT 32 0 4294967295 rw #x2303 D-Mode_I Mode of drive UDINT 32 0 1000005 rw #x2304 D-ADC_delay_I ADC converter delay UDINT 32 0 200 0 rw #x2309 D-OutputPwmFrequency_I Output pwm frequency UDINT 32 10 20 20 rw #x230A D-DelayEnable_Hwen_I Delay enable after HW enable signal UDINT 32 0 10000 10 rw #x230B D-DelayUnbrake_Enable_I Delay release brake after enable drive UDINT 32 0 50000 0 rw #x230C D-DelayDisable_Brake_I Delay disable drive after activating brake UDINT 32 0 50000 10 rw #x230D D-VoltDCLinkMinErrLim_I Minimal DC link voltage UDINT 32 0 845 rw #x230E D-VoltDCLinkMaxErrLim_I Maximal DC link voltage UDINT 32 5 850 rw #x230F D-ControlRegPWM_I special funcs of pwm and adc UDINT 32 0 #xffffffff 0 rw #x2310 D-Ierr_level_I Overcurrent error level DINT 32 0 1000000 150000 rw #x2311 D-Idc_limit_I Limit suply current from source for one drive DINT 32 100 1000000 50000 rw #x2312 D-MinResTerm_I Error limit - Minimal resistivity drive sensor UDINT 32 0 3000 0 rw #x2313 D-MaxResTerm_I Error limit - Maximal resistivity drive sensor UDINT 32 0 10000 1380 rw #x2315 D-EmerDecRamp_I emergency deceleration ramp UDINT 32 1 3600000 36000 rw #x2317 D-ErrorMaskEmerDec_I mask of drive error for emergency deceleration 0 - deactivated = disable UDINT 32 0 #xFFFFFFFF #x100000 rw #x2318 D-DI_MaskEmerStop_I mask for digital inputs usage for emergency stop - 0 deactivated UDINT 32 0 #xF 0 rw #x2319 D-GuardTimeEmerStop_I guarding time for communication buses ms - 0 deactivated UDINT 32 0 60000 0 rw #x231A D-MaxResStartFan_I Resistivity drive sensor for start fan UDINT 32 0 1400 1230 rw #x231B D-BrakeVoltDCLinkMin_I Minimal DC link voltage for regenerative braking UDINT 32 0 800 350 rw #x231C D-BrakeVoltDCLinkMax_I Maximal DC link voltage for maximal power regenerative braking UDINT 32 0 850 370 rw #x231D D-BrakeResResistivity_I Resistivity of regenerative braking resistor UDINT 32 1 10000 100 rw #x231E D-BrakeResMaxPower_I Maximal regenerative power of resistor UDINT 32 1 5000 10 rw #x231F D-BrakeResContinuousPower_I Continuous regenerative power of resistor UDINT 32 1 2500 5 rw #x2320 D-BrakeResThermalTimeConst_I Thermal time constant of regenerative brake resistor UDINT 32 1 600 10 rw #x2326 D-VoltDCLinkSoftStart_I DC link voltage for drive ready UDINT 32 0 300 300 rw #x2327 D-Idc_recu_limit_I Limit supply current from source for one drive for recuperation DINT 32 100 1000000 50000 rw #x232A D-DI_FilterTime_I Digital inputs - low pass filter time. 0.. filter off. DINT 32 0 5000 0 rw #x232B D-MotorTermExtOnAnInput_I Enable external motor temperature measuring on analogue input. UDINT 32 0 1 0 rw #x2400 D-Name1_II Drive name 1/3 UDINT 32 0 4294967295 rw #x2401 D-Name2_II Drive name 2/3 UDINT 32 0 4294967295 rw #x2402 D-Name3_II Drive name 3/3 UDINT 32 0 4294967295 rw #x2403 D-Mode_II Mode of drive UDINT 32 0 1000005 rw #x2404 D-ADC_delay_II ADC converter delay UDINT 32 0 200 0 rw #x2409 D-OutputPwmFrequency_II Output pwm frequency UDINT 32 10 20 20 rw #x240A D-DelayEnable_Hwen_II Delay enable after HW enable signal UDINT 32 0 10000 10 rw #x240B D-DelayUnbrake_Enable_II Delay release brake after enable drive UDINT 32 0 50000 0 rw #x240C D-DelayDisable_Brake_II Delay disable drive after activating brake UDINT 32 0 50000 10 rw #x240D D-VoltDCLinkMinErrLim_II Minimal DC link voltage UDINT 32 0 845 rw #x240E D-VoltDCLinkMaxErrLim_II Maximal DC link voltage UDINT 32 5 850 rw #x240F D-ControlRegPWM_II special funcs of pwm and adc UDINT 32 0 #xffffffff 0 rw #x2410 D-Ierr_level_II Overcurrent error level DINT 32 0 1000000 150000 rw #x2411 D-Idc_limit_II Limit suply current from source for one drive DINT 32 100 1000000 50000 rw #x2412 D-MinResTerm_II Error limit - Minimal resistivity drive sensor UDINT 32 0 3000 0 rw #x2413 D-MaxResTerm_II Error limit - Maximal resistivity drive sensor UDINT 32 0 10000 1380 rw #x2415 D-EmerDecRamp_II emergency deceleration ramp UDINT 32 1 3600000 36000 rw #x2417 D-ErrorMaskEmerDec_II mask of drive error for emergency deceleration 0 - deactivated = disable UDINT 32 0 #xFFFFFFFF #x100000 rw #x2418 D-DI_MaskEmerStop_II mask for digital inputs usage for emergency stop - 0 deactivated UDINT 32 0 #xF 0 rw #x2419 D-GuardTimeEmerStop_II guarding time for communication buses ms - 0 deactivated UDINT 32 0 60000 0 rw #x241A D-MaxResStartFan_II Resistivity drive sensor for start fan UDINT 32 0 1400 1230 rw #x241B D-BrakeVoltDCLinkMin_II Minimal DC link voltage for regenerative braking UDINT 32 0 800 350 rw #x241C D-BrakeVoltDCLinkMax_II Maximal DC link voltage for maximal power regenerative braking UDINT 32 0 850 370 rw #x241D D-BrakeResResistivity_II Resistivity of regenerative braking resistor UDINT 32 1 10000 100 rw #x241E D-BrakeResMaxPower_II Maximal regenerative power of resistor UDINT 32 1 5000 10 rw #x241F D-BrakeResContinuousPower_II Continuous regenerative power of resistor UDINT 32 1 2500 5 rw #x2420 D-BrakeResThermalTimeConst_II Thermal time constant of regenerative brake resistor UDINT 32 1 600 10 rw #x2426 D-VoltDCLinkSoftStart_II DC link voltage for drive ready UDINT 32 0 300 300 rw #x2427 D-Idc_recu_limit_II Limit supply current from source for one drive for recuperation DINT 32 100 1000000 50000 rw #x242A D-DI_FilterTime_II Digital inputs - low pass filter time. 0.. filter off. DINT 32 0 5000 0 rw #x242B D-MotorTermExtOnAnInput_II Enable external motor temperature measuring on analogue input. UDINT 32 0 1 0 rw #x2500 C-KQ_I Current controller Q gain UDINT 32 0 1000000 100 rw #x2501 C-Ti_I Current controller integral time UDINT 32 100 30000 1000 rw #x2502 C-KDr_I Current controller D relative gain to K UDINT 32 20 110 70 rw #x2503 C-Tc_I Time constant of current command filter UDINT 32 100 10000 1000 rw #x2504 C-Filt_I Percentage value of current command (100 = 100% goes via filter) UDINT 32 0 100 10 rw #x2505 C-LimN_I Current negative limit UDINT 32 0 6000 2000 rw #x2506 C-LimP_I Current positive limit UDINT 32 0 6000 2000 rw #x2507 C-VoltLimMin_I Min voltage limit UDINT 32 5 95 95 rw #x2508 C-VoltLimMax_I Max voltage limit UDINT 32 5 95 95 rw #x2509 C-CogCompFac_I Cogging compensation factor UDINT 32 0 100 0 rw #x2600 C-KQ_II Current controller Q gain UDINT 32 0 1000000 100 rw #x2601 C-Ti_II Current controller integral time UDINT 32 100 30000 1000 rw #x2602 C-KDr_II Current controller D relative gain to K UDINT 32 20 110 70 rw #x2603 C-Tc_II Time constant of current command filter UDINT 32 100 10000 1000 rw #x2604 C-Filt_II Percentage value of current command (100 = 100% goes via filter) UDINT 32 0 100 10 rw #x2605 C-LimN_II Current negative limit UDINT 32 0 6000 2000 rw #x2606 C-LimP_II Current positive limit UDINT 32 0 6000 2000 rw #x2607 C-VoltLimMin_II Min voltage limit UDINT 32 5 95 95 rw #x2608 C-VoltLimMax_II Max voltage limit UDINT 32 5 95 95 rw #x2609 C-CogCompFac_II Cogging compensation factor UDINT 32 0 100 0 rw #x2700 V-K_I Velocity controller gain UDINT 32 0 20000000 15000 rw #x2701 V-Ti_I Velocity controller integral time UDINT 32 0 1000000 10000 rw #x2702 V-LimN_I Velocity negative limit UDINT 32 0 100000 6000 rw #x2703 V-LimP_I Velocity positive limit UDINT 32 0 100000 6000 rw #x2704 V-Tfb_I Time constant of velocity feedback low pass filter UDINT 32 0 30000 400 rw #x2705 V-Tv_I Time constant of velocity command low pass filter UDINT 32 0 30000 1000 rw #x2706 V-FiFact_I Velocity filter factor 0 .. not filtered UDINT 32 0 1000 0 rw #x2707 V-FreqDiv_I calculation frequency divider (1=50μs, 2=100μs, ...) UDINT 32 1 200 rw #x2708 V-SourceSpeedHall_I relative value of speed measured by hall sensor used for calculation speed UDINT 32 0 1000 0 rw #x2800 V-K_II Velocity controller gain UDINT 32 0 20000000 15000 rw #x2801 V-Ti_II Velocity controller integral time UDINT 32 0 1000000 10000 rw #x2802 V-LimN_II Velocity negative limit UDINT 32 0 100000 6000 rw #x2803 V-LimP_II Velocity positive limit UDINT 32 0 100000 6000 rw #x2804 V-Tfb_II Time constant of velocity feedback low pass filter UDINT 32 0 30000 400 rw #x2805 V-Tv_II Time constant of velocity command low pass filter UDINT 32 0 30000 1000 rw #x2806 V-FiFact_II Velocity filter factor 0 .. not filtered UDINT 32 0 1000 0 rw #x2807 V-FreqDiv_II calculation frequency divider (1=50μs, 2=100μs, ...) UDINT 32 1 200 rw #x2808 V-SourceSpeedHall_II relative value of speed measured by hall sensor used for calculation speed UDINT 32 0 1000 0 rw #x2900 P-K_I Position controller gain UDINT 32 0 500000 5000 rw #x2901 P-SFF_I Speed feed forward UDINT 32 0 2000 1000 rw #x2902 P-MaxAngleError_I Maximal angle position error UDINT 32 rw #x2903 P-MaxRevolError_I Maximal revolutions position error DINT 32 rw #x2905 P-PosErrLimitAnglePositive_I Positive angle position limit (0 - limitation disabled) DINT 32 -2147483648 2147483647 0 rw #x2906 P-PosErrLimitRevolPosit_I Positive revolutions limit (0 - limit disabled) DINT 32 -2147483648 2147483647 0 rw #x2907 P-PosErrLimitAngleNegat_I Negative position angle (0 - limitation disabled) DINT 32 -2147483648 2147483647 0 rw #x2908 P-PosErrLimitRevolNegat_I Negative revolutions limit (0 - limit disabled) DINT 32 -2147483648 2147483647 0 rw #x2909 P-Ti_I Integral time UDINT 32 0 10000000 0 rw #x2A00 P-K_II Position controller gain UDINT 32 0 500000 5000 rw #x2A01 P-SFF_II Speed feed forward UDINT 32 0 2000 1000 rw #x2A02 P-MaxAngleError_II Maximal angle position error UDINT 32 rw #x2A03 P-MaxRevolError_II Maximal revolutions position error DINT 32 rw #x2A05 P-PosErrLimitAnglePositive_II Positive angle position limit (0 - limitation disabled) DINT 32 -2147483648 2147483647 0 rw #x2A06 P-PosErrLimitRevolPosit_II Positive revolutions limit (0 - limit disabled) DINT 32 -2147483648 2147483647 0 rw #x2A07 P-PosErrLimitAngleNegat_II Negative position angle (0 - limitation disabled) DINT 32 -2147483648 2147483647 0 rw #x2A08 P-PosErrLimitRevolNegat_II Negative revolutions limit (0 - limit disabled) DINT 32 -2147483648 2147483647 0 rw #x2A09 P-Ti_II Integral time UDINT 32 0 10000000 0 rw #x2B00 F-Type_I Feedback type UDINT 32 0 7 rw #x2B01 F-Resolution_I Feedback resolution per revolution UDINT 32 4 32 10 rw #x2B02 F-IncrEncPulses_I Incremental encoder feedback resolution UDINT 32 16 1073741824 1024 rw #x2B03 F-ExtIncrEncPulses_I External incremental encoder resolution UDINT 32 16 1073741824 1024 rw #x2B04 F-ResolverPoles_I Number of resolver poles UDINT 32 2 42 2 rw #x2B05 F-LoadMotParams_I Load motor parameters from feedback UDINT 32 0 2 0 rw #x2B06 F-RevolutionsBits_I Feedback absolute revolutions bits UDINT 32 0 16 0 rw #x2B07 F-Observer_K1_I Feedback observer constant K1 UDINT 32 0 1000000 0 rw #x2B08 F-Observer_K2_I Feedback observer constant K2 UDINT 32 0 1000000 0 rw #x2B09 F-RegAddr_I Feedback register address UDINT 32 0 #x7FFFFFFF #xD4 rw #x2B0A F-DataLen_I Number of bytes to read UDINT 32 0 8 0 rw #x2B0B F-Data0_3_I Readed data UDINT 32 ro #x2B0C F-Data4_7_I Readed data UDINT 32 ro #x2B0D F-HObserver_K1_I Feedback observer constant K1 UDINT 32 0 10000 0 rw #x2B0E F-HObserver_K2_I Feedback observer constant K2 UDINT 32 0 10000 0 rw #x2B0F F-SecondaryFBGearIN_I The gear between primary FB (hall) and secondary (digital) DINT 32 -2147483648 2147483647 1 rw #x2B10 F-SecondaryFBGearOUT_I The gear between primary FB (hall) and secondary (digital) UDINT 32 0 #x7FFFFFFF 1 rw #x2B11 F-MultiturnBits_I Number of bits for multiturn UDINT 32 ro #x2B12 F-SafetyEncoder_I Safety encoder is present UDINT 32 ro #x2B13 F-number_message_bits_I Number of bits in message UDINT 32 0 255 10 rw #x2B14 F-first_position_MSB_BitNumber_I First position MSB BitNumber UDINT 32 0 255 0 rw #x2B15 F-FreqDivisor_I 75MHz freq divisor UDINT 32 0 76000 38 rw #x2B16 F-MinComCLKPeriod_I Minimal comm period - num spi clocks UDINT 32 0 5000 0 rw #x2B17 F-FirstBitDataPart0_I First bit Data 0 UDINT 32 0 31 0 rw #x2B18 F-NumBitsDataPart0_I Num bits Data 0 UDINT 32 0 32 0 rw #x2B19 F-FirstBitDataPart1_I First Bit Data 1 UDINT 32 0 31 0 rw #x2B1A F-NumBitsDataPart1_I Num bits data 1 UDINT 32 0 32 0 rw #x2B1B F-CRC_CalcFromBit_I CRC calc from bit num, -1 CRC disabled UDINT 32 0 4294967295 4294967295 rw #x2B1C F-ErrorMaskDataPart0_I Error mask UDINT 32 0 4294967295 0 rw #x2B1D F-NegativeErrorMaskDataPart0_I Negative error mask UDINT 32 0 4294967295 0 rw #x2B1E F-ErrorMaskDataPart1_I Error mask UDINT 32 0 4294967295 0 rw #x2B1F F-NegativeErrorMaskDataPart1_I Negative error mask UDINT 32 0 4294967295 0 rw #x2B21 F-NegativeDirection_I Change direction of encoder (not for comutation) DINT 32 rw #x2B22 F-ExtNegativeDirection_I Change direction of external encoder DINT 32 rw #x2B23 F-ExtMode_I External encoder mode DINT 32 rw #x2B24 F-ExtEmulationSource_I External encoder emulation source DINT 32 rw #x2C00 F-Type_II Feedback type UDINT 32 0 7 rw #x2C01 F-Resolution_II Feedback resolution per revolution UDINT 32 4 32 10 rw #x2C02 F-IncrEncPulses_II Incremental encoder feedback resolution UDINT 32 16 1073741824 1024 rw #x2C03 F-ExtIncrEncPulses_II External incremental encoder resolution UDINT 32 16 1073741824 1024 rw #x2C04 F-ResolverPoles_II Number of resolver poles UDINT 32 2 42 2 rw #x2C05 F-LoadMotParams_II Load motor parameters from feedback UDINT 32 0 2 0 rw #x2C06 F-RevolutionsBits_II Feedback absolute revolutions bits UDINT 32 0 16 0 rw #x2C07 F-Observer_K1_II Feedback observer constant K1 UDINT 32 0 1000000 0 rw #x2C08 F-Observer_K2_II Feedback observer constant K2 UDINT 32 0 1000000 0 rw #x2C09 F-RegAddr_II Feedback register address UDINT 32 0 #x7FFFFFFF #xD4 rw #x2C0A F-DataLen_II Number of bytes to read UDINT 32 0 8 0 rw #x2C0B F-Data0_3_II Readed data UDINT 32 ro #x2C0C F-Data4_7_II Readed data UDINT 32 ro #x2C0D F-HObserver_K1_II Feedback observer constant K1 UDINT 32 0 10000 0 rw #x2C0E F-HObserver_K2_II Feedback observer constant K2 UDINT 32 0 10000 0 rw #x2C0F F-SecondaryFBGearIN_II The gear between primary FB (hall) and secondary (digital) DINT 32 -2147483648 2147483647 1 rw #x2C10 F-SecondaryFBGearOUT_II The gear between primary FB (hall) and secondary (digital) UDINT 32 0 #x7FFFFFFF 1 rw #x2C11 F-MultiturnBits_II Number of bits for multiturn UDINT 32 ro #x2C12 F-SafetyEncoder_II Safety encoder is present UDINT 32 ro #x2C13 F-number_message_bits_II Number of bits in message UDINT 32 0 255 10 rw #x2C14 F-first_position_MSB_BitNumber_II First position MSB BitNumber UDINT 32 0 255 0 rw #x2C15 F-FreqDivisor_II 75MHz freq divisor UDINT 32 0 76000 38 rw #x2C16 F-MinComCLKPeriod_II Minimal comm period - num spi clocks UDINT 32 0 5000 0 rw #x2C17 F-FirstBitDataPart0_II First bit Data 0 UDINT 32 0 31 0 rw #x2C18 F-NumBitsDataPart0_II Num bits Data 0 UDINT 32 0 32 0 rw #x2C19 F-FirstBitDataPart1_II First Bit Data 1 UDINT 32 0 31 0 rw #x2C1A F-NumBitsDataPart1_II Num bits data 1 UDINT 32 0 32 0 rw #x2C1B F-CRC_CalcFromBit_II CRC calc from bit num, -1 CRC disabled UDINT 32 0 4294967295 4294967295 rw #x2C1C F-ErrorMaskDataPart0_II Error mask UDINT 32 0 4294967295 0 rw #x2C1D F-NegativeErrorMaskDataPart0_II Negative error mask UDINT 32 0 4294967295 0 rw #x2C1E F-ErrorMaskDataPart1_II Error mask UDINT 32 0 4294967295 0 rw #x2C1F F-NegativeErrorMaskDataPart1_II Negative error mask UDINT 32 0 4294967295 0 rw #x2C21 F-NegativeDirection_II Change direction of encoder (not for comutation) DINT 32 rw #x2C22 F-ExtNegativeDirection_II Change direction of external encoder DINT 32 rw #x2C23 F-ExtMode_II External encoder mode DINT 32 rw #x2C24 F-ExtEmulationSource_II External encoder emulation source DINT 32 rw #x3100 K-Command_I Command bits[1,0]=01 .. SW enable UDINT 32 0 #x7FFFFFFF 0 rw #x3101 K-rI_I Required current (current mode = 1) DINT 32 600000 0 rw #x3102 K-rV_I Required velocity (velocity mode = 2) DINT 32 100000000 0 rw #x3103 K-rP_Angle_I Required position (angle) (position mode) UDINT 32 0 4294967295 0 rw #x3104 K-rP_Revol_I Required position (revolutions) (position mode) DINT 32 -2147483648 2147483647 0 rw #x3105 K-rVoltageQ_I Required voltage DINT 32 1000 0 rw #x3106 K-rVoltageD_I Required voltage DINT 32 1000 0 rw #x3107 K-ParamCommand_I Save, load parameterss UDINT 32 0 #xFFFFFFFF rw #x3108 K-UsrPrgCommand_I save/load to/from .. SD,flash UDINT 32 0 #xFFFFFFFF 0 rw #x3109 K-DigitalOutputForce_Set_I force outputs (set bits) UDINT 32 0 #xFFFFFFFF 0 rw #x310A K-DigitalOutputForce_Clr_I force outputs (clear bits) UDINT 32 0 #xFFFFFFFF 0 rw #x310B K-DigitalOutputEx_I set ouputs UDINT 32 0 #xFFFFFFFF 0 rw #x310C K-rId_I Required current (current mode = 1) DINT 32 36000 0 rw #x310D K-ResetGuarding_I reset of guarding by write 0xAA55 UDINT 32 0 #xAA55 0 rw #x3200 K-Command_II Command bits[1,0]=01 .. SW enable UDINT 32 0 #x7FFFFFFF 0 rw #x3201 K-rI_II Required current (current mode = 1) DINT 32 600000 0 rw #x3202 K-rV_II Required velocity (velocity mode = 2) DINT 32 100000000 0 rw #x3203 K-rP_Angle_II Required position (angle) (position mode) UDINT 32 0 4294967295 0 rw #x3204 K-rP_Revol_II Required position (revolutions) (position mode) DINT 32 -2147483648 2147483647 0 rw #x3205 K-rVoltageQ_II Required voltage DINT 32 1000 0 rw #x3206 K-rVoltageD_II Required voltage DINT 32 1000 0 rw #x3207 K-ParamCommand_II Save, load parameterss UDINT 32 0 #xFFFFFFFF rw #x3208 K-UsrPrgCommand_II save/load to/from .. SD,flash UDINT 32 0 #xFFFFFFFF 0 rw #x3209 K-DigitalOutputForce_Set_II force outputs (set bits) UDINT 32 0 #xFFFFFFFF 0 rw #x320A K-DigitalOutputForce_Clr_II force outputs (clear bits) UDINT 32 0 #xFFFFFFFF 0 rw #x320B K-DigitalOutputEx_II set ouputs UDINT 32 0 #xFFFFFFFF 0 rw #x320C K-rId_II Required current (current mode = 1) DINT 32 36000 0 rw #x320D K-ResetGuarding_II reset of guarding by write 0xAA55 UDINT 32 0 #xAA55 0 rw #x3300 MON-Monitor-Counter_I Main counter DINT 32 ro #x3301 MON-aIa_I Actual current phase A DINT 32 ro #x3302 MON-aIb_I Actual current phase B DINT 32 ro #x3303 MON-aIc_I Actual current phase C DINT 32 ro #x3304 MON-aIalfa_I Actual current alfa DINT 32 ro #x3305 MON-aIbeta_I Actual current beta DINT 32 ro #x3306 MON-aIq_I Actual current q DINT 32 ro #x3307 MON-aId_I Actual current d DINT 32 ro #x3308 MON-aUq_I Actual voltage q DINT 32 ro #x3309 MON-aUd_I Actual voltage d DINT 32 ro #x330A MON-aUalfa_I Actual voltage alfa DINT 32 ro #x330B MON-aUbeta_I Actual voltage beta DINT 32 ro #x330C MON-aPWMa_I Actual duty cycle phase A DINT 32 ro #x330D MON-aPWMb_I Actual duty cycle phase B DINT 32 ro #x330E MON-aPWMc_I Actual duty cycle phase C DINT 32 ro #x330F MON-aEAngle_I Electric motor angle DINT 32 ro #x3310 MON-aAngle_I Actual position per revolution UDINT 32 ro #x3311 MON-aRevol_I Actual number of revolutions DINT 32 ro #x3312 MON-aSpeed_I Actual motor speed DINT 32 ro #x3313 MON-aSpeedFB_I Actual feedback speed DINT 32 ro #x3314 MON-aSpeedError_I Actual speed error DINT 32 ro #x331C MON-aAngleError_I Actual angle error UDINT 32 ro #x331D MON-aRevolError_I Actual revolution error DINT 32 ro #x331F MON-aParamStatus_I Parameter command status UDINT 32 ro #x3320 MON-ec_errPacketCnt_I Damaged packets counter UDINT 32 ro #x3325 MON-aDriveStatus_I Axis status value UDINT 32 ro #x3326 MON-aDriveError_I Actual axis error code UDINT 32 ro #x3327 MON-aDriveWarning_I Actual drive warning code UDINT 32 ro #x3328 MON-AnInput_I Analog Input UDINT 32 ro #x3329 MON-VoltDCLink_I VoltDCLink UDINT 32 ro #x332A MON-OnChipTemp_I On chip temperature UDINT 32 ro #x332B MON-ec_SetPointAngle_I Desired EtherCAT position per revolution DINT 32 ro #x332C MON-ec_SetPointRevol_I Desired EtherCAT number of revolutions UDINT 32 ro #x332D MON-ec_control_I EtherCAT control word (native) UDINT 32 ro #x332E MON-ec_currentSetPoint_I Desired EtherCAT current value (normalized) DINT 32 ro #x332F MON-ec_currentLimit_I Normalized EtherCAT current limit UDINT 32 ro #x3330 MON-Digital_Inputs_I D1: IN1,IN3,IN5,IN7 D2: IN2,IN4,IN6,IN8 UDINT 32 ro #x3331 MON-Motor_temperature_I Motor temperature expressed as thermistor resistance UDINT 32 ro #x3332 MON-rIq_I Required current (input - current controller) DINT 32 ro #x3333 MON-Ia_rms_I actual current Q UDINT 32 ro #x3334 MON-Ib_rms_I actual current D UDINT 32 ro #x3335 MON-Ic_rms_I UDINT 32 ro #x3336 MON-I_rms_I UDINT 32 ro #x3337 MON-aI2t_I UDINT 32 ro #x3338 MON-rAngle_I Required position per revolution (input - position controller) UDINT 32 ro #x3339 MON-rRevol_I Required number of revolutions (input - position controller) DINT 32 ro #x333A MON-rSpeed_I Required speed (input - speed controller) DINT 32 ro #x333B MON-DSL_status_I Status of the DSL fb encoder UDINT 32 ro #x333C MON-DO_I Digital outputs UDINT 32 ro #x333D MON-Icogcomp_I Required current for cogging compensation DINT 32 ro #x333E MON-aExtAngle_I Actual position per revolution - external encoder UDINT 32 ro #x333F MON-aExtRevol_I Actual number of revolutions - external encoder DINT 32 ro #x3340 MON-C-PacketTime_I Measured inter-packet time DINT 32 ro #x3341 MON-ecatPHY_1_I ECAT PHY Status reg UDINT 32 ro #x3342 MON-ecatPHY_6_I PHY auto negotiation exp. reg UDINT 32 ro #x3343 MON-ecatPHY_10_I PHY M/S Stat. reg UDINT 32 ro #x3344 MON-ecatPHY_U0_I PHY U0 reg UDINT 32 ro #x3345 MON-DIex_I SPI IOE inputs UDINT 32 ro #x3346 MON-aResolverAngle_I Actual position per revolution - resolver UDINT 32 ro #x3347 MON-aResolverError_I b7 Sine/cosine inputs clipped, b6 Sine/cosine inputs below LOS threshold, b5 Sine/cosine inputs exceed DOS over range threshold, b4 Sine/cosine inputs exceed DOS mismatch threshold, b3 Tracking error exceeds LOT threshold, b2 Velocity exceeds maximum tracking rate, b1 Phase error exceeds phase lock range, b0 Configuration parity error UDINT 32 ro #x3348 MON-Iq_filt_I filtered current Iq DINT 32 ro #x3349 MON-I_DCLink_I current from source DINT 32 ro #x334A MON-E_consumption_mAh_I energy from source UDINT 32 ro #x334B MON-E_recuperation_mAh_I energy to source UDINT 32 ro #x334C MON-aDriveErrorDetailedB3B0_I aDriveErrorDetailedB3B0 UDINT 32 ro #x334D MON-aDriveErrorDetailedB7B4_I aDriveErrorDetailedB7B4 UDINT 32 ro #x334E MON-aDriveErrorDetailedB11B8_I aDriveErrorDetailedB11B8 UDINT 32 ro #x334F MON-aDriveErrorDetailedB15B12_I aDriveErrorDetailedB15B12 UDINT 32 ro #x3350 MON-aDriveErrorDetailedB19B16_I aDriveErrorDetailedB19B16 UDINT 32 ro #x3351 MON-aDriveErrorDetailedB23B20_I aDriveErrorDetailedB23B20 UDINT 32 ro #x3352 MON-aDriveErrorDetailedB27B24_I aDriveErrorDetailedB27B24 UDINT 32 ro #x3353 MON-aDriveErrorDetailedB31B28_I aDriveErrorDetailedB31B28 UDINT 32 ro #x3354 MON-aPositionError_I position error (resolution PG) DINT 32 ro #x3355 MON-aMainLoopTime_I time of main loop cycle UDINT 32 ro #x3356 MON-MaxPositive_Iq_I maximal Iq from drive start DINT 32 ro #x3357 MON-MaxNegative_Iq_I maximal negative Iq from drive start DINT 32 ro #x3358 MON-MaxPositive_Speed_I maximal speed from drive start UDINT 32 ro #x3359 MON-MaxNegative_Speed_I maximal negative speed from drive start UDINT 32 ro #x335A MON-PacketCounter_I bus packet counter UDINT 32 ro #x335B MON-PmuTemp0_I Power M. Unit - Filtered temperature value for sensor 0. UDINT 32 ro #x335C MON-PmuTemp1_I Power M. Unit - Filtered temperature value for sensor 1. UDINT 32 ro #x335D MON-PmuAlerts_I Power M. Unit - ALERT signal for each output. [4]=LDO, [3]=Switcher D, [2]=Switcher C, [1]=Switcher B, [0]=Switcher A. UDINT 32 ro #x335E MON-PmuVdrv_I Power M. Unit - The filtered value of Vdrv. UDINT 32 ro #x335F MON-PmuVcc_I Power M. Unit - The filtered value of Vcc. UDINT 32 ro #x3360 MON-PmuInputPower_I Power M. Unit - The sum of the input power of all 5 outputs. UDINT 32 ro #x3361 MON-aSpeedHall_I Actual speed - hall sensors DINT 32 ro #x3362 MON-aAngleHall_I Actual position per revolution (hall sensors) UDINT 32 ro #x3363 MON-aRevolHall_I Actual number of revolutions (hall sensors) DINT 32 ro #x3364 MON-aAngleFB_I Actual position per revolution (feedback) UDINT 32 ro #x3365 MON-aRevolFB_I Actual number of revolutions (feedback) DINT 32 ro #x3366 MON-ExtTemp1_I Actual temperature Ext1 DINT 32 ro #x3367 MON-ExtTemp2_I Actual temperature Ext2 DINT 32 ro #x3368 MON-ExtAnInput_I External analog input DINT 32 ro #x3369 MON-DSL_SafePosition1_I safe position channel 1 (resolution encoder) DINT 32 ro #x336A MON-DSL_SafePosition2_I safe position channel 2 (resolution encoder) DINT 32 ro #x336B MON-aDSL_SafeSpeed1_I Actual motor speed DINT 32 ro #x336C MON-aDSL_SafeSpeed2_I Actual motor speed DINT 32 ro #x3373 MON-aLoop0Time_I time of loop cycle 0 UDINT 32 ro #x3374 MON-aLoop1Time_I time of loop cycle 1 UDINT 32 ro #x3375 MON-aLoop2Time_I time of loop cycle 2 UDINT 32 ro #x3376 MON-aLoop3Time_I time of loop cycle 3 UDINT 32 ro #x3377 MON-aLoop4Time_I time of loop cycle 4 UDINT 32 ro #x3378 MON-aSpeed_pgInc_I Actual fb speed of movement DINT 32 ro #x3379 MON-rAcc_pgInc_I Actual acceleration on output PG DINT 32 ro #x337A MON-rI_CurrentFeedForward_I actual value of current feed forward DINT 32 ro #x337B MON-rId_I actual value of required D current DINT 32 ro #x337C MON-VoltFBSupply_I Position feedback power supply voltage DINT 32 ro #x337E MON-GuardingCounter_ms_I Guarding time counter UDINT 32 ro #x337F MON-rSpeed_pgInc_I Input speed of velocity controller DINT 32 ro #x3380 MON-QualityMonitor_I Connection quality 0 .. 15 UDINT 32 ro #x3381 MON-DSL_Delay_I 4 bit value for cable delay 0 .. 100ns .. 10m UDINT 32 ro #x3382 MON-DSL_RSSI_I received signal strength 0..12, Low connection (2) UDINT 32 ro #x3383 MON-DSL_Edges_I edge sampling - noisy signals set a large number of bit UDINT 32 ro #x3384 MON-DSL_HUB_Acc_Sensor_I DSL HUB accelerometer DINT 32 ro #x3385 MON-DSL_HUB_Hum_Sensor_I DSL HUB humidity DINT 32 ro #x3386 MON-DSL_HUB_iTemp_Sensor_I DSL HUB internal temperature DINT 32 ro #x3387 MON-DSL_enc_stat_3_2_1_0_I DSL encoderStatus 0123 40-43h DINT 32 ro #x3388 MON-DSL_enc_stat_7_6_5_4_I DSL encoderStatus 4567 44-47h DINT 32 ro #x338D MON-aAngle_pg_offset_I Actual position per revolution - actual position with pg offset DINT 32 ro #x338E MON-aRevol_pg_offset_I Actual number of revolutions - actual position with pg offset DINT 32 ro #x338F MON-STO_diagnostics_I bit0..STO A,bit1..STOA1diag,bit2..STOA2diag,bit3..reserved,bit4..STO B,bit5 ..STOBdiag,bit6,bit7..reserved UDINT 32 ro #x3390 MON-aDriveStateMachIndex_I ADC state index UDINT 32 ro #x3391 MON-aServiceIn_I aServiceIn UDINT 32 ro #x3392 MON-BrakeResLoad_I BrakeResLoad DINT 32 ro #x3393 MON-BrakeActPower_I BrakeActPower DINT 32 ro #x3394 MON-DBG_DriveInitIndex_I DBG_DriveInitIndex UDINT 32 ro #x3395 MON-DBG_InitStat_I DBG_DriveInitState UDINT 32 ro #x3400 MON-Monitor-Counter_II Main counter DINT 32 ro #x3401 MON-aIa_II Actual current phase A DINT 32 ro #x3402 MON-aIb_II Actual current phase B DINT 32 ro #x3403 MON-aIc_II Actual current phase C DINT 32 ro #x3404 MON-aIalfa_II Actual current alfa DINT 32 ro #x3405 MON-aIbeta_II Actual current beta DINT 32 ro #x3406 MON-aIq_II Actual current q DINT 32 ro #x3407 MON-aId_II Actual current d DINT 32 ro #x3408 MON-aUq_II Actual voltage q DINT 32 ro #x3409 MON-aUd_II Actual voltage d DINT 32 ro #x340A MON-aUalfa_II Actual voltage alfa DINT 32 ro #x340B MON-aUbeta_II Actual voltage beta DINT 32 ro #x340C MON-aPWMa_II Actual duty cycle phase A DINT 32 ro #x340D MON-aPWMb_II Actual duty cycle phase B DINT 32 ro #x340E MON-aPWMc_II Actual duty cycle phase C DINT 32 ro #x340F MON-aEAngle_II Electric motor angle DINT 32 ro #x3410 MON-aAngle_II Actual position per revolution UDINT 32 ro #x3411 MON-aRevol_II Actual number of revolutions DINT 32 ro #x3412 MON-aSpeed_II Actual motor speed DINT 32 ro #x3413 MON-aSpeedFB_II Actual feedback speed DINT 32 ro #x3414 MON-aSpeedError_II Actual speed error DINT 32 ro #x341C MON-aAngleError_II Actual angle error UDINT 32 ro #x341D MON-aRevolError_II Actual revolution error DINT 32 ro #x341F MON-aParamStatus_II Parameter command status UDINT 32 ro #x3420 MON-ec_errPacketCnt_II Damaged packets counter UDINT 32 ro #x3425 MON-aDriveStatus_II Axis status value UDINT 32 ro #x3426 MON-aDriveError_II Actual axis error code UDINT 32 ro #x3427 MON-aDriveWarning_II Actual drive warning code UDINT 32 ro #x3428 MON-AnInput_II Analog Input UDINT 32 ro #x3429 MON-VoltDCLink_II VoltDCLink UDINT 32 ro #x342A MON-OnChipTemp_II On chip temperature UDINT 32 ro #x342B MON-ec_SetPointAngle_II Desired EtherCAT position per revolution DINT 32 ro #x342C MON-ec_SetPointRevol_II Desired EtherCAT number of revolutions UDINT 32 ro #x342D MON-ec_control_II EtherCAT control word (native) UDINT 32 ro #x342E MON-ec_currentSetPoint_II Desired EtherCAT current value (normalized) DINT 32 ro #x342F MON-ec_currentLimit_II Normalized EtherCAT current limit UDINT 32 ro #x3430 MON-Digital_Inputs_II D1: IN1,IN3,IN5,IN7 D2: IN2,IN4,IN6,IN8 UDINT 32 ro #x3431 MON-Motor_temperature_II Motor temperature expressed as thermistor resistance UDINT 32 ro #x3432 MON-rIq_II Required current (input - current controller) DINT 32 ro #x3433 MON-Ia_rms_II actual current Q UDINT 32 ro #x3434 MON-Ib_rms_II actual current D UDINT 32 ro #x3435 MON-Ic_rms_II UDINT 32 ro #x3436 MON-I_rms_II UDINT 32 ro #x3437 MON-aI2t_II UDINT 32 ro #x3438 MON-rAngle_II Required position per revolution (input - position controller) UDINT 32 ro #x3439 MON-rRevol_II Required number of revolutions (input - position controller) DINT 32 ro #x343A MON-rSpeed_II Required speed (input - speed controller) DINT 32 ro #x343B MON-DSL_status_II Status of the DSL fb encoder UDINT 32 ro #x343C MON-DO_II Digital outputs UDINT 32 ro #x343D MON-Icogcomp_II Required current for cogging compensation DINT 32 ro #x343E MON-aExtAngle_II Actual position per revolution - external encoder UDINT 32 ro #x343F MON-aExtRevol_II Actual number of revolutions - external encoder DINT 32 ro #x3440 MON-C-PacketTime_II Measured inter-packet time DINT 32 ro #x3441 MON-ecatPHY_1_II ECAT PHY Status reg UDINT 32 ro #x3442 MON-ecatPHY_6_II PHY auto negotiation exp. reg UDINT 32 ro #x3443 MON-ecatPHY_10_II PHY M/S Stat. reg UDINT 32 ro #x3444 MON-ecatPHY_U0_II PHY U0 reg UDINT 32 ro #x3445 MON-DIex_II SPI IOE inputs UDINT 32 ro #x3446 MON-aResolverAngle_II Actual position per revolution - resolver UDINT 32 ro #x3447 MON-aResolverError_II b7 Sine/cosine inputs clipped, b6 Sine/cosine inputs below LOS threshold, b5 Sine/cosine inputs exceed DOS over range threshold, b4 Sine/cosine inputs exceed DOS mismatch threshold, b3 Tracking error exceeds LOT threshold, b2 Velocity exceeds maximum tracking rate, b1 Phase error exceeds phase lock range, b0 Configuration parity error UDINT 32 ro #x3448 MON-Iq_filt_II filtered current Iq DINT 32 ro #x3449 MON-I_DCLink_II current from source DINT 32 ro #x344A MON-E_consumption_mAh_II energy from source UDINT 32 ro #x344B MON-E_recuperation_mAh_II energy to source UDINT 32 ro #x344C MON-aDriveErrorDetailedB3B0_II aDriveErrorDetailedB3B0 UDINT 32 ro #x344D MON-aDriveErrorDetailedB7B4_II aDriveErrorDetailedB7B4 UDINT 32 ro #x344E MON-aDriveErrorDetailedB11B8_II aDriveErrorDetailedB11B8 UDINT 32 ro #x344F MON-aDriveErrorDetailedB15B12_II aDriveErrorDetailedB15B12 UDINT 32 ro #x3450 MON-aDriveErrorDetailedB19B16_II aDriveErrorDetailedB19B16 UDINT 32 ro #x3451 MON-aDriveErrorDetailedB23B20_II aDriveErrorDetailedB23B20 UDINT 32 ro #x3452 MON-aDriveErrorDetailedB27B24_II aDriveErrorDetailedB27B24 UDINT 32 ro #x3453 MON-aDriveErrorDetailedB31B28_II aDriveErrorDetailedB31B28 UDINT 32 ro #x3454 MON-aPositionError_II position error (resolution PG) DINT 32 ro #x3455 MON-aMainLoopTime_II time of main loop cycle UDINT 32 ro #x3456 MON-MaxPositive_Iq_II maximal Iq from drive start DINT 32 ro #x3457 MON-MaxNegative_Iq_II maximal negative Iq from drive start DINT 32 ro #x3458 MON-MaxPositive_Speed_II maximal speed from drive start UDINT 32 ro #x3459 MON-MaxNegative_Speed_II maximal negative speed from drive start UDINT 32 ro #x345A MON-PacketCounter_II bus packet counter UDINT 32 ro #x345B MON-PmuTemp0_II Power M. Unit - Filtered temperature value for sensor 0. UDINT 32 ro #x345C MON-PmuTemp1_II Power M. Unit - Filtered temperature value for sensor 1. UDINT 32 ro #x345D MON-PmuAlerts_II Power M. Unit - ALERT signal for each output. [4]=LDO, [3]=Switcher D, [2]=Switcher C, [1]=Switcher B, [0]=Switcher A. UDINT 32 ro #x345E MON-PmuVdrv_II Power M. Unit - The filtered value of Vdrv. UDINT 32 ro #x345F MON-PmuVcc_II Power M. Unit - The filtered value of Vcc. UDINT 32 ro #x3460 MON-PmuInputPower_II Power M. Unit - The sum of the input power of all 5 outputs. UDINT 32 ro #x3461 MON-aSpeedHall_II Actual speed - hall sensors DINT 32 ro #x3462 MON-aAngleHall_II Actual position per revolution (hall sensors) UDINT 32 ro #x3463 MON-aRevolHall_II Actual number of revolutions (hall sensors) DINT 32 ro #x3464 MON-aAngleFB_II Actual position per revolution (feedback) UDINT 32 ro #x3465 MON-aRevolFB_II Actual number of revolutions (feedback) DINT 32 ro #x3466 MON-ExtTemp1_II Actual temperature Ext1 DINT 32 ro #x3467 MON-ExtTemp2_II Actual temperature Ext2 DINT 32 ro #x3468 MON-ExtAnInput_II External analog input DINT 32 ro #x3469 MON-DSL_SafePosition1_II safe position channel 1 (resolution encoder) DINT 32 ro #x346A MON-DSL_SafePosition2_II safe position channel 2 (resolution encoder) DINT 32 ro #x346B MON-aDSL_SafeSpeed1_II Actual motor speed DINT 32 ro #x346C MON-aDSL_SafeSpeed2_II Actual motor speed DINT 32 ro #x3473 MON-aLoop0Time_II time of loop cycle 0 UDINT 32 ro #x3474 MON-aLoop1Time_II time of loop cycle 1 UDINT 32 ro #x3475 MON-aLoop2Time_II time of loop cycle 2 UDINT 32 ro #x3476 MON-aLoop3Time_II time of loop cycle 3 UDINT 32 ro #x3477 MON-aLoop4Time_II time of loop cycle 4 UDINT 32 ro #x3478 MON-aSpeed_pgInc_II Actual fb speed of movement DINT 32 ro #x3479 MON-rAcc_pgInc_II Actual acceleration on output PG DINT 32 ro #x347A MON-rI_CurrentFeedForward_II actual value of current feed forward DINT 32 ro #x347B MON-rId_II actual value of required D current DINT 32 ro #x347C MON-VoltFBSupply_II Position feedback power supply voltage DINT 32 ro #x347E MON-GuardingCounter_ms_II Guarding time counter UDINT 32 ro #x347F MON-rSpeed_pgInc_II Input speed of velocity controller DINT 32 ro #x3480 MON-QualityMonitor_II Connection quality 0 .. 15 UDINT 32 ro #x3481 MON-DSL_Delay_II 4 bit value for cable delay 0 .. 100ns .. 10m UDINT 32 ro #x3482 MON-DSL_RSSI_II received signal strength 0..12, Low connection (2) UDINT 32 ro #x3483 MON-DSL_Edges_II edge sampling - noisy signals set a large number of bit UDINT 32 ro #x3484 MON-DSL_HUB_Acc_Sensor_II DSL HUB accelerometer DINT 32 ro #x3485 MON-DSL_HUB_Hum_Sensor_II DSL HUB humidity DINT 32 ro #x3486 MON-DSL_HUB_iTemp_Sensor_II DSL HUB internal temperature DINT 32 ro #x3487 MON-DSL_enc_stat_3_2_1_0_II DSL encoderStatus 0123 40-43h DINT 32 ro #x3488 MON-DSL_enc_stat_7_6_5_4_II DSL encoderStatus 4567 44-47h DINT 32 ro #x348D MON-aAngle_pg_offset_II Actual position per revolution - actual position with pg offset DINT 32 ro #x348E MON-aRevol_pg_offset_II Actual number of revolutions - actual position with pg offset DINT 32 ro #x348F MON-STO_diagnostics_II bit0..STO A,bit1..STOA1diag,bit2..STOA2diag,bit3..reserved,bit4..STO B,bit5 ..STOBdiag,bit6,bit7..reserved UDINT 32 ro #x3490 MON-aDriveStateMachIndex_II ADC state index UDINT 32 ro #x3491 MON-aServiceIn_II aServiceIn UDINT 32 ro #x3492 MON-BrakeResLoad_II BrakeResLoad DINT 32 ro #x3493 MON-BrakeActPower_II BrakeActPower DINT 32 ro #x3494 MON-DBG_DriveInitIndex_II DBG_DriveInitIndex UDINT 32 ro #x3495 MON-DBG_InitStat_II DBG_DriveInitState UDINT 32 ro #x3800 PRG-ControlProg User program control: bit0..start/pause, bit1..restart, bit2..debug, bit3-step UDINT 32 0 #xF 0 rw #x3801 PRG-StatusProg User program status: bit0..running, bit1..paused(breakpoint), bit2..debug, bit3..error UDINT 32 ro #x3802 PRG-ErrorProg User program error code DINT 32 ro #x3803 PRG-BreakPointLine User program breakpoint line UDINT 32 0 4294967295 0 rw #x3806 PRG-MainCycleTime Main cycle time UDINT 32 ro #x380C PRG-NumInstructionsPerCycle Number of instructions per cycle UDINT 32 0 4294967295 200 rw #x3810 PRG-CAN_Status CAN Status UDINT 32 ro #x3811 PRG-CAN_Transmit_ID CAN Transmit ID UDINT 32 0 4294967295 0 rw #x3812 PRG-CAN_Transmit_Len CAN Transmit Length UDINT 32 0 4294967295 0 rw #x3813 PRG-CAN_Transmit_Data_Lo CAN Transmit Data Low Word UDINT 32 0 4294967295 0 rw #x3814 PRG-CAN_Transmit_Data_Hi CAN Transmit Data High Word UDINT 32 0 4294967295 0 rw #x3815 PRG-CAN_Transmit_Control CAN Transmit Control UDINT 32 0 4294967295 0 rw #x3816 PRG-CAN_Receive_Control CAN Receive Control UDINT 32 0 4294967295 0 rw #x3817 PRG-CAN_Receive_Buff0_ID ID of CAN Receive Buffer 0 UDINT 32 rw #x3818 PRG-CAN_Receive_Buff0_Len Length of CAN Receive Buffer 0 UDINT 32 rw #x3819 PRG-CAN_Receive_Buff0_Data_Lo Data Low Word of CAN Receive Buffer 0 UDINT 32 rw #x381A PRG-CAN_Receive_Buff0_Data_Hi Data High Word of CAN Receive Buffer 0 UDINT 32 rw #x381B PRG-CAN_Receive_Buff1_ID ID of CAN Receive Buffer 1 UDINT 32 rw #x381C PRG-CAN_Receive_Buff1_Len Length of CAN Receive Buffer 1 UDINT 32 rw #x381D PRG-CAN_Receive_Buff1_Data_Lo Data Low Word of CAN Receive Buffer 1 UDINT 32 rw #x381E PRG-CAN_Receive_Buff1_Data_Hi Data High Word of CAN Receive Buffer 1 UDINT 32 rw #x381F PRG-CAN_Receive_Buff2_ID ID of CAN Receive Buffer 2 UDINT 32 rw #x3820 PRG-CAN_Receive_Buff2_Len Length of CAN Receive Buffer 2 UDINT 32 rw #x3821 PRG-CAN_Receive_Buff2_Data_Lo Data Low Word of CAN Receive Buffer 2 UDINT 32 rw #x3822 PRG-CAN_Receive_Buff2_Data_Hi Data High Word of CAN Receive Buffer 2 UDINT 32 rw #x3823 PRG-CAN_Receive_Buff3_ID ID of CAN Receive Buffer 3 UDINT 32 rw #x3824 PRG-CAN_Receive_Buff3_Len Length of CAN Receive Buffer 3 UDINT 32 rw #x3825 PRG-CAN_Receive_Buff3_Data_Lo Data Low Word of CAN Receive Buffer 3 UDINT 32 rw #x3826 PRG-CAN_Receive_Buff3_Data_Hi Data High Word of CAN Receive Buffer 3 UDINT 32 rw #x3827 PRG-CAN_Receive_Buff4_ID ID of CAN Receive Buffer 4 UDINT 32 rw #x3828 PRG-CAN_Receive_Buff4_Len Length of CAN Receive Buffer 4 UDINT 32 rw #x3829 PRG-CAN_Receive_Buff4_Data_Lo Data Low Word of CAN Receive Buffer 4 UDINT 32 rw #x382A PRG-CAN_Receive_Buff4_Data_Hi Data High Word of CAN Receive Buffer 4 UDINT 32 rw #x382B PRG-CAN_Receive_Buff5_ID ID of CAN Receive Buffer 5 UDINT 32 rw #x382C PRG-CAN_Receive_Buff5_Len Length of CAN Receive Buffer 5 UDINT 32 rw #x382D PRG-CAN_Receive_Buff5_Data_Lo Data Low Word of CAN Receive Buffer 5 UDINT 32 rw #x382E PRG-CAN_Receive_Buff5_Data_Hi Data High Word of CAN Receive Buffer 5 UDINT 32 rw #x382F PRG-CAN_Receive_Buff6_ID ID of CAN Receive Buffer 6 UDINT 32 rw #x3830 PRG-CAN_Receive_Buff6_Len Length of CAN Receive Buffer 6 UDINT 32 rw #x3831 PRG-CAN_Receive_Buff6_Data_Lo Data Low Word of CAN Receive Buffer 6 UDINT 32 rw #x3832 PRG-CAN_Receive_Buff6_Data_Hi Data High Word of CAN Receive Buffer 6 UDINT 32 rw #x3833 PRG-CAN_Receive_Buff7_ID ID of CAN Receive Buffer 7 UDINT 32 rw #x3834 PRG-CAN_Receive_Buff7_Len Length of CAN Receive Buffer 7 UDINT 32 rw #x3835 PRG-CAN_Receive_Buff7_Data_Lo Data Low Word of CAN Receive Buffer 7 UDINT 32 rw #x3836 PRG-CAN_Receive_Buff7_Data_Hi Data High Word of CAN Receive Buffer 7 UDINT 32 rw #x3840 PRG-UsrReg0_L User Register 0 Low Word UDINT 32 rw #x3841 PRG-UsrReg0_H User Register 0 High Word UDINT 32 rw #x3842 PRG-UsrReg1_L User Register 1 Low Word UDINT 32 rw #x3843 PRG-UsrReg1_H User Register 1 High Word UDINT 32 rw #x3844 PRG-UsrReg2_L User Register 2 Low Word UDINT 32 rw #x3845 PRG-UsrReg2_H User Register 2 High Word UDINT 32 rw #x3846 PRG-UsrReg3_L User Register 3 Low Word UDINT 32 rw #x3847 PRG-UsrReg3_H User Register 3 High Word UDINT 32 rw #x3848 PRG-UsrReg4_L User Register 4 Low Word UDINT 32 rw #x3849 PRG-UsrReg4_H User Register 4 High Word UDINT 32 rw #x384A PRG-UsrReg5_L User Register 5 Low Word UDINT 32 rw #x384B PRG-UsrReg5_H User Register 5 High Word UDINT 32 rw #x384C PRG-UsrReg6_L User Register 6 Low Word UDINT 32 rw #x384D PRG-UsrReg6_H User Register 6 High Word UDINT 32 rw #x384E PRG-UsrReg7_L User Register 7 Low Word UDINT 32 rw #x384F PRG-UsrReg7_H User Register 7 High Word UDINT 32 rw #x3850 PRG-UsrReg8_L User Register 8 Low Word UDINT 32 rw #x3851 PRG-UsrReg8_H User Register 8 High Word UDINT 32 rw #x3852 PRG-UsrReg9_L User Register 9 Low Word UDINT 32 rw #x3853 PRG-UsrReg9_H User Register 9 High Word UDINT 32 rw #x3854 PRG-UsrReg10_L User Register 10 Low Word UDINT 32 rw #x3855 PRG-UsrReg10_H User Register 10 High Word UDINT 32 rw #x3856 PRG-UsrReg11_L User Register 11 Low Word UDINT 32 rw #x3857 PRG-UsrReg11_H User Register 11 High Word UDINT 32 rw #x3858 PRG-UsrReg12_L User Register 12 Low Word UDINT 32 rw #x3859 PRG-UsrReg12_H User Register 12 High Word UDINT 32 rw #x385A PRG-UsrReg13_L User Register 13 Low Word UDINT 32 rw #x385B PRG-UsrReg13_H User Register 13 High Word UDINT 32 rw #x385C PRG-UsrReg14_L User Register 14 Low Word UDINT 32 rw #x385D PRG-UsrReg14_H User Register 14 High Word UDINT 32 rw #x385E PRG-UsrReg15_L User Register 15 Low Word UDINT 32 rw #x385F PRG-UsrReg15_H User Register 15 High Word UDINT 32 rw #x3860 PRG-UsrReg16_L User Register 16 Low Word UDINT 32 rw #x3861 PRG-UsrReg16_H User Register 16 High Word UDINT 32 rw #x3862 PRG-UsrReg17_L User Register 17 Low Word UDINT 32 rw #x3863 PRG-UsrReg17_H User Register 17 High Word UDINT 32 rw #x3864 PRG-UsrReg18_L User Register 18 Low Word UDINT 32 rw #x3865 PRG-UsrReg18_H User Register 18 High Word UDINT 32 rw #x3866 PRG-UsrReg19_L User Register 19 Low Word UDINT 32 rw #x3867 PRG-UsrReg19_H User Register 19 High Word UDINT 32 rw #x3868 PRG-UsrReg20_L User Register 20 Low Word UDINT 32 rw #x3869 PRG-UsrReg20_H User Register 20 High Word UDINT 32 rw #x386A PRG-UsrReg21_L User Register 21 Low Word UDINT 32 rw #x386B PRG-UsrReg21_H User Register 21 High Word UDINT 32 rw #x386C PRG-UsrReg22_L User Register 22 Low Word UDINT 32 rw #x386D PRG-UsrReg22_H User Register 22 High Word UDINT 32 rw #x386E PRG-UsrReg23_L User Register 23 Low Word UDINT 32 rw #x386F PRG-UsrReg23_H User Register 23 High Word UDINT 32 rw #x3870 PRG-UsrReg24_L User Register 24 Low Word UDINT 32 rw #x3871 PRG-UsrReg24_H User Register 24 High Word UDINT 32 rw #x3872 PRG-UsrReg25_L User Register 25 Low Word UDINT 32 rw #x3873 PRG-UsrReg25_H User Register 25 High Word UDINT 32 rw #x3874 PRG-UsrReg26_L User Register 26 Low Word UDINT 32 rw #x3875 PRG-UsrReg26_H User Register 26 High Word UDINT 32 rw #x3876 PRG-UsrReg27_L User Register 27 Low Word UDINT 32 rw #x3877 PRG-UsrReg27_H User Register 27 High Word UDINT 32 rw #x3878 PRG-UsrReg28_L User Register 28 Low Word UDINT 32 rw #x3879 PRG-UsrReg28_H User Register 28 High Word UDINT 32 rw #x387A PRG-UsrReg29_L User Register 29 Low Word UDINT 32 rw #x387B PRG-UsrReg29_H User Register 29 High Word UDINT 32 rw #x387C PRG-UsrReg30_L User Register 30 Low Word UDINT 32 rw #x387D PRG-UsrReg30_H User Register 30 High Word UDINT 32 rw #x387E PRG-UsrReg31_L User Register 31 Low Word UDINT 32 rw #x387F PRG-UsrReg31_H User Register 31 High Word UDINT 32 rw #x3880 PRG-UsrReg32_L User Register 32 Low Word UDINT 32 rw #x3881 PRG-UsrReg32_H User Register 32 High Word UDINT 32 rw #x3882 PRG-UsrReg33_L User Register 33 Low Word UDINT 32 rw #x3883 PRG-UsrReg33_H User Register 33 High Word UDINT 32 rw #x3884 PRG-UsrReg34_L User Register 34 Low Word UDINT 32 rw #x3885 PRG-UsrReg34_H User Register 34 High Word UDINT 32 rw #x3886 PRG-UsrReg35_L User Register 35 Low Word UDINT 32 rw #x3887 PRG-UsrReg35_H User Register 35 High Word UDINT 32 rw #x3888 PRG-UsrReg36_L User Register 36 Low Word UDINT 32 rw #x3889 PRG-UsrReg36_H User Register 36 High Word UDINT 32 rw #x388A PRG-UsrReg37_L User Register 37 Low Word UDINT 32 rw #x388B PRG-UsrReg37_H User Register 37 High Word UDINT 32 rw #x388C PRG-UsrReg38_L User Register 38 Low Word UDINT 32 rw #x388D PRG-UsrReg38_H User Register 38 High Word UDINT 32 rw #x388E PRG-UsrReg39_L User Register 39 Low Word UDINT 32 rw #x388F PRG-UsrReg39_H User Register 39 High Word UDINT 32 rw #x3890 PRG-UsrReg40_L User Register 40 Low Word UDINT 32 rw #x3891 PRG-UsrReg40_H User Register 40 High Word UDINT 32 rw #x3892 PRG-UsrReg41_L User Register 41 Low Word UDINT 32 rw #x3893 PRG-UsrReg41_H User Register 41 High Word UDINT 32 rw #x3894 PRG-UsrReg42_L User Register 42 Low Word UDINT 32 rw #x3895 PRG-UsrReg42_H User Register 42 High Word UDINT 32 rw #x3896 PRG-UsrReg43_L User Register 43 Low Word UDINT 32 rw #x3897 PRG-UsrReg43_H User Register 43 High Word UDINT 32 rw #x3898 PRG-UsrReg44_L User Register 44 Low Word UDINT 32 rw #x3899 PRG-UsrReg44_H User Register 44 High Word UDINT 32 rw #x389A PRG-UsrReg45_L User Register 45 Low Word UDINT 32 rw #x389B PRG-UsrReg45_H User Register 45 High Word UDINT 32 rw #x389C PRG-UsrReg46_L User Register 46 Low Word UDINT 32 rw #x389D PRG-UsrReg46_H User Register 46 High Word UDINT 32 rw #x389E PRG-UsrReg47_L User Register 47 Low Word UDINT 32 rw #x389F PRG-UsrReg47_H User Register 47 High Word UDINT 32 rw #x38A0 PRG-UsrReg48_L User Register 48 Low Word UDINT 32 rw #x38A1 PRG-UsrReg48_H User Register 48 High Word UDINT 32 rw #x38A2 PRG-UsrReg49_L User Register 49 Low Word UDINT 32 rw #x38A3 PRG-UsrReg49_H User Register 49 High Word UDINT 32 rw #x38A4 PRG-UsrReg50_L User Register 50 Low Word UDINT 32 rw #x38A5 PRG-UsrReg50_H User Register 50 High Word UDINT 32 rw #x38A6 PRG-UsrReg51_L User Register 51 Low Word UDINT 32 rw #x38A7 PRG-UsrReg51_H User Register 51 High Word UDINT 32 rw #x38A8 PRG-UsrReg52_L User Register 52 Low Word UDINT 32 rw #x38A9 PRG-UsrReg52_H User Register 52 High Word UDINT 32 rw #x38AA PRG-UsrReg53_L User Register 53 Low Word UDINT 32 rw #x38AB PRG-UsrReg53_H User Register 53 High Word UDINT 32 rw #x38AC PRG-UsrReg54_L User Register 54 Low Word UDINT 32 rw #x38AD PRG-UsrReg54_H User Register 54 High Word UDINT 32 rw #x38AE PRG-UsrReg55_L User Register 55 Low Word UDINT 32 rw #x38AF PRG-UsrReg55_H User Register 55 High Word UDINT 32 rw #x38B0 PRG-UsrReg56_L User Register 56 Low Word UDINT 32 rw #x38B1 PRG-UsrReg56_H User Register 56 High Word UDINT 32 rw #x38B2 PRG-UsrReg57_L User Register 57 Low Word UDINT 32 rw #x38B3 PRG-UsrReg57_H User Register 57 High Word UDINT 32 rw #x38B4 PRG-UsrReg58_L User Register 58 Low Word UDINT 32 rw #x38B5 PRG-UsrReg58_H User Register 58 High Word UDINT 32 rw #x38B6 PRG-UsrReg59_L User Register 59 Low Word UDINT 32 rw #x38B7 PRG-UsrReg59_H User Register 59 High Word UDINT 32 rw #x38B8 PRG-UsrReg60_L User Register 60 Low Word UDINT 32 rw #x38B9 PRG-UsrReg60_H User Register 60 High Word UDINT 32 rw #x38BA PRG-UsrReg61_L User Register 61 Low Word UDINT 32 rw #x38BB PRG-UsrReg61_H User Register 61 High Word UDINT 32 rw #x38BC PRG-UsrReg62_L User Register 62 Low Word UDINT 32 rw #x38BD PRG-UsrReg62_H User Register 62 High Word UDINT 32 rw #x38BE PRG-UsrReg63_L User Register 63 Low Word UDINT 32 rw #x38BF PRG-UsrReg63_H User Register 63 High Word UDINT 32 rw #x38C0 PRG-UsrReg64_L User Register 64 Low Word UDINT 32 rw #x38C1 PRG-UsrReg64_H User Register 64 High Word UDINT 32 rw #x38C2 PRG-UsrReg65_L User Register 65 Low Word UDINT 32 rw #x38C3 PRG-UsrReg65_H User Register 65 High Word UDINT 32 rw #x38C4 PRG-UsrReg66_L User Register 66 Low Word UDINT 32 rw #x38C5 PRG-UsrReg66_H User Register 66 High Word UDINT 32 rw #x38C6 PRG-UsrReg67_L User Register 67 Low Word UDINT 32 rw #x38C7 PRG-UsrReg67_H User Register 67 High Word UDINT 32 rw #x38C8 PRG-UsrReg68_L User Register 68 Low Word UDINT 32 rw #x38C9 PRG-UsrReg68_H User Register 68 High Word UDINT 32 rw #x38CA PRG-UsrReg69_L User Register 69 Low Word UDINT 32 rw #x38CB PRG-UsrReg69_H User Register 69 High Word UDINT 32 rw #x38CC PRG-UsrReg70_L User Register 70 Low Word UDINT 32 rw #x38CD PRG-UsrReg70_H User Register 70 High Word UDINT 32 rw #x38CE PRG-UsrReg71_L User Register 71 Low Word UDINT 32 rw #x38CF PRG-UsrReg71_H User Register 71 High Word UDINT 32 rw #x38D0 PRG-UsrReg72_L User Register 72 Low Word UDINT 32 rw #x38D1 PRG-UsrReg72_H User Register 72 High Word UDINT 32 rw #x38D2 PRG-UsrReg73_L User Register 73 Low Word UDINT 32 rw #x38D3 PRG-UsrReg73_H User Register 73 High Word UDINT 32 rw #x38D4 PRG-UsrReg74_L User Register 74 Low Word UDINT 32 rw #x38D5 PRG-UsrReg74_H User Register 74 High Word UDINT 32 rw #x38D6 PRG-UsrReg75_L User Register 75 Low Word UDINT 32 rw #x38D7 PRG-UsrReg75_H User Register 75 High Word UDINT 32 rw #x38D8 PRG-UsrReg76_L User Register 76 Low Word UDINT 32 rw #x38D9 PRG-UsrReg76_H User Register 76 High Word UDINT 32 rw #x38DA PRG-UsrReg77_L User Register 77 Low Word UDINT 32 rw #x38DB PRG-UsrReg77_H User Register 77 High Word UDINT 32 rw #x38DC PRG-UsrReg78_L User Register 78 Low Word UDINT 32 rw #x38DD PRG-UsrReg78_H User Register 78 High Word UDINT 32 rw #x38DE PRG-UsrReg79_L User Register 79 Low Word UDINT 32 rw #x38DF PRG-UsrReg79_H User Register 79 High Word UDINT 32 rw #x38E0 PRG-UsrReg80_L User Register 80 Low Word UDINT 32 rw #x38E1 PRG-UsrReg80_H User Register 80 High Word UDINT 32 rw #x38E2 PRG-UsrReg81_L User Register 81 Low Word UDINT 32 rw #x38E3 PRG-UsrReg81_H User Register 81 High Word UDINT 32 rw #x38E4 PRG-UsrReg82_L User Register 82 Low Word UDINT 32 rw #x38E5 PRG-UsrReg82_H User Register 82 High Word UDINT 32 rw #x38E6 PRG-UsrReg83_L User Register 83 Low Word UDINT 32 rw #x38E7 PRG-UsrReg83_H User Register 83 High Word UDINT 32 rw #x38E8 PRG-UsrReg84_L User Register 84 Low Word UDINT 32 rw #x38E9 PRG-UsrReg84_H User Register 84 High Word UDINT 32 rw #x38EA PRG-UsrReg85_L User Register 85 Low Word UDINT 32 rw #x38EB PRG-UsrReg85_H User Register 85 High Word UDINT 32 rw #x38EC PRG-UsrReg86_L User Register 86 Low Word UDINT 32 rw #x38ED PRG-UsrReg86_H User Register 86 High Word UDINT 32 rw #x38EE PRG-UsrReg87_L User Register 87 Low Word UDINT 32 rw #x38EF PRG-UsrReg87_H User Register 87 High Word UDINT 32 rw #x38F0 PRG-UsrReg88_L User Register 88 Low Word UDINT 32 rw #x38F1 PRG-UsrReg88_H User Register 88 High Word UDINT 32 rw #x38F2 PRG-UsrReg89_L User Register 89 Low Word UDINT 32 rw #x38F3 PRG-UsrReg89_H User Register 89 High Word UDINT 32 rw #x3900 PG-Acc_I Movement acceleration DINT 32 -2147483648 2147483647 0 rw #x3901 PG-Dec_I Movement deceleration DINT 32 -2147483648 2147483647 0 rw #x3902 PG-APosAngle_I Actual position angle UDINT 32 ro #x3903 PG-APosRevol_I Actual position revolutions DINT 32 ro #x3904 PG-DPosAngle_I Desired position angle UDINT 32 rw #x3905 PG-DPosRevol_I Desired position revolutions DINT 32 rw #x3906 PG-ASpeed_I Actual speed DINT 32 ro #x3907 PG-PosSpeed_I Desired speed in position mode DINT 32 -2147483648 2147483647 0 rw #x3908 PG-Speed_I Desired speed of movement in speed mode DINT 32 -2147483648 2147483647 0 rw #x3909 PG-Mode_I Mode of profile generator UDINT 32 0 1 0 rw #x390A PG-Rdy_I End of movement UDINT 32 ro #x390B PG-Type_I Type of speed profile UDINT 32 0 4 0 rw #x390C PG-BitsPerRevol_I Encoder resolution - number of bits per revolution UDINT 32 10 28 20 rw #x390D PG-Rotary_I Axis mode UDINT 32 0 1 0 rw #x390E PG-PosOffsetAngle_I Position zero offset angle UDINT 32 rw #x390F PG-PosOffsetRevol_I Position zero offset revolutions DINT 32 rw #x3910 PG-PosLimitAnglePosit_I Positive position limit angle UDINT 32 rw #x3911 PG-PosLimitRevolPosit_I Positive position limit revolutions DINT 32 rw #x3912 PG-PosLimitAngleNegat_I Negative position limit angle UDINT 32 rw #x3913 PG-PosLimitRevolNegat_I Negative position limit revolutions DINT 32 rw #x3920 PG-AccMaxCurrentFeedForward_I Value of act acceleration for use maximal motor peak current DINT 32 -2147483648 2147483647 0 rw #x3921 PG-PG_Command_I Profile generator command UDINT 32 0 1 0 rw #x3A00 PG-Acc_II Movement acceleration DINT 32 -2147483648 2147483647 0 rw #x3A01 PG-Dec_II Movement deceleration DINT 32 -2147483648 2147483647 0 rw #x3A02 PG-APosAngle_II Actual position angle UDINT 32 ro #x3A03 PG-APosRevol_II Actual position revolutions DINT 32 ro #x3A04 PG-DPosAngle_II Desired position angle UDINT 32 rw #x3A05 PG-DPosRevol_II Desired position revolutions DINT 32 rw #x3A06 PG-ASpeed_II Actual speed DINT 32 ro #x3A07 PG-PosSpeed_II Desired speed in position mode DINT 32 -2147483648 2147483647 0 rw #x3A08 PG-Speed_II Desired speed of movement in speed mode DINT 32 -2147483648 2147483647 0 rw #x3A09 PG-Mode_II Mode of profile generator UDINT 32 0 1 0 rw #x3A0A PG-Rdy_II End of movement UDINT 32 ro #x3A0B PG-Type_II Type of speed profile UDINT 32 0 4 0 rw #x3A0C PG-BitsPerRevol_II Encoder resolution - number of bits per revolution UDINT 32 10 28 20 rw #x3A0D PG-Rotary_II Axis mode UDINT 32 0 1 0 rw #x3A0E PG-PosOffsetAngle_II Position zero offset angle UDINT 32 rw #x3A0F PG-PosOffsetRevol_II Position zero offset revolutions DINT 32 rw #x3A10 PG-PosLimitAnglePosit_II Positive position limit angle UDINT 32 rw #x3A11 PG-PosLimitRevolPosit_II Positive position limit revolutions DINT 32 rw #x3A12 PG-PosLimitAngleNegat_II Negative position limit angle UDINT 32 rw #x3A13 PG-PosLimitRevolNegat_II Negative position limit revolutions DINT 32 rw #x3A20 PG-AccMaxCurrentFeedForward_II Value of act acceleration for use maximal motor peak current DINT 32 -2147483648 2147483647 0 rw #x3A21 PG-PG_Command_II Profile generator command UDINT 32 0 1 0 rw #x3B00 GC-PositionAngle_I Output angle position for linear gearing or pointer to CAM for cam gearing UDINT 32 ro #x3B01 GC-PositionRevol_I Output revolution position for linear gearing or pointer to CAM for cam gearing DINT 32 ro #x3B02 GC-CamPositionAngle_I Output position for cam gearing UDINT 32 ro #x3B03 GC-CamPositionRevol_I Output position for cam gearing UDINT 32 ro #x3B04 GC-OffsetAngle_I Offset of output position (angle) UDINT 32 0 4294967295 0 rw #x3B05 GC-OffsetRevol_I Offset of output position (revolutions) UDINT 32 0 4294967295 0 rw #x3B06 GC-Shift_I Desired shift of pointer to cam UDINT 32 0 4294967295 0 rw #x3B07 GC-ActualShiftAngle_I Actual shift of pointer to cam DINT 32 ro #x3B08 GC-IncShift_I Increment of shift pointer to cam UDINT 32 0 4294967295 1 rw #x3B09 GC-IncIn_I Increment of ramp Gear.ActualIn UDINT 32 0 4294967295 1 rw #x3B0A GC-CamIncPosition_I Increment of position incremental cam UDINT 32 0 4294967295 0 rw #x3B0B GC-CamScale_I Scaling factor of cam profile UDINT 32 0 4294967295 0 rw #x3B0C GC-SourceNumber_I Number of logical servo used for source of master position (0 or 1) UDINT 32 0 1 0 rw #x3B0D GC-SourcePosition_I Type of master position UDINT 32 0 6 0 rw #x3B0E GC-Mode_I Gear generator modes UDINT 32 0 2 0 rw #x3B0F GC-In_I Numerator of gear ratio DINT 32 -2147483648 2147483647 1 rw #x3B10 GC-Out_I Denominator of gear ratio DINT 32 -2147483648 2147483647 1 rw #x3B11 GC-ActualIn_I Actual value of numerator gear ratio DINT 32 ro #x3C00 GC-PositionAngle_II Output angle position for linear gearing or pointer to CAM for cam gearing UDINT 32 ro #x3C01 GC-PositionRevol_II Output revolution position for linear gearing or pointer to CAM for cam gearing DINT 32 ro #x3C02 GC-CamPositionAngle_II Output position for cam gearing UDINT 32 ro #x3C03 GC-CamPositionRevol_II Output position for cam gearing UDINT 32 ro #x3C04 GC-OffsetAngle_II Offset of output position (angle) UDINT 32 0 4294967295 0 rw #x3C05 GC-OffsetRevol_II Offset of output position (revolutions) UDINT 32 0 4294967295 0 rw #x3C06 GC-Shift_II Desired shift of pointer to cam UDINT 32 0 4294967295 0 rw #x3C07 GC-ActualShiftAngle_II Actual shift of pointer to cam DINT 32 ro #x3C08 GC-IncShift_II Increment of shift pointer to cam UDINT 32 0 4294967295 1 rw #x3C09 GC-IncIn_II Increment of ramp Gear.ActualIn UDINT 32 0 4294967295 1 rw #x3C0A GC-CamIncPosition_II Increment of position incremental cam UDINT 32 0 4294967295 0 rw #x3C0B GC-CamScale_II Scaling factor of cam profile UDINT 32 0 4294967295 0 rw #x3C0C GC-SourceNumber_II Number of logical servo used for source of master position (0 or 1) UDINT 32 0 1 0 rw #x3C0D GC-SourcePosition_II Type of master position UDINT 32 0 6 0 rw #x3C0E GC-Mode_II Gear generator modes UDINT 32 0 2 0 rw #x3C0F GC-In_II Numerator of gear ratio DINT 32 -2147483648 2147483647 1 rw #x3C10 GC-Out_II Denominator of gear ratio DINT 32 -2147483648 2147483647 1 rw #x3C11 GC-ActualIn_II Actual value of numerator gear ratio DINT 32 ro #x3D00 SD-File_Reg_0 User register 0 saved to SD card / loaded from SD card DINT 32 rw #x3D01 SD-File_Reg_1 User register 1 saved to SD card / loaded from SD card DINT 32 rw #x3D02 SD-File_Reg_2 User register 2 saved to SD card / loaded from SD card DINT 32 rw #x3D03 SD-File_Reg_3 User register 3 saved to SD card / loaded from SD card DINT 32 rw #x3D04 SD-File_Reg_4 User register 4 saved to SD card / loaded from SD card DINT 32 rw #x3D05 SD-File_Reg_5 User register 5 saved to SD card / loaded from SD card DINT 32 rw #x3D06 SD-File_Reg_6 User register 6 saved to SD card / loaded from SD card DINT 32 rw #x3D07 SD-File_Reg_7 User register 7 saved to SD card / loaded from SD card DINT 32 rw #x3D08 SD-File_Reg_8 User register 8 saved to SD card / loaded from SD card DINT 32 rw #x3D09 SD-File_Reg_9 User register 9 saved to SD card / loaded from SD card DINT 32 rw #x3D0A SD-File_Reg_10 User register 10 saved to SD card / loaded from SD card DINT 32 rw #x3D0B SD-File_Reg_11 User register 11 saved to SD card / loaded from SD card DINT 32 rw #x3D0C SD-File_Reg_12 User register 12 saved to SD card / loaded from SD card DINT 32 rw #x3D0D SD-File_Reg_13 User register 13 saved to SD card / loaded from SD card DINT 32 rw #x3D0E SD-File_Reg_14 User register 14 saved to SD card / loaded from SD card DINT 32 rw #x3D0F SD-File_Reg_15 User register 15 saved to SD card / loaded from SD card DINT 32 rw #x3D10 SD-File_Reg_16 User register 16 saved to SD card / loaded from SD card DINT 32 rw #x3D11 SD-File_Reg_17 User register 17 saved to SD card / loaded from SD card DINT 32 rw #x3D12 SD-File_Reg_18 User register 18 saved to SD card / loaded from SD card DINT 32 rw #x3D13 SD-File_Reg_19 User register 19 saved to SD card / loaded from SD card DINT 32 rw #x3D14 SD-File_Reg_20 User register 20 saved to SD card / loaded from SD card DINT 32 rw #x3D15 SD-File_Reg_21 User register 21 saved to SD card / loaded from SD card DINT 32 rw #x3D16 SD-File_Reg_22 User register 22 saved to SD card / loaded from SD card DINT 32 rw #x3D17 SD-File_Reg_23 User register 23 saved to SD card / loaded from SD card DINT 32 rw #x3D18 SD-File_Reg_24 User register 24 saved to SD card / loaded from SD card DINT 32 rw #x3D19 SD-File_Reg_25 User register 25 saved to SD card / loaded from SD card DINT 32 rw #x3D1A SD-File_Reg_26 User register 26 saved to SD card / loaded from SD card DINT 32 rw #x3D1B SD-File_Reg_27 User register 27 saved to SD card / loaded from SD card DINT 32 rw #x3D1C SD-File_Reg_28 User register 28 saved to SD card / loaded from SD card DINT 32 rw #x3D1D SD-File_Reg_29 User register 29 saved to SD card / loaded from SD card DINT 32 rw #x3D1E SD-File_Reg_30 User register 30 saved to SD card / loaded from SD card DINT 32 rw #x3D1F SD-File_Reg_31 User register 31 saved to SD card / loaded from SD card DINT 32 rw #x3D20 SD-File_Reg_32 User register 32 saved to SD card / loaded from SD card DINT 32 rw #x3D21 SD-File_Reg_33 User register 33 saved to SD card / loaded from SD card DINT 32 rw #x3D22 SD-File_Reg_34 User register 34 saved to SD card / loaded from SD card DINT 32 rw #x3D23 SD-File_Reg_35 User register 35 saved to SD card / loaded from SD card DINT 32 rw #x3D24 SD-File_Reg_36 User register 36 saved to SD card / loaded from SD card DINT 32 rw #x3D25 SD-File_Reg_37 User register 37 saved to SD card / loaded from SD card DINT 32 rw #x3D26 SD-File_Reg_38 User register 38 saved to SD card / loaded from SD card DINT 32 rw #x3D27 SD-File_Reg_39 User register 39 saved to SD card / loaded from SD card DINT 32 rw #x3D28 SD-File_Reg_40 User register 40 saved to SD card / loaded from SD card DINT 32 rw #x3D29 SD-File_Reg_41 User register 41 saved to SD card / loaded from SD card DINT 32 rw #x3D2A SD-File_Reg_42 User register 42 saved to SD card / loaded from SD card DINT 32 rw #x3D2B SD-File_Reg_43 User register 43 saved to SD card / loaded from SD card DINT 32 rw #x3D2C SD-File_Reg_44 User register 44 saved to SD card / loaded from SD card DINT 32 rw #x3D2D SD-File_Reg_45 User register 45 saved to SD card / loaded from SD card DINT 32 rw #x3D2E SD-File_Reg_46 User register 46 saved to SD card / loaded from SD card DINT 32 rw #x3D2F SD-File_Reg_47 User register 47 saved to SD card / loaded from SD card DINT 32 rw #x3D30 SD-File_Reg_48 User register 48 saved to SD card / loaded from SD card DINT 32 rw #x3D31 SD-File_Reg_49 User register 49 saved to SD card / loaded from SD card DINT 32 rw #x3D32 SD-File_Reg_50 User register 50 saved to SD card / loaded from SD card DINT 32 rw #x3D33 SD-File_Reg_51 User register 51 saved to SD card / loaded from SD card DINT 32 rw #x3D34 SD-File_Reg_52 User register 52 saved to SD card / loaded from SD card DINT 32 rw #x3D35 SD-File_Reg_53 User register 53 saved to SD card / loaded from SD card DINT 32 rw #x3D36 SD-File_Reg_54 User register 54 saved to SD card / loaded from SD card DINT 32 rw #x3D37 SD-File_Reg_55 User register 55 saved to SD card / loaded from SD card DINT 32 rw #x3D38 SD-File_Reg_56 User register 56 saved to SD card / loaded from SD card DINT 32 rw #x3D39 SD-File_Reg_57 User register 57 saved to SD card / loaded from SD card DINT 32 rw #x3D3A SD-File_Reg_58 User register 58 saved to SD card / loaded from SD card DINT 32 rw #x3D3B SD-File_Reg_59 User register 59 saved to SD card / loaded from SD card DINT 32 rw #x3D3C SD-File_Reg_60 User register 60 saved to SD card / loaded from SD card DINT 32 rw #x3D3D SD-File_Reg_61 User register 61 saved to SD card / loaded from SD card DINT 32 rw #x3D3E SD-File_Reg_62 User register 62 saved to SD card / loaded from SD card DINT 32 rw #x3D3F SD-File_Reg_63 User register 63 saved to SD card / loaded from SD card DINT 32 rw #x3D40 SD-File_Reg_64 User register 64 saved to SD card / loaded from SD card DINT 32 rw #x3D41 SD-File_Reg_65 User register 65 saved to SD card / loaded from SD card DINT 32 rw #x3D42 SD-File_Reg_66 User register 66 saved to SD card / loaded from SD card DINT 32 rw #x3D43 SD-File_Reg_67 User register 67 saved to SD card / loaded from SD card DINT 32 rw #x3D44 SD-File_Reg_68 User register 68 saved to SD card / loaded from SD card DINT 32 rw #x3D45 SD-File_Reg_69 User register 69 saved to SD card / loaded from SD card DINT 32 rw #x3D46 SD-File_Reg_70 User register 70 saved to SD card / loaded from SD card DINT 32 rw #x3D47 SD-File_Reg_71 User register 71 saved to SD card / loaded from SD card DINT 32 rw #x3D48 SD-File_Reg_72 User register 72 saved to SD card / loaded from SD card DINT 32 rw #x3D49 SD-File_Reg_73 User register 73 saved to SD card / loaded from SD card DINT 32 rw #x3D4A SD-File_Reg_74 User register 74 saved to SD card / loaded from SD card DINT 32 rw #x3D4B SD-File_Reg_75 User register 75 saved to SD card / loaded from SD card DINT 32 rw #x3D4C SD-File_Reg_76 User register 76 saved to SD card / loaded from SD card DINT 32 rw #x3D4D SD-File_Reg_77 User register 77 saved to SD card / loaded from SD card DINT 32 rw #x3D4E SD-File_Reg_78 User register 78 saved to SD card / loaded from SD card DINT 32 rw #x3D4F SD-File_Reg_79 User register 79 saved to SD card / loaded from SD card DINT 32 rw #x3D50 SD-File_Reg_80 User register 80 saved to SD card / loaded from SD card DINT 32 rw #x3D51 SD-File_Reg_81 User register 81 saved to SD card / loaded from SD card DINT 32 rw #x3D52 SD-File_Reg_82 User register 82 saved to SD card / loaded from SD card DINT 32 rw #x3D53 SD-File_Reg_83 User register 83 saved to SD card / loaded from SD card DINT 32 rw #x3D54 SD-File_Reg_84 User register 84 saved to SD card / loaded from SD card DINT 32 rw #x3D55 SD-File_Reg_85 User register 85 saved to SD card / loaded from SD card DINT 32 rw #x3D56 SD-File_Reg_86 User register 86 saved to SD card / loaded from SD card DINT 32 rw #x3D57 SD-File_Reg_87 User register 87 saved to SD card / loaded from SD card DINT 32 rw #x3D58 SD-File_Reg_88 User register 88 saved to SD card / loaded from SD card DINT 32 rw #x3D59 SD-File_Reg_89 User register 89 saved to SD card / loaded from SD card DINT 32 rw #x3D5A SD-File_Reg_90 User register 90 saved to SD card / loaded from SD card DINT 32 rw #x3D5B SD-File_Reg_91 User register 91 saved to SD card / loaded from SD card DINT 32 rw #x3D5C SD-File_Reg_92 User register 92 saved to SD card / loaded from SD card DINT 32 rw #x3D5D SD-File_Reg_93 User register 93 saved to SD card / loaded from SD card DINT 32 rw #x3D5E SD-File_Reg_94 User register 94 saved to SD card / loaded from SD card DINT 32 rw #x3D5F SD-File_Reg_95 User register 95 saved to SD card / loaded from SD card DINT 32 rw #x3D60 SD-File_Reg_96 User register 96 saved to SD card / loaded from SD card DINT 32 rw #x3D61 SD-File_Reg_97 User register 97 saved to SD card / loaded from SD card DINT 32 rw #x3D62 SD-File_Reg_98 User register 98 saved to SD card / loaded from SD card DINT 32 rw #x3D63 SD-File_Reg_99 User register 99 saved to SD card / loaded from SD card DINT 32 rw #x3D64 SD-File_Reg_100 User register 100 saved to SD card / loaded from SD card DINT 32 rw #x3D65 SD-File_Reg_101 User register 101 saved to SD card / loaded from SD card DINT 32 rw #x3D66 SD-File_Reg_102 User register 102 saved to SD card / loaded from SD card DINT 32 rw #x3D67 SD-File_Reg_103 User register 103 saved to SD card / loaded from SD card DINT 32 rw #x3D68 SD-File_Reg_104 User register 104 saved to SD card / loaded from SD card DINT 32 rw #x3D69 SD-File_Reg_105 User register 105 saved to SD card / loaded from SD card DINT 32 rw #x3D6A SD-File_Reg_106 User register 106 saved to SD card / loaded from SD card DINT 32 rw #x3D6B SD-File_Reg_107 User register 107 saved to SD card / loaded from SD card DINT 32 rw #x3D6C SD-File_Reg_108 User register 108 saved to SD card / loaded from SD card DINT 32 rw #x3D6D SD-File_Reg_109 User register 109 saved to SD card / loaded from SD card DINT 32 rw #x3D6E SD-File_Reg_110 User register 110 saved to SD card / loaded from SD card DINT 32 rw #x3D6F SD-File_Reg_111 User register 111 saved to SD card / loaded from SD card DINT 32 rw #x3D70 SD-File_Reg_112 User register 112 saved to SD card / loaded from SD card DINT 32 rw #x3D71 SD-File_Reg_113 User register 113 saved to SD card / loaded from SD card DINT 32 rw #x3D72 SD-File_Reg_114 User register 114 saved to SD card / loaded from SD card DINT 32 rw #x3D73 SD-File_Reg_115 User register 115 saved to SD card / loaded from SD card DINT 32 rw #x3D74 SD-File_Reg_116 User register 116 saved to SD card / loaded from SD card DINT 32 rw #x3D75 SD-File_Reg_117 User register 117 saved to SD card / loaded from SD card DINT 32 rw #x3D76 SD-File_Reg_118 User register 118 saved to SD card / loaded from SD card DINT 32 rw #x3D77 SD-File_Reg_119 User register 119 saved to SD card / loaded from SD card DINT 32 rw #x3D78 SD-File_Reg_120 User register 120 saved to SD card / loaded from SD card DINT 32 rw #x3D79 SD-File_Reg_121 User register 121 saved to SD card / loaded from SD card DINT 32 rw #x3D7A SD-File_Reg_122 User register 122 saved to SD card / loaded from SD card DINT 32 rw #x3D7B SD-File_Reg_123 User register 123 saved to SD card / loaded from SD card DINT 32 rw #x3D7C SD-File_Reg_124 User register 124 saved to SD card / loaded from SD card DINT 32 rw #x3D7D SD-File_Reg_125 User register 125 saved to SD card / loaded from SD card DINT 32 rw #x3D7E SD-File_Reg_126 User register 126 saved to SD card / loaded from SD card DINT 32 rw #x3D7F SD-File_Reg_127 User register 127 saved to SD card / loaded from SD card DINT 32 rw #x3D80 SD-File_Reg_128 User register 128 saved to SD card / loaded from SD card DINT 32 rw #x3D81 SD-File_Reg_129 User register 129 saved to SD card / loaded from SD card DINT 32 rw #x3D82 SD-File_Reg_130 User register 130 saved to SD card / loaded from SD card DINT 32 rw #x3D83 SD-File_Reg_131 User register 131 saved to SD card / loaded from SD card DINT 32 rw #x3D84 SD-File_Reg_132 User register 132 saved to SD card / loaded from SD card DINT 32 rw #x3D85 SD-File_Reg_133 User register 133 saved to SD card / loaded from SD card DINT 32 rw #x3D86 SD-File_Reg_134 User register 134 saved to SD card / loaded from SD card DINT 32 rw #x3D87 SD-File_Reg_135 User register 135 saved to SD card / loaded from SD card DINT 32 rw #x3D88 SD-File_Reg_136 User register 136 saved to SD card / loaded from SD card DINT 32 rw #x3D89 SD-File_Reg_137 User register 137 saved to SD card / loaded from SD card DINT 32 rw #x3D8A SD-File_Reg_138 User register 138 saved to SD card / loaded from SD card DINT 32 rw #x3D8B SD-File_Reg_139 User register 139 saved to SD card / loaded from SD card DINT 32 rw #x3D8C SD-File_Reg_140 User register 140 saved to SD card / loaded from SD card DINT 32 rw #x3D8D SD-File_Reg_141 User register 141 saved to SD card / loaded from SD card DINT 32 rw #x3D8E SD-File_Reg_142 User register 142 saved to SD card / loaded from SD card DINT 32 rw #x3D8F SD-File_Reg_143 User register 143 saved to SD card / loaded from SD card DINT 32 rw #x3D90 SD-File_Reg_144 User register 144 saved to SD card / loaded from SD card DINT 32 rw #x3D91 SD-File_Reg_145 User register 145 saved to SD card / loaded from SD card DINT 32 rw #x3D92 SD-File_Reg_146 User register 146 saved to SD card / loaded from SD card DINT 32 rw #x3D93 SD-File_Reg_147 User register 147 saved to SD card / loaded from SD card DINT 32 rw #x3D94 SD-File_Reg_148 User register 148 saved to SD card / loaded from SD card DINT 32 rw #x3D95 SD-File_Reg_149 User register 149 saved to SD card / loaded from SD card DINT 32 rw #x3D96 SD-File_Reg_150 User register 150 saved to SD card / loaded from SD card DINT 32 rw #x3D97 SD-File_Reg_151 User register 151 saved to SD card / loaded from SD card DINT 32 rw #x3D98 SD-File_Reg_152 User register 152 saved to SD card / loaded from SD card DINT 32 rw #x3D99 SD-File_Reg_153 User register 153 saved to SD card / loaded from SD card DINT 32 rw #x3D9A SD-File_Reg_154 User register 154 saved to SD card / loaded from SD card DINT 32 rw #x3D9B SD-File_Reg_155 User register 155 saved to SD card / loaded from SD card DINT 32 rw #x3D9C SD-File_Reg_156 User register 156 saved to SD card / loaded from SD card DINT 32 rw #x3D9D SD-File_Reg_157 User register 157 saved to SD card / loaded from SD card DINT 32 rw #x3D9E SD-File_Reg_158 User register 158 saved to SD card / loaded from SD card DINT 32 rw #x3D9F SD-File_Reg_159 User register 159 saved to SD card / loaded from SD card DINT 32 rw #x3DA0 SD-File_Reg_160 User register 160 saved to SD card / loaded from SD card DINT 32 rw #x3DA1 SD-File_Reg_161 User register 161 saved to SD card / loaded from SD card DINT 32 rw #x3DA2 SD-File_Reg_162 User register 162 saved to SD card / loaded from SD card DINT 32 rw #x3DA3 SD-File_Reg_163 User register 163 saved to SD card / loaded from SD card DINT 32 rw #x3DA4 SD-File_Reg_164 User register 164 saved to SD card / loaded from SD card DINT 32 rw #x3DA5 SD-File_Reg_165 User register 165 saved to SD card / loaded from SD card DINT 32 rw #x3DA6 SD-File_Reg_166 User register 166 saved to SD card / loaded from SD card DINT 32 rw #x3DA7 SD-File_Reg_167 User register 167 saved to SD card / loaded from SD card DINT 32 rw #x3DA8 SD-File_Reg_168 User register 168 saved to SD card / loaded from SD card DINT 32 rw #x3DA9 SD-File_Reg_169 User register 169 saved to SD card / loaded from SD card DINT 32 rw #x3DAA SD-File_Reg_170 User register 170 saved to SD card / loaded from SD card DINT 32 rw #x3DAB SD-File_Reg_171 User register 171 saved to SD card / loaded from SD card DINT 32 rw #x3DAC SD-File_Reg_172 User register 172 saved to SD card / loaded from SD card DINT 32 rw #x3DAD SD-File_Reg_173 User register 173 saved to SD card / loaded from SD card DINT 32 rw #x3DAE SD-File_Reg_174 User register 174 saved to SD card / loaded from SD card DINT 32 rw #x3DAF SD-File_Reg_175 User register 175 saved to SD card / loaded from SD card DINT 32 rw #x3DB0 SD-File_Reg_176 User register 176 saved to SD card / loaded from SD card DINT 32 rw #x3DB1 SD-File_Reg_177 User register 177 saved to SD card / loaded from SD card DINT 32 rw #x3DB2 SD-File_Reg_178 User register 178 saved to SD card / loaded from SD card DINT 32 rw #x3DB3 SD-File_Reg_179 User register 179 saved to SD card / loaded from SD card DINT 32 rw #x3DB4 SD-File_Reg_180 User register 180 saved to SD card / loaded from SD card DINT 32 rw #x3DB5 SD-File_Reg_181 User register 181 saved to SD card / loaded from SD card DINT 32 rw #x3DB6 SD-File_Reg_182 User register 182 saved to SD card / loaded from SD card DINT 32 rw #x3DB7 SD-File_Reg_183 User register 183 saved to SD card / loaded from SD card DINT 32 rw #x3DB8 SD-File_Reg_184 User register 184 saved to SD card / loaded from SD card DINT 32 rw #x3DB9 SD-File_Reg_185 User register 185 saved to SD card / loaded from SD card DINT 32 rw #x3DBA SD-File_Reg_186 User register 186 saved to SD card / loaded from SD card DINT 32 rw #x3DBB SD-File_Reg_187 User register 187 saved to SD card / loaded from SD card DINT 32 rw #x3DBC SD-File_Reg_188 User register 188 saved to SD card / loaded from SD card DINT 32 rw #x3DBD SD-File_Reg_189 User register 189 saved to SD card / loaded from SD card DINT 32 rw #x3DBE SD-File_Reg_190 User register 190 saved to SD card / loaded from SD card DINT 32 rw #x3DBF SD-File_Reg_191 User register 191 saved to SD card / loaded from SD card DINT 32 rw #x3DC0 SD-File_Reg_192 User register 192 saved to SD card / loaded from SD card DINT 32 rw #x3DC1 SD-File_Reg_193 User register 193 saved to SD card / loaded from SD card DINT 32 rw #x3DC2 SD-File_Reg_194 User register 194 saved to SD card / loaded from SD card DINT 32 rw #x3DC3 SD-File_Reg_195 User register 195 saved to SD card / loaded from SD card DINT 32 rw #x3DC4 SD-File_Reg_196 User register 196 saved to SD card / loaded from SD card DINT 32 rw #x3DC5 SD-File_Reg_197 User register 197 saved to SD card / loaded from SD card DINT 32 rw #x3DC6 SD-File_Reg_198 User register 198 saved to SD card / loaded from SD card DINT 32 rw #x3DC7 SD-File_Reg_199 User register 199 saved to SD card / loaded from SD card DINT 32 rw #x3DC8 SD-File_Reg_200 User register 200 saved to SD card / loaded from SD card DINT 32 rw #x3DC9 SD-File_Reg_201 User register 201 saved to SD card / loaded from SD card DINT 32 rw #x3DCA SD-File_Reg_202 User register 202 saved to SD card / loaded from SD card DINT 32 rw #x3DCB SD-File_Reg_203 User register 203 saved to SD card / loaded from SD card DINT 32 rw #x3DCC SD-File_Reg_204 User register 204 saved to SD card / loaded from SD card DINT 32 rw #x3DCD SD-File_Reg_205 User register 205 saved to SD card / loaded from SD card DINT 32 rw #x3DCE SD-File_Reg_206 User register 206 saved to SD card / loaded from SD card DINT 32 rw #x3DCF SD-File_Reg_207 User register 207 saved to SD card / loaded from SD card DINT 32 rw #x3DD0 SD-File_Reg_208 User register 208 saved to SD card / loaded from SD card DINT 32 rw #x3DD1 SD-File_Reg_209 User register 209 saved to SD card / loaded from SD card DINT 32 rw #x3DD2 SD-File_Reg_210 User register 210 saved to SD card / loaded from SD card DINT 32 rw #x3DD3 SD-File_Reg_211 User register 211 saved to SD card / loaded from SD card DINT 32 rw #x3DD4 SD-File_Reg_212 User register 212 saved to SD card / loaded from SD card DINT 32 rw #x3DD5 SD-File_Reg_213 User register 213 saved to SD card / loaded from SD card DINT 32 rw #x3DD6 SD-File_Reg_214 User register 214 saved to SD card / loaded from SD card DINT 32 rw #x3DD7 SD-File_Reg_215 User register 215 saved to SD card / loaded from SD card DINT 32 rw #x3DD8 SD-File_Reg_216 User register 216 saved to SD card / loaded from SD card DINT 32 rw #x3DD9 SD-File_Reg_217 User register 217 saved to SD card / loaded from SD card DINT 32 rw #x3DDA SD-File_Reg_218 User register 218 saved to SD card / loaded from SD card DINT 32 rw #x3DDB SD-File_Reg_219 User register 219 saved to SD card / loaded from SD card DINT 32 rw #x3DDC SD-File_Reg_220 User register 220 saved to SD card / loaded from SD card DINT 32 rw #x3DDD SD-File_Reg_221 User register 221 saved to SD card / loaded from SD card DINT 32 rw #x3DDE SD-File_Reg_222 User register 222 saved to SD card / loaded from SD card DINT 32 rw #x3DDF SD-File_Reg_223 User register 223 saved to SD card / loaded from SD card DINT 32 rw #x3DE0 SD-File_Reg_224 User register 224 saved to SD card / loaded from SD card DINT 32 rw #x3DE1 SD-File_Reg_225 User register 225 saved to SD card / loaded from SD card DINT 32 rw #x3DE2 SD-File_Reg_226 User register 226 saved to SD card / loaded from SD card DINT 32 rw #x3DE3 SD-File_Reg_227 User register 227 saved to SD card / loaded from SD card DINT 32 rw #x3DE4 SD-File_Reg_228 User register 228 saved to SD card / loaded from SD card DINT 32 rw #x3DE5 SD-File_Reg_229 User register 229 saved to SD card / loaded from SD card DINT 32 rw #x3DE6 SD-File_Reg_230 User register 230 saved to SD card / loaded from SD card DINT 32 rw #x3DE7 SD-File_Reg_231 User register 231 saved to SD card / loaded from SD card DINT 32 rw #x3DE8 SD-File_Reg_232 User register 232 saved to SD card / loaded from SD card DINT 32 rw #x3DE9 SD-File_Reg_233 User register 233 saved to SD card / loaded from SD card DINT 32 rw #x3DEA SD-File_Reg_234 User register 234 saved to SD card / loaded from SD card DINT 32 rw #x3DEB SD-File_Reg_235 User register 235 saved to SD card / loaded from SD card DINT 32 rw #x3DEC SD-File_Reg_236 User register 236 saved to SD card / loaded from SD card DINT 32 rw #x3DED SD-File_Reg_237 User register 237 saved to SD card / loaded from SD card DINT 32 rw #x3DEE SD-File_Reg_238 User register 238 saved to SD card / loaded from SD card DINT 32 rw #x3DEF SD-File_Reg_239 User register 239 saved to SD card / loaded from SD card DINT 32 rw #x3DF0 SD-File_Reg_240 User register 240 saved to SD card / loaded from SD card DINT 32 rw #x3DF1 SD-File_Reg_241 User register 241 saved to SD card / loaded from SD card DINT 32 rw #x3DF2 SD-File_Reg_242 User register 242 saved to SD card / loaded from SD card DINT 32 rw #x3DF3 SD-File_Reg_243 User register 243 saved to SD card / loaded from SD card DINT 32 rw #x3DF4 SD-File_Reg_244 User register 244 saved to SD card / loaded from SD card DINT 32 rw #x3DF5 SD-File_Reg_245 User register 245 saved to SD card / loaded from SD card DINT 32 rw #x3DF6 SD-File_Reg_246 User register 246 saved to SD card / loaded from SD card DINT 32 rw #x3DF7 SD-File_Reg_247 User register 247 saved to SD card / loaded from SD card DINT 32 rw #x3DF8 SD-File_Reg_248 User register 248 saved to SD card / loaded from SD card DINT 32 rw #x3DF9 SD-File_Reg_249 User register 249 saved to SD card / loaded from SD card DINT 32 rw #x3DFA SD-File_Reg_250 User register 250 saved to SD card / loaded from SD card DINT 32 rw #x3DFB SD-File_Reg_251 User register 251 saved to SD card / loaded from SD card DINT 32 rw #x3DFC SD-File_Reg_252 User register 252 saved to SD card / loaded from SD card DINT 32 rw #x3DFD SD-File_Reg_253 User register 253 saved to SD card / loaded from SD card DINT 32 rw #x3DFE SD-File_Reg_254 User register 254 saved to SD card / loaded from SD card DINT 32 rw #x3DFF SD-File_Reg_255 User register 255 saved to SD card / loaded from SD card DINT 32 rw #x4000 Digital_Inputs_Byte USINT 8 ro T #x4001 Digital_Outputs_Byte USINT 8 rw R #x4002 Analog inputs DT4002 48 Number of entries 02 Analog input 1 0000 Analog input 2 0000 ro #x6040 Controlword UINT 16 rw R #x6041 Statusword UINT 16 ro T #x6060 Modes of operation SINT 8 rw #x6061 Modes of operation display SINT 8 ro #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x606b Velocity demand value DINT 32 ro #x606c Velocity actual value DINT 32 ro T #x607a Target position DINT 32 00000000 rw R #x6071 Target torque INT 16 0000 rw R #x6077 Torque actual value INT 16 ro T #x607c Home offset DINT 32 00000000 rw #x607d Software position limit DT607B 80 NumberOfEntries #x2 Min position range limit #x80000000 Max position range limit #x7fffffff #x6081 Profile velocity UDINT 32 00000000 rw R #x6083 Profile acceleration UDINT 32 rw #x6084 Profile deceleration UDINT 32 rw #x6085 Quick stop deceleration UDINT 32 rw #x6086 Motion profile type INT 16 0000 rw #x608f Position encoder resolution DT608F 80 Number of entries 02 Encoder increments 00000001 Motor revolutions 00000001 rw #x6090 Velocity encoder resolution DT608F 80 Number of entries 02 Encoder increments 00000001 Motor revolutions 00000001 rw #x6098 Homing method SINT 8 rw #x6099 Homing speeds DT6099 80 NumberOfEntries #x2 SearchSwitch #x0 SearchZero #x0 #x609a Homing acceleration UDINT 32 #x0 rw #x60b2 Torque offset INT 16 0000 rw #x60d9 Supported synchronization functions UDINT 32 00000000 ro #x60c1 Interpolation data record DT60C1 48 Number of entries 01 Interpolated position 00000000 rw R #x60c2 Interpolation time period DT60C2 32 Number of entries 02 Interpolation time period value 05 Interpolation time index FC rw m #x60e3 Supported homing methods DT60E3 88 Number of supported modes 09 ro #x60f4 Following error actual value DINT 32 ro #x60fd Digital inputs UDINT 32 ro T #x60fe Digital outputs DT60FE 80 Number of entries 02 Physical outputs 00000000 Bit mask 00000000 #x60ff Target velocity DINT 32 #x0 rw R #x6502 Supported drive modes UDINT 32 #xe5 ro #x6840 Controlword UINT 16 rw R #x6841 Statusword UINT 16 ro T #x6860 Modes of operation SINT 8 rw #x6861 Modes of operation display SINT 8 ro #x6864 Position actual value DINT 32 ro T #x6865 Following error window UDINT 32 rw #x6866 Following error time out UINT 16 rw #x686b Velocity demand value DINT 32 ro #x686c Velocity actual value DINT 32 ro T #x687a Target position DINT 32 00000000 rw R #x6871 Target torque INT 16 0000 rw R #x6877 Torque actual value INT 16 ro T #x687c Home offset DINT 32 00000000 rw #x687d Software position limit DT607B 80 NumberOfEntries #x2 Min position range limit #x80000000 Max position range limit #x7fffffff #x6881 Profile velocity UDINT 32 00000000 rw R #x6883 Profile acceleration UDINT 32 rw #x6884 Profile deceleration UDINT 32 rw #x6885 Quick stop deceleration UDINT 32 rw #x6886 Motion profile type INT 16 0000 rw #x688f Position encoder resolution DT608F 80 Number of entries 02 Encoder increments 00000001 Motor revolutions 00000001 rw #x6890 Velocity encoder resolution DT608F 80 Number of entries 02 Encoder increments 00000001 Motor revolutions 00000001 rw #x6898 Homing method SINT 8 rw #x6899 Homing speeds DT6099 80 NumberOfEntries #x2 SearchSwitch #x0 SearchZero #x0 #x689a Homing acceleration UDINT 32 #x0 rw #x68b2 Torque offset INT 16 0000 rw #x68d9 Supported synchronization functions UDINT 32 00000000 ro #x68c1 Interpolation data record DT60C1 48 Number of entries 01 Interpolated position 00000000 rw R #x68c2 Interpolation time period DT60C2 32 Number of entries 02 Interpolation time period value 05 Interpolation time index FC rw #x68e3 Supported homing methods DT60E3 88 Number of supported modes 09 ro #x68f4 Following error actual value DINT 32 ro #x68fd Digital inputs UDINT 32 ro T #x68fe Digital outputs DT60FE 80 Number of entries 02 Physical outputs 00000000 Bit mask 00000000 #x68ff Target velocity DINT 32 #x0 rw R #x6d02 Supported drive modes UDINT 32 ro Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1701 Inputs #x1702 #x1703 #x1721 #x607a 0 32 TargetPosition_1 DINT #x6081 0 32 Velocity_1 DINT #x60fe 1 32 DigitalOutputs UDINT #x6040 0 16 ControlWord_1 UINT #x6071 0 16 CurrentSetpoint_1 INT #x6072 0 16 CurrentLimit_1 UINT #x0000 0 16 Reserved_Padding_1 UINT #x687a 0 32 TargetPosition_2 DINT #x6881 0 32 Velocity_2 DINT #x0000 1 32 Reserved UDINT #x6840 0 16 ControlWord_2 UINT #x6871 0 16 CurrentSetpoint_2 INT #x6872 0 16 CurrentLimit_2 UINT #x0000 0 16 Reserved_Padding_2 UINT #x1702 Inputs #x1701 #x1703 #x1721 #x0000 0 32 ReservedPos_1 DINT #x60ff 0 32 Velocity_1 DINT #x60fe 1 32 DigitalOutputs UDINT #x6040 0 16 ControlWord_1 UINT #x6071 0 16 CurrentSetpoint_1 INT #x6072 0 16 CurrentLimit_1 UINT #x0000 0 16 Reserved_Padding_1 UINT #x0000 0 32 ReservedPos_2 DINT #x68ff 0 32 Velocity_2 DINT #x0000 1 32 Reserved UDINT #x6840 0 16 ControlWord_2 UINT #x6871 0 16 CurrentSetpoint_2 INT #x6872 0 16 CurrentLimit_2 UINT #x0000 0 16 Reserved_Padding_2 UINT #x1703 Inputs #x1701 #x1702 #x1721 #x0000 0 32 ReservedPos_1 DINT #x0000 0 32 ReservedVelocity_1 DINT #x60fe 1 32 DigitalOutputs UDINT #x6040 0 16 ControlWord_1 UINT #x6071 0 16 TargetTorque_1 INT #x6072 0 16 CurrentLimit_1 UINT #x0000 0 16 Reserved_Padding_1 UINT #x0000 0 32 ReservedPos_2 DINT #x0000 0 32 ReservedVelocity_2 DINT #x0000 1 32 Reserved UDINT #x6840 0 16 ControlWord_2 UINT #x6871 0 16 TargetTorque_2 INT #x6872 0 16 CurrentLimit_2 UINT #x0000 0 16 Reserved_Padding_2 UINT #x1721 Inputs #x1701 #x332b 0 64 Position setpoint 1 LINT #x332d 0 32 control_1 UDINT #x332e 0 16 currentSetPoint_1 INT #x332f 0 16 currentLimit_1 INT #x342b 0 64 Position setpoint 2 LINT #x342d 0 32 control_2 UDINT #x342e 0 16 currentSetPoint_2 INT #x342f 0 16 currentLimit_2 INT #x0000 0 32 reserved_1 UDINT #x0000 0 32 reserved_2 UDINT #x0000 0 32 reserved_3 UDINT #x1b01 Outputs #x1b21 #x6064 0 32 PositionActualValue_1 DINT #x606c 0 32 VelocityActualValue_1 DINT #x60fd 0 32 DigitalInputs UDINT #x6041 0 16 StatusWord_1 UINT #x6077 0 16 TorqueActualValue_1 INT #x4002 1 16 analogInput_1 UINT #x603f 0 16 DriveStatus_1 UINT #x6864 0 32 PositionActualValue_2 DINT #x686c 0 32 VelocityActualValue_2 DINT #x333e 0 32 ExternalEncoder DINT #x6841 0 16 StatusWord_2 UINT #x6877 0 16 TorqueActualValue_2 INT #x4002 2 16 analogInput_2 UINT #x683f 0 16 DriveStatus_2 UINT #x1b21 Outputs #x1b01 #x3310 0 64 Position Actual Value 1 LINT #x3410 0 64 Position Actual Value 2 LINT #x333e 0 32 positionActValueEx DINT #x3325 0 32 status_1 UDINT #x3425 0 32 status_2 UDINT #x4002 1 16 analogInput_1 UINT #x4002 2 16 analogInput_2 UINT #x2107 0 16 current Actual Value 1 UINT #x2207 0 16 current Actual Value 2 UINT #x3ff8 0 32 Mapped Parameter 1 UDINT #x3ff9 0 32 Mapped Parameter 2 UDINT PS #x60c2 1 05 Cycle time PS #x60c2 2 FC Cycle exp PS #x6060 0 08 Mode of operation (axis 1) PS #x6860 0 08 Mode of operation (axis 2) DC Off DC unused #x0000 DC DC-Synchronous #x0300 0 125000 1024 800000080000