#x0000029c Novanta Drives 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000232E0000232E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFAFBF8D1DEBEFFFFFF9BBB5BE6ECDCE0E9D5CEDCBAF8FAF5FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDEE7D1FFFFFF9FBE65E6ECDCD2DFC1B7CC94F8FAF68EB43090B538DBE5CDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFA4C06FE4ECDBD4E0C3B8CD96F8FAF68EB42DF4F7F1BFD2A289B10089B100D9E3CAFFFFFFFFFFFFFFFFFFEEF2E8E0E9D5D7E2C7B5CB92F9FAF68FB433F5F8F2BFD1A1CBD9B4EBF0E389B10089B1008EB42DF1F5ECFFFFFFFFFFFFBACE99B0C888FAFBF991B53AF3F6EFC0D2A3CBDAB5EAF0E397B94FFCFDFCA8C37889B10089B100C2D4A7FFFFFFFFFFFE8DB32989B100F1F4ECBED1A1CAD9B3ECF1E597B94FFDFDFCA7C276DEE7D1DBE5CC89B10089B10095B84AFFFFFFEFF3E989B10089B100A9C37A9DBC5F96B84DFCFDFBAAC47BDEE7D1DAE4CBADC683FCFDFB95B74889B10089B100F8FAF6EFF3E989B10089B10089B10089B10089B100DDE6D0DCE5CEAEC784FCFCFA94B746EEF3E9C8D8B089B10089B100F8FAF6FEFFFE8CB32389B10089B10089B10089B100ACC580F9FBF789B100EFF3E9C8D7B0C2D4A8F2F5ED89B10095B84AFFFFFFFFFFFFB8CD9689B10089B10089B10089B10089B10090B53789B100C3D4A9F1F5ED90B538F9FBF7B2C98BC2D4A7FFFFFFFFFFFFECF1E689B10089B10089B10089B10089B10089B10089B10090B539FAFBF8B1C98AD6E1C6E3EAD8F1F5ECFFFFFFFFFFFFFFFFFFCFDDBC89B10089B10089B10089B10089B10089B10089B100C0D2A3AAC47BA3C06DFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD4E0C38EB42C89B10089B10089B10089B10089B10089B10090B538DBE5CEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2F5EDC9D8B1A4C17189B10089B100A3C06ECBD9B5F6F8F3FFFFFFFFFFFFFFFFFFFFFFFF Servo Drives EtherCAT Servo Drive 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000232E0000232E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFAFBF8D1DEBEFFFFFF9BBB5BE6ECDCE0E9D5CEDCBAF8FAF5FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDEE7D1FFFFFF9FBE65E6ECDCD2DFC1B7CC94F8FAF68EB43090B538DBE5CDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFA4C06FE4ECDBD4E0C3B8CD96F8FAF68EB42DF4F7F1BFD2A289B10089B100D9E3CAFFFFFFFFFFFFFFFFFFEEF2E8E0E9D5D7E2C7B5CB92F9FAF68FB433F5F8F2BFD1A1CBD9B4EBF0E389B10089B1008EB42DF1F5ECFFFFFFFFFFFFBACE99B0C888FAFBF991B53AF3F6EFC0D2A3CBDAB5EAF0E397B94FFCFDFCA8C37889B10089B100C2D4A7FFFFFFFFFFFE8DB32989B100F1F4ECBED1A1CAD9B3ECF1E597B94FFDFDFCA7C276DEE7D1DBE5CC89B10089B10095B84AFFFFFFEFF3E989B10089B100A9C37A9DBC5F96B84DFCFDFBAAC47BDEE7D1DAE4CBADC683FCFDFB95B74889B10089B100F8FAF6EFF3E989B10089B10089B10089B10089B100DDE6D0DCE5CEAEC784FCFCFA94B746EEF3E9C8D8B089B10089B100F8FAF6FEFFFE8CB32389B10089B10089B10089B100ACC580F9FBF789B100EFF3E9C8D7B0C2D4A8F2F5ED89B10095B84AFFFFFFFFFFFFB8CD9689B10089B10089B10089B10089B10090B53789B100C3D4A9F1F5ED90B538F9FBF7B2C98BC2D4A7FFFFFFFFFFFFECF1E689B10089B10089B10089B10089B10089B10089B10090B539FAFBF8B1C98AD6E1C6E3EAD8F1F5ECFFFFFFFFFFFFFFFFFFCFDDBC89B10089B10089B10089B10089B10089B10089B100C0D2A3AAC47BA3C06DFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD4E0C38EB42C89B10089B10089B10089B10089B10089B10090B538DBE5CEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2F5EDC9D8B1A4C17189B10089B100A3C06ECBD9B5F6F8F3FFFFFFFFFFFFFFFFFFFFFFFF DEN-S-NET-E DEN-S-NET-E 2000 9000 5000 200 100 2000 16384 8 8 Servo Drives 402 BOOL 1 SINT 8 BYTE 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 REAL 32 DT1003ARR UDINT 128 1 4 DT1003 144 0 SubIndex 000 USINT 8 0 rw o 0 0 Elements DT1003ARR 128 16 ro o STRING(11) 88 DT1010ARR UDINT 32 1 1 DT1010 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT1010ARR 32 16 rw o DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Vendor ID UDINT 32 16 ro o 0 0 2 Product code UDINT 32 48 ro o 0 0 3 Revision number UDINT 32 80 ro o 0 0 4 Serial number UDINT 32 112 ro o 0 0 DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Local error reaction UDINT 32 16 ro o 0 0 2 Sync error counter limit UINT 16 48 rw o 0 0 DT1600 496 0 SubIndex 000 USINT 8 0 rw o 0 0 1 RxPDO Map 1 Element 1 UDINT 32 16 rw o 0 0 2 RxPDO Map 1 Element 2 UDINT 32 48 rw o 0 0 3 RxPDO Map 1 Element 3 UDINT 32 80 rw o 0 0 4 RxPDO Map 1 Element 4 UDINT 32 112 rw o 0 0 5 RxPDO Map 1 Element 5 UDINT 32 144 rw o 0 0 6 RxPDO Map 1 Element 6 UDINT 32 176 rw o 0 0 7 RxPDO Map 1 Element 7 UDINT 32 208 rw o 0 0 8 RxPDO Map 1 Element 8 UDINT 32 240 rw o 0 0 9 RxPDO Map 1 Element 9 UDINT 32 272 rw o 0 0 10 RxPDO Map 1 Element 10 UDINT 32 304 rw o 0 0 11 RxPDO Map 1 Element 11 UDINT 32 336 rw o 0 0 12 RxPDO Map 1 Element 12 UDINT 32 368 rw o 0 0 13 RxPDO Map 1 Element 13 UDINT 32 400 rw o 0 0 14 RxPDO Map 1 Element 14 UDINT 32 432 rw o 0 0 15 RxPDO Map 1 Element 15 UDINT 32 464 rw o 0 0 DT1601 496 0 SubIndex 000 USINT 8 0 rw o 0 0 1 RxPDO Map 2 Element 1 UDINT 32 16 rw o 0 0 2 RxPDO Map 2 Element 2 UDINT 32 48 rw o 0 0 3 RxPDO Map 2 Element 3 UDINT 32 80 rw o 0 0 4 RxPDO Map 2 Element 4 UDINT 32 112 rw o 0 0 5 RxPDO Map 2 Element 5 UDINT 32 144 rw o 0 0 6 RxPDO Map 2 Element 6 UDINT 32 176 rw o 0 0 7 RxPDO Map 2 Element 7 UDINT 32 208 rw o 0 0 8 RxPDO Map 2 Element 8 UDINT 32 240 rw o 0 0 9 RxPDO Map 2 Element 9 UDINT 32 272 rw o 0 0 10 RxPDO Map 2 Element 10 UDINT 32 304 rw o 0 0 11 RxPDO Map 2 Element 11 UDINT 32 336 rw o 0 0 12 RxPDO Map 2 Element 12 UDINT 32 368 rw o 0 0 13 RxPDO Map 2 Element 13 UDINT 32 400 rw o 0 0 14 RxPDO Map 2 Element 14 UDINT 32 432 rw o 0 0 15 RxPDO Map 2 Element 15 UDINT 32 464 rw o 0 0 DT1602 496 0 SubIndex 000 USINT 8 0 rw o 0 0 1 RxPDO Map 3 Element 1 UDINT 32 16 rw o 0 0 2 RxPDO Map 3 Element 2 UDINT 32 48 rw o 0 0 3 RxPDO Map 3 Element 3 UDINT 32 80 rw o 0 0 4 RxPDO Map 3 Element 4 UDINT 32 112 rw o 0 0 5 RxPDO Map 3 Element 5 UDINT 32 144 rw o 0 0 6 RxPDO Map 3 Element 6 UDINT 32 176 rw o 0 0 7 RxPDO Map 3 Element 7 UDINT 32 208 rw o 0 0 8 RxPDO Map 3 Element 8 UDINT 32 240 rw o 0 0 9 RxPDO Map 3 Element 9 UDINT 32 272 rw o 0 0 10 RxPDO Map 3 Element 10 UDINT 32 304 rw o 0 0 11 RxPDO Map 3 Element 11 UDINT 32 336 rw o 0 0 12 RxPDO Map 3 Element 12 UDINT 32 368 rw o 0 0 13 RxPDO Map 3 Element 13 UDINT 32 400 rw o 0 0 14 RxPDO Map 3 Element 14 UDINT 32 432 rw o 0 0 15 RxPDO Map 3 Element 15 UDINT 32 464 rw o 0 0 DT1A00 496 0 SubIndex 000 USINT 8 0 rw o 0 0 1 TxPDO Map 1 Element 1 UDINT 32 16 rw o 0 0 2 TxPDO Map 1 Element 2 UDINT 32 48 rw o 0 0 3 TxPDO Map 1 Element 3 UDINT 32 80 rw o 0 0 4 TxPDO Map 1 Element 4 UDINT 32 112 rw o 0 0 5 TxPDO Map 1 Element 5 UDINT 32 144 rw o 0 0 6 TxPDO Map 1 Element 6 UDINT 32 176 rw o 0 0 7 TxPDO Map 1 Element 7 UDINT 32 208 rw o 0 0 8 TxPDO Map 1 Element 8 UDINT 32 240 rw o 0 0 9 TxPDO Map 1 Element 9 UDINT 32 272 rw o 0 0 10 TxPDO Map 1 Element 10 UDINT 32 304 rw o 0 0 11 TxPDO Map 1 Element 11 UDINT 32 336 rw o 0 0 12 TxPDO Map 1 Element 12 UDINT 32 368 rw o 0 0 13 TxPDO Map 1 Element 13 UDINT 32 400 rw o 0 0 14 TxPDO Map 1 Element 14 UDINT 32 432 rw o 0 0 15 TxPDO Map 1 Element 15 UDINT 32 464 rw o 0 0 DT1A01 496 0 SubIndex 000 USINT 8 0 rw o 0 0 1 TxPDO Map 2 Element 1 UDINT 32 16 rw o 0 0 2 TxPDO Map 2 Element 2 UDINT 32 48 rw o 0 0 3 TxPDO Map 2 Element 3 UDINT 32 80 rw o 0 0 4 TxPDO Map 2 Element 4 UDINT 32 112 rw o 0 0 5 TxPDO Map 2 Element 5 UDINT 32 144 rw o 0 0 6 TxPDO Map 2 Element 6 UDINT 32 176 rw o 0 0 7 TxPDO Map 2 Element 7 UDINT 32 208 rw o 0 0 8 TxPDO Map 2 Element 8 UDINT 32 240 rw o 0 0 9 TxPDO Map 2 Element 9 UDINT 32 272 rw o 0 0 10 TxPDO Map 2 Element 10 UDINT 32 304 rw o 0 0 11 TxPDO Map 2 Element 11 UDINT 32 336 rw o 0 0 12 TxPDO Map 2 Element 12 UDINT 32 368 rw o 0 0 13 TxPDO Map 2 Element 13 UDINT 32 400 rw o 0 0 14 TxPDO Map 2 Element 14 UDINT 32 432 rw o 0 0 15 TxPDO Map 2 Element 15 UDINT 32 464 rw o 0 0 DT1A02 496 0 SubIndex 000 USINT 8 0 rw o 0 0 1 TxPDO Map 3 Element 1 UDINT 32 16 rw o 0 0 2 TxPDO Map 3 Element 2 UDINT 32 48 rw o 0 0 3 TxPDO Map 3 Element 3 UDINT 32 80 rw o 0 0 4 TxPDO Map 3 Element 4 UDINT 32 112 rw o 0 0 5 TxPDO Map 3 Element 5 UDINT 32 144 rw o 0 0 6 TxPDO Map 3 Element 6 UDINT 32 176 rw o 0 0 7 TxPDO Map 3 Element 7 UDINT 32 208 rw o 0 0 8 TxPDO Map 3 Element 8 UDINT 32 240 rw o 0 0 9 TxPDO Map 3 Element 9 UDINT 32 272 rw o 0 0 10 TxPDO Map 3 Element 10 UDINT 32 304 rw o 0 0 11 TxPDO Map 3 Element 11 UDINT 32 336 rw o 0 0 12 TxPDO Map 3 Element 12 UDINT 32 368 rw o 0 0 13 TxPDO Map 3 Element 13 UDINT 32 400 rw o 0 0 14 TxPDO Map 3 Element 14 UDINT 32 432 rw o 0 0 15 TxPDO Map 3 Element 15 UDINT 32 464 rw o 0 0 DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 48 1 3 DT1C12 64 0 SubIndex 000 USINT 8 0 rw o 0 0 Elements DT1C12ARR 48 16 rw o DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw o 0 0 Elements DT1C13ARR 48 16 rw o DT1C32 488 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Synchronization Type UINT 16 16 rw o 0 0 2 Cycle Time UDINT 32 32 ro o 0 0 3 Shift Time UDINT 32 64 ro o 0 0 4 Synchronization Types supported UINT 16 96 ro o 0 0 5 Minimum Cycle Time UDINT 32 112 ro o 0 0 6 Calc and Copy Time UDINT 32 144 ro o 0 0 7 Minimum Delay Time UDINT 32 176 ro o 0 0 8 Get Cycle Time UINT 16 208 rw o 0 0 9 Delay Time UDINT 32 224 ro o 0 0 10 Sync0 Cycle Time UDINT 32 256 rw o 0 0 11 SM-Event Missed UINT 16 288 ro o 0 0 12 Cycle Time Too Small UINT 16 304 ro o 0 0 13 Shift Time Too Short UINT 16 320 ro o 0 0 14 RxPDO Toggle Failed UINT 16 336 ro o 0 0 15 Minimum Cycle Distance UDINT 32 352 ro o 0 0 16 Maximum Cycle Distance UDINT 32 384 ro o 0 0 17 Minimum SM Sync Distance UDINT 32 416 ro o 0 0 18 Maximum SM Sync Distance UDINT 32 448 ro o 0 0 32 Sync Error BOOL 1 480 ro o 0 0 DT1C33 488 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Synchronization Type UINT 16 16 rw o 0 0 2 Cycle Time UDINT 32 32 ro o 0 0 3 Shift Time UDINT 32 64 ro o 0 0 4 Synchronization Types supported UINT 16 96 ro o 0 0 5 Minimum Cycle Time UDINT 32 112 ro o 0 0 6 Calc and Copy Time UDINT 32 144 ro o 0 0 7 Minimum Delay Time UDINT 32 176 ro o 0 0 8 Get Cycle Time UINT 16 208 rw o 0 0 9 Delay Time UDINT 32 224 ro o 0 0 10 Sync0 Cycle Time UDINT 32 256 rw o 0 0 11 SM-Event Missed UINT 16 288 ro o 0 0 12 Cycle Time Too Small UINT 16 304 ro o 0 0 13 Shift Time Too Short UINT 16 320 ro o 0 0 14 RxPDO Toggle Failed UINT 16 336 ro o 0 0 15 Minimum Cycle Distance UDINT 32 352 ro o 0 0 16 Maximum Cycle Distance UDINT 32 384 ro o 0 0 17 Minimum SM Sync Distance UDINT 32 416 ro o 0 0 18 Maximum SM Sync Distance UDINT 32 448 ro o 0 0 32 Sync Error BOOL 1 480 ro o 0 0 STRING(9) 72 ARRAY [0..511] OF BYTE BYTE 4096 0 512 DT58B2 4112 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Monitoring data ARRAY [0..511] OF BYTE 4096 16 ro o 0 0 DT58B4 4112 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Disturbance data ARRAY [0..511] OF BYTE 4096 16 wo o 0 0 DT607BARR DINT 64 1 2 DT607B 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT607BARR 64 16 rw o r DT607DARR DINT 64 1 2 DT607D 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT607DARR 64 16 rw o r DT6099ARR UDINT 64 1 2 DT6099 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6099ARR 64 16 rw o r DT60C2 32 0 Subindex 000 USINT 8 0 ro o 0 0 1 Interpolation time period value USINT 8 16 rw o r 0 0 2 Interpolation time index SINT 8 24 rw o r 0 0 DTF000 48 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Index distance UINT 16 16 ro o 0 0 2 Maximum number of modules UINT 16 32 ro o 0 0 DTF030ARR UDINT 32 1 1 DTF030 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DTF030ARR 32 16 rw o DTF050ARR UDINT 96 1 3 DTF050 112 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DTF050ARR 96 16 ro o #x1000 Device Type UDINT 32 04000000 ro m 0 0 #x1001 Error register USINT 8 00 ro o 0 0 #x1003 Pre-defined error field DT1003 144 SubIndex 000 00 SubIndex 000 SubIndex 001 00000000 Standard error field 1 SubIndex 002 00000000 Standard error field 2 SubIndex 003 00000000 Standard error field 3 SubIndex 004 00000000 Standard error field 4 #x1008 Manufacturer Device Name STRING(11) 88 44454e2d532d4e45542d45 ro o 0 0 #x1010 Ecat Store DT1010 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 Ecat Store all #x1011 Ecat Restore DT1011 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 Ecat Restore all #x1018 Identity Object DT1018 144 SubIndex 000 04 Vendor ID 9c020000 Product code 32000000 Revision number 00000000 Serial number 34120000 #x10f1 Error settings DT10F1 64 SubIndex 000 02 Local error reaction 01000000 Sync error counter limit 0400 #x10f8 Timestamp object ULINT 64 0000000000000000 ro o 0 0 #x1600 RxPDO Map 1 DT1600 496 SubIndex 000 04 RxPDO Map 1 Element 1 10004060 RxPDO Map 1 Element 2 20007a60 RxPDO Map 1 Element 3 2000ff60 RxPDO Map 1 Element 4 08006060 RxPDO Map 1 Element 5 00000000 RxPDO Map 1 Element 6 00000000 RxPDO Map 1 Element 7 00000000 RxPDO Map 1 Element 8 00000000 RxPDO Map 1 Element 9 00000000 RxPDO Map 1 Element 10 00000000 RxPDO Map 1 Element 11 00000000 RxPDO Map 1 Element 12 00000000 RxPDO Map 1 Element 13 00000000 RxPDO Map 1 Element 14 00000000 RxPDO Map 1 Element 15 00000000 #x1601 RxPDO Map 2 DT1601 496 SubIndex 000 02 RxPDO Map 2 Element 1 10004060 RxPDO Map 2 Element 2 20007a60 RxPDO Map 2 Element 3 00000000 RxPDO Map 2 Element 4 00000000 RxPDO Map 2 Element 5 00000000 RxPDO Map 2 Element 6 00000000 RxPDO Map 2 Element 7 00000000 RxPDO Map 2 Element 8 00000000 RxPDO Map 2 Element 9 00000000 RxPDO Map 2 Element 10 00000000 RxPDO Map 2 Element 11 00000000 RxPDO Map 2 Element 12 00000000 RxPDO Map 2 Element 13 00000000 RxPDO Map 2 Element 14 00000000 RxPDO Map 2 Element 15 00000000 #x1602 RxPDO Map 3 DT1602 496 SubIndex 000 02 RxPDO Map 3 Element 1 10004060 RxPDO Map 3 Element 2 2000ff60 RxPDO Map 3 Element 3 00000000 RxPDO Map 3 Element 4 00000000 RxPDO Map 3 Element 5 00000000 RxPDO Map 3 Element 6 00000000 RxPDO Map 3 Element 7 00000000 RxPDO Map 3 Element 8 00000000 RxPDO Map 3 Element 9 00000000 RxPDO Map 3 Element 10 00000000 RxPDO Map 3 Element 11 00000000 RxPDO Map 3 Element 12 00000000 RxPDO Map 3 Element 13 00000000 RxPDO Map 3 Element 14 00000000 RxPDO Map 3 Element 15 00000000 #x1a00 TxPDO Map 1 DT1A00 496 SubIndex 000 04 TxPDO Map 1 Element 1 10004160 TxPDO Map 1 Element 2 20006460 TxPDO Map 1 Element 3 20006c60 TxPDO Map 1 Element 4 08006160 TxPDO Map 1 Element 5 00000000 TxPDO Map 1 Element 6 00000000 TxPDO Map 1 Element 7 00000000 TxPDO Map 1 Element 8 00000000 TxPDO Map 1 Element 9 00000000 TxPDO Map 1 Element 10 00000000 TxPDO Map 1 Element 11 00000000 TxPDO Map 1 Element 12 00000000 TxPDO Map 1 Element 13 00000000 TxPDO Map 1 Element 14 00000000 TxPDO Map 1 Element 15 00000000 #x1a01 TxPDO Map 2 DT1A01 496 SubIndex 000 02 TxPDO Map 2 Element 1 10004160 TxPDO Map 2 Element 2 20006460 TxPDO Map 2 Element 3 00000000 TxPDO Map 2 Element 4 00000000 TxPDO Map 2 Element 5 00000000 TxPDO Map 2 Element 6 00000000 TxPDO Map 2 Element 7 00000000 TxPDO Map 2 Element 8 00000000 TxPDO Map 2 Element 9 00000000 TxPDO Map 2 Element 10 00000000 TxPDO Map 2 Element 11 00000000 TxPDO Map 2 Element 12 00000000 TxPDO Map 2 Element 13 00000000 TxPDO Map 2 Element 14 00000000 TxPDO Map 2 Element 15 00000000 #x1a02 TxPDO Map 3 DT1A02 496 SubIndex 000 02 TxPDO Map 3 Element 1 10004160 TxPDO Map 3 Element 2 20006c60 TxPDO Map 3 Element 3 00000000 TxPDO Map 3 Element 4 00000000 TxPDO Map 3 Element 5 00000000 TxPDO Map 3 Element 6 00000000 TxPDO Map 3 Element 7 00000000 TxPDO Map 3 Element 8 00000000 TxPDO Map 3 Element 9 00000000 TxPDO Map 3 Element 10 00000000 TxPDO Map 3 Element 11 00000000 TxPDO Map 3 Element 12 00000000 TxPDO Map 3 Element 13 00000000 TxPDO Map 3 Element 14 00000000 TxPDO Map 3 Element 15 00000000 #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 000 SubIndex 001 01 SubIndex 001 SubIndex 002 02 SubIndex 002 SubIndex 003 03 SubIndex 003 SubIndex 004 04 SubIndex 004 #x1c12 RxPDO assign DT1C12 64 SubIndex 000 01 SubIndex 000 SubIndex 001 0016 RxPDO assign Element 1 SubIndex 002 0000 RxPDO assign Element 2 SubIndex 003 0000 RxPDO assign Element 3 #x1c13 TxPDO assign DT1C13 64 SubIndex 000 01 SubIndex 000 SubIndex 001 001a TxPDO assign Element 1 SubIndex 002 0000 TxPDO assign Element 2 SubIndex 003 0000 TxPDO assign Element 3 #x1c32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0000 Cycle Time 00000000 Shift Time 00000000 Synchronization Types supported 1f40 Minimum Cycle Time a0860100 Calc and Copy Time 00000000 Minimum Delay Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Shift Time Too Short 0000 RxPDO Toggle Failed 0000 Minimum Cycle Distance 00000000 Maximum Cycle Distance 00000000 Minimum SM Sync Distance 00000000 Maximum SM Sync Distance 00000000 Sync Error 00 #x1c33 SM Input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 0000 Cycle Time 00000000 Shift Time 00000000 Synchronization Types supported 1f40 Minimum Cycle Time a0860100 Calc and Copy Time 00000000 Minimum Delay Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Shift Time Too Short 0000 RxPDO Toggle Failed 0000 Minimum Cycle Distance 00000000 Maximum Cycle Distance 00000000 Minimum SM Sync Distance 00000000 Maximum SM Sync Distance 00000000 Sync Error 00 #x200f Last error DINT 32 00000000 ro o t 0 0 #x2010 Control word UINT 16 0000 rw o r 0 0 #x2011 Status word UINT 16 0000 ro o t 0 0 #x2014 Modes of operation UINT 16 0000 rw o r 0 0 #x2015 Modes of operation display UINT 16 0000 ro o t 0 0 #x2018 Voltage quadrature set-point REAL 32 00000000 rw o r 0 0 #x2019 Voltage direct set-point REAL 32 00000000 rw o r 0 0 #x201a Current quadrature set-point REAL 32 00000000 rw o r 0 0 #x201b Current direct set-point REAL 32 00000000 rw o r 0 0 #x201c Current A set-point REAL 32 00000000 rw o r 0 0 #x201d Current B set-point REAL 32 00000000 rw o r 0 0 #x2020 Position set-point DINT 32 00000000 rw o r 0 0 #x2021 Target velocity REAL 32 00000000 rw o r 0 0 #x2022 Torque set-point REAL 32 00000000 rw o r 0 0 #x2024 Position option code UINT 16 0000 rw o r 0 0 #x2025 Profiler max. velocity REAL 32 0000a041 rw o r 0 0 #x2026 Profiler max. acceleration REAL 32 0000a041 rw o r 0 0 #x2027 Profiler max. deceleration REAL 32 0000a041 rw o r 0 0 #x2029 Actual torque REAL 32 00000000 ro o t 0 0 #x2030 Position actual value DINT 32 00000000 ro o t 0 0 #x2031 Velocity actual value REAL 32 00000000 ro o t 0 0 #x2033 Auxiliar feedback value UDINT 32 00000000 ro o t 0 0 #x2037 Bus voltage current counts UINT 16 0000 ro o t 0 0 #x2038 Current A value REAL 32 00000000 ro o t 0 0 #x2039 Current B value REAL 32 00000000 ro o t 0 0 #x203a Current C value REAL 32 00000000 ro o t 0 0 #x203b Current quadrature value REAL 32 00000000 ro o t 0 0 #x203c Current direct value REAL 32 00000000 ro o t 0 0 #x203d Current A counts UINT 16 0000 ro o t 0 0 #x203e Current B counts UINT 16 0000 ro o t 0 0 #x203f Current C counts UINT 16 0000 ro o t 0 0 #x2040 Commutation angle value REAL 32 00000000 ro o t 0 0 #x2041 Reference angle value REAL 32 00000000 ro o t 0 0 #x204a Primary Absolute Slave 1 - Position DINT 32 00000000 ro o t 0 0 #x204b Primary Absolute Slave 1 - Full frame UDINT 32 00000000 ro o t 0 0 #x2050 Generator value REAL 32 00000000 ro o t 0 0 #x2051 Secondary Absolute Slave 1 - Position DINT 32 00000000 ro o t 0 0 #x2052 Primary Absolute Slave 2 - Position DINT 32 00000000 ro o t 0 0 #x2053 Torque demand REAL 32 00000000 ro o t 0 0 #x2054 Secondary Absolute Slave 1 - Full frame UDINT 32 00000000 ro o t 0 0 #x2055 Primary Absolute Slave 2 - Full frame UDINT 32 00000000 ro o t 0 0 #x205f Bus voltage counts UINT 16 0000 ro o t 0 0 #x2060 Bus voltage value REAL 32 00000000 ro o t 0 0 #x2061 Power stage temperature 1 value REAL 32 00000000 ro o t 0 0 #x2062 Power stage temperature 1 counts UINT 16 0000 ro o t 0 0 #x2063 Motor temperature value REAL 32 00000000 ro o t 0 0 #x2064 Power stage temperature 2 value REAL 32 00000000 ro o t 0 0 #x2066 Power stage temperature 2 counts UINT 16 0000 ro o t 0 0 #x2067 Power stage max. actual temperature REAL 32 00000000 ro o t 0 0 #x2068 Voltage phase A REAL 32 00000000 ro o t 0 0 #x2069 Voltage phase B REAL 32 00000000 ro o t 0 0 #x206a Voltage phase C REAL 32 00000000 ro o t 0 0 #x206e Voltage direct command REAL 32 00000000 ro o t 0 0 #x206f Voltage quadrature command REAL 32 00000000 ro o t 0 0 #x2070 Voltage quadrature demand REAL 32 00000000 ro o t 0 0 #x2071 Voltage direct demand REAL 32 00000000 ro o t 0 0 #x2072 Current quadrature demand REAL 32 00000000 ro o t 0 0 #x2073 Current direct demand REAL 32 00000000 ro o t 0 0 #x2074 Current A demand REAL 32 00000000 ro o t 0 0 #x2075 Current B demand REAL 32 00000000 ro o t 0 0 #x2076 Current actual value REAL 32 00000000 ro o t 0 0 #x2077 Current command value REAL 32 00000000 ro o t 0 0 #x2078 Position demand DINT 32 00000000 ro o t 0 0 #x2079 Velocity demand REAL 32 00000000 ro o t 0 0 #x207a Acceleration demand REAL 32 00000000 ro o t 0 0 #x207b Velocity loop input offset REAL 32 00000000 rw o r 0 0 #x207c Current quadrature loop input offset REAL 32 00000000 rw o r 0 0 #x207d Current direct loop input offset REAL 32 00000000 rw o r 0 0 #x2080 Torque loop input offset REAL 32 00000000 rw o r 0 0 #x2081 Analog input 1 - Counts UINT 16 0000 ro o t 0 0 #x2082 Analog input 1 - Value REAL 32 00000000 ro o t 0 0 #x2083 Analog input 2 - Counts UINT 16 0000 ro o t 0 0 #x2084 Analog input 2 - Value REAL 32 00000000 ro o t 0 0 #x2089 Main logic supply voltage REAL 32 00000000 ro o t 0 0 #x208a IO level supply voltage REAL 32 00000000 ro o t 0 0 #x208b MCU logic supply voltage REAL 32 00000000 ro o t 0 0 #x208d Analog output 1 - Value REAL 32 000080bf rw o r 0 0 #x2096 Position loop control command REAL 32 00000000 ro o t 0 0 #x2097 Velocity loop control command REAL 32 00000000 ro o t 0 0 #x2098 Current quadrature / A control loop command REAL 32 00000000 ro o t 0 0 #x2099 Current direct / B control loop command REAL 32 00000000 ro o t 0 0 #x209a Motor rated torque REAL 32 0000803f rw o r 0 0 #x209b Torque control loop command REAL 32 00000000 ro o t 0 0 #x2100 Motor rated current REAL 32 0000a040 rw o r 0 0 #x2101 Peak current REAL 32 00002041 rw o 0 0 #x2102 Peak current time UDINT 32 f4010000 rw o 0 0 #x2106 Motor pole pairs INT 16 0200 rw o 0 0 #x2109 Motor temp. protection threshold REAL 32 0000c842 rw o 0 0 #x210a Motor temp. sensor type UINT 16 0600 rw o 0 0 #x210b Motor temp. sensor resistance UDINT 32 00000000 rw o 0 0 #x210c Motor temp. sensor Beta (25-85) UINT 16 0000 rw o 0 0 #x210d Motor temp. sensor external resistance UDINT 32 72060000 rw o 0 0 #x210e Motor temp. sensor gain REAL 32 00000000 rw o 0 0 #x210f Motor temp. sensor offset REAL 32 00000000 rw o 0 0 #x2110 Motor temperature sensor voltage reference REAL 32 33335340 rw o 0 0 #x2111 Motor temperature sensor Temperature 0 REAL 32 00000000 rw o 0 0 #x2112 Motor temperature sensor Resistance 0 REAL 32 00000000 rw o 0 0 #x2113 Motor temperature sensor Temperature 1 REAL 32 00000000 rw o 0 0 #x2114 Motor temperature sensor Resistance 1 REAL 32 00000000 rw o 0 0 #x2120 Internal shunt enable voltage REAL 32 00007042 rw o 0 0 #x2121 Internal shunt disable voltage REAL 32 00006842 rw o 0 0 #x2122 External shunt enable voltage REAL 32 00007042 rw o 0 0 #x2123 External shunt disable voltage REAL 32 00006842 rw o 0 0 #x2124 Brake activation voltage percentage UINT 16 6400 rw o 0 0 #x2125 Brake holding voltage percentage UINT 16 6400 rw o 0 0 #x2126 Delay before release brake UDINT 32 00000000 rw o 0 0 #x2127 Delay after enable brake UDINT 32 00000000 rw o 0 0 #x2128 Activation brake time UDINT 32 00000000 rw o 0 0 #x2129 Brake override UINT 16 0000 rw o 0 0 #x212a Brake activation current REAL 32 00000040 rw o 0 0 #x212b Brake holding current REAL 32 00000040 rw o 0 0 #x212c Brake current control Kp REAL 32 0000803f rw o 0 0 #x212d Brake current control Ki REAL 32 00000000 rw o 0 0 #x212e Brake control mode UINT 16 0000 rw o 0 0 #x212f Brake current error window REAL 32 0000c842 rw o 0 0 #x2130 Brake current error timeout UDINT 32 e8030000 rw o 0 0 #x2131 Brake max current REAL 32 0000c842 rw o 0 0 #x2133 Brake current actual value REAL 32 00000000 ro o t 0 0 #x2134 Brake current feedback source UINT 16 0000 rw o 0 0 #x2141 Brake current command REAL 32 00000000 ro o t 0 0 #x214f Control mode UINT 16 0000 rw o 0 0 #x2150 Commutation angle offset REAL 32 00000000 rw o 0 0 #x2151 Commutation feedback sensor UINT 16 0400 rw o 0 0 #x2152 Reference angle offset REAL 32 00000000 rw o 0 0 #x2153 Reference feedback sensor UINT 16 0400 rw o 0 0 #x2154 Phasing mode UINT 16 0000 rw o 0 0 #x2155 Max. current on phasing sequence REAL 32 0000c03f rw o 0 0 #x2156 Phasing timeout UINT 16 e803 rw o 0 0 #x2157 Phasing accuracy UINT 16 100e rw o 0 0 #x217b Restart all feedbacks UINT 16 0000 wo o 0 0 #x217c Set feedback power supply status UINT 16 0100 rw o 0 0 #x2181 Interpolation data record - Position input DINT 32 00000000 rw o r 0 0 #x2182 Interpolation data record - Velocity input REAL 32 00000000 rw o r 0 0 #x2183 Interpolation data record - Time input UINT 16 0000 rw o r 0 0 #x2184 Interpolation data record integrity check UINT 16 0000 rw o r 0 0 #x2185 Interpolation data record status UINT 16 0000 ro o t 0 0 #x21c0 Power stage maximum duty cycle REAL 32 0000c842 rw o 0 0 #x21c8 Profiler latching mode UINT 16 4000 rw o 0 0 #x21d6 Velocity threshold REAL 32 0000803f rw o r 0 0 #x21d7 Velocity threshold time UDINT 32 00000000 rw o r 0 0 #x21dc Velocity following error window REAL 32 0000803f rw o r 0 0 #x21dd Velocity following error timeout UDINT 32 00000000 rw o r 0 0 #x21de Min position range limit DINT 32 00000000 rw o r 0 0 #x21df Max position range limit DINT 32 00000000 rw o r 0 0 #x21e0 Max current REAL 32 00002041 rw o r 0 0 #x21e2 Position control loop error DINT 32 00000000 ro o t 0 0 #x21e3 Velocity control loop error REAL 32 00000000 ro o t 0 0 #x21e4 Torque control loop error REAL 32 00000000 ro o t 0 0 #x21e5 Current direct control loop error REAL 32 00000000 ro o t 0 0 #x21e6 Current quadrature control loop error REAL 32 00000000 ro o t 0 0 #x21e8 Max. velocity REAL 32 00004843 rw o 0 0 #x21ea Min position DINT 32 00000000 rw o r 0 0 #x21eb Max position DINT 32 00000000 rw o r 0 0 #x21ec Position following error window REAL 32 0000c842 rw o r 0 0 #x21ed Following error time out UDINT 32 00000000 rw o r 0 0 #x21ee Following error REAL 32 00000000 ro o t 0 0 #x21ef Interpolation time mantissa REAL 32 0000803f rw o r 0 0 #x21f0 Interpolation time exponent REAL 32 6f12833a rw o r 0 0 #x21f1 Position window UDINT 32 00000000 rw o 0 0 #x21f2 Position window time UDINT 32 00000000 rw o 0 0 #x21f3 Velocity window REAL 32 00000000 rw o 0 0 #x21f4 Velocity window time UDINT 32 00000000 rw o 0 0 #x21f5 Quick stop deceleration REAL 32 0000803f rw o 0 0 #x21f6 Interpolation data record force clear UINT 16 0000 wo o 0 0 #x21f7 Interpolation buffer size UINT 16 1000 rw o 0 0 #x21f8 Interpolation buffer number of elements UINT 16 0000 ro o 0 0 #x21f9 Interpolation buffer maximum size UINT 16 1000 ro o 0 0 #x22e0 Command source 1 UINT 16 0000 ro o 0 0 #x22e1 Command source 2 UINT 16 0000 ro o 0 0 #x22e8 Analog input 1 - Gain REAL 32 0000803f rw o 0 0 #x22e9 Analog input 1 - Offset REAL 32 00000000 rw o 0 0 #x22ec Analog input 2 - Gain REAL 32 0000803f rw o 0 0 #x22ed Analog input 2 - Offset REAL 32 00000000 rw o 0 0 #x2306 Cogging compensation table enable UINT 16 0000 rw o 0 0 #x2307 Cogging compensation table index INT 16 ffff rw o 0 0 #x2308 Cogging compensation table value REAL 32 00000000 rw o 0 0 #x235f Enabled feedbacks mask UDINT 32 00000000 ro o 0 0 #x2360 Velocity feedback sensor UINT 16 0400 rw o 0 0 #x2361 Position feedback sensor UINT 16 0400 rw o 0 0 #x2362 Auxiliar feedback sensor UINT 16 0400 rw o 0 0 #x2364 Position to velocity sensor ratio REAL 32 0000803f rw o 0 0 #x236f Primary Absolute Slave 1 - Protocol UINT 16 0000 rw o 0 0 #x2370 Primary Absolute Slave 1 - Frame size UINT 16 1c00 rw o 0 0 #x2371 Primary Absolute Slave 1 - Error tolerance UINT 16 0500 rw o 0 0 #x2373 Primary Absolute Slave 1 - Polarity UINT 16 0000 rw o 0 0 #x2374 Primary Absolute Slave 1 - Frame type UINT 16 0000 rw o 0 0 #x2375 Primary Absolute Slave 1 - Position bits UINT 16 1600 rw o 0 0 #x2376 Primary Absolute Slave 1 - Single-turn bits UINT 16 1600 rw o 0 0 #x2377 Primary Absolute Slave 1 - Position start bit UINT 16 0000 rw o 0 0 #x2378 Secondary Absolute Slave 1 - Frame size UINT 16 1800 rw o 0 0 #x2379 Secondary Absolute Slave 1 - Error tolerance UINT 16 0500 rw o 0 0 #x237b Secondary Absolute Slave 1 - Polarity UINT 16 0000 rw o 0 0 #x237c Secondary Absolute Slave 1 - Frame type UINT 16 0000 rw o 0 0 #x237d Secondary Absolute Slave 1 - Position bits UINT 16 1600 rw o 0 0 #x237e Secondary Absolute Slave 1 - Single-turn bits UINT 16 1600 rw o 0 0 #x237f Secondary Absolute Slave 1 - Position start bit UINT 16 0000 rw o 0 0 #x2380 Generator mode UINT 16 0000 rw o 0 0 #x2381 Generator frequency REAL 32 0000803f rw o 0 0 #x2382 Generator gain REAL 32 0000803f rw o r 0 0 #x2383 Generator offset REAL 32 00000000 rw o r 0 0 #x2384 Generator cycle number UDINT 32 00000000 rw o 0 0 #x2385 Generator rearm UINT 16 0000 wo o 0 0 #x2386 Primary Absolute Slave 1 - Baudrate UDINT 32 88130000 rw o 0 0 #x2387 Secondary Absolute Slave 1 - Baudrate UDINT 32 e8030000 rw o 0 0 #x2388 Incremental encoder 1 - Resolution UDINT 32 d0070000 rw o 0 0 #x2389 Incremental encoder 1 - Polarity UINT 16 0000 rw o 0 0 #x238a Incremental encoder 1 - Filter UINT 16 0000 rw o 0 0 #x238b Incremental encoder 1 - Value DINT 32 00000000 ro o t 0 0 #x2390 Dig. hall polarity UINT 16 0000 rw o 0 0 #x2391 Dig. hall filter UINT 16 0000 rw o 0 0 #x2392 Dig. hall pole pairs UINT 16 0200 rw o 0 0 #x2393 Dig. hall value UINT 16 0000 ro o t 0 0 #x2394 Feedback runaway source UINT 16 0400 rw o 0 0 #x2395 Primary Absolute Feedback - Topology UINT 16 0100 rw o 0 0 #x2398 Primary Absolute - Maximum refresh rate UDINT 32 a8610000 rw o 0 0 #x2399 Secondary Absolute - Maximum refresh rate UDINT 32 a8610000 rw o 0 0 #x239a Primary Absolute - Actual refresh rate UDINT 32 00000000 ro o 0 0 #x239b Secondary Absolute - Actual refresh rate UDINT 32 00000000 ro o 0 0 #x2400 Primary Absolute Slave 2 - Frame size UINT 16 1800 rw o 0 0 #x2401 Primary Absolute Slave 2 - Error tolerance UINT 16 0500 rw o 0 0 #x2403 Primary Absolute Slave 2 - Polarity UINT 16 0000 rw o 0 0 #x2404 Primary Absolute Slave 2 - Frame type UINT 16 0000 rw o 0 0 #x2405 Primary Absolute Slave 2 - Position bits UINT 16 1600 rw o 0 0 #x2406 Primary Absolute Slave 2 - Single-turn bits UINT 16 1600 rw o 0 0 #x2407 Primary Absolute Slave 2 - Position start bit UINT 16 0000 rw o 0 0 #x2408 Primary Absolute Slave 1 - CRC polynomial UINT 16 0000 ro o 0 0 #x2409 Primary Absolute Slave 1 - CRC number of bits UINT 16 0000 ro o 0 0 #x240a Primary Absolute Slave 2 - CRC polynomial UINT 16 4300 ro o 0 0 #x240b Primary Absolute Slave 2 - CRC number of bits UINT 16 0600 ro o 0 0 #x240c Primary Absolute Slave 1 - CRC seed UINT 16 0000 ro o 0 0 #x240d Primary Absolute Slave 2 - CRC seed UINT 16 0000 ro o 0 0 #x2438 Primary Absolute Slave 1 - Position offset DINT 32 00000000 rw o 0 0 #x2439 Primary Absolute Slave 2 - Position offset DINT 32 00000000 rw o 0 0 #x243a Secondary Absolute Slave 1 - Position offset DINT 32 00000000 rw o 0 0 #x243b Torque constant REAL 32 0000803f rw o 0 0 #x243c Secondary Absolute Slave 1 - Protocol UINT 16 0000 rw o 0 0 #x243d Secondary Absolute Slave 1 - CRC polynomial UINT 16 0000 ro o 0 0 #x243e Secondary Absolute Slave 1 - CRC seed UINT 16 0000 ro o 0 0 #x243f Secondary Absolute Slave 1 - CRC number of bits UINT 16 0000 ro o 0 0 #x2440 Primary absolute interface - Register address UINT 16 0000 rw o 0 0 #x2441 Primary absolute interface - Register data UINT 16 0000 rw o 0 0 #x2442 Primary absolute interface - Operation status UINT 16 0000 ro o 0 0 #x2443 Primary absolute interface - Control UINT 16 0000 rw o 0 0 #x2444 Secondary absolute interface - Register address UINT 16 0000 rw o 0 0 #x2445 Secondary absolute interface - Register data UINT 16 0000 rw o 0 0 #x2446 Secondary absolute interface - Operation status UINT 16 0000 ro o 0 0 #x2447 Secondary absolute interface - Control UINT 16 0000 rw o 0 0 #x2450 Homing mode UINT 16 0000 rw o r 0 0 #x2451 Homing offset DINT 32 00000000 rw o r 0 0 #x2452 Homing timeout UDINT 32 60ea0000 rw o 0 0 #x2453 Homing limit search speed REAL 32 00000000 rw o r 0 0 #x2454 Homing zero search speed REAL 32 00000000 rw o r 0 0 #x2455 Positive homing switch UINT 16 0000 rw o 0 0 #x2456 Negative homing switch UINT 16 0000 rw o 0 0 #x2457 Homing index pulse source UINT 16 0000 rw o 0 0 #x2458 Current loop rate UDINT 32 204e0000 ro o 0 0 #x24ff Current scaling gain factor UINT 16 0000 rw o 0 0 #x2500 Current quadrature loop Kp REAL 32 0000803f rw o 0 0 #x2501 Current quadrature loop Ki REAL 32 00004842 rw o 0 0 #x2502 Current quadrature loop max. out REAL 32 00004042 rw o 0 0 #x2503 Current quadrature loop min. out REAL 32 000040c2 rw o 0 0 #x2505 Current direct loop Kp REAL 32 0000803f rw o 0 0 #x2506 Current direct loop Ki REAL 32 00004842 rw o 0 0 #x2507 Current direct loop max. out REAL 32 00004042 rw o 0 0 #x2508 Current direct loop min. out REAL 32 000040c2 rw o 0 0 #x250a Velocity loop Kp REAL 32 0000803f rw o r 0 0 #x250b Velocity loop Ki REAL 32 00002041 rw o r 0 0 #x250c Velocity loop Kd REAL 32 00000000 rw o r 0 0 #x250d Velocity loop Kd filter REAL 32 00000000 rw o r 0 0 #x250e Velocity loop max. output REAL 32 00007042 rw o r 0 0 #x250f Velocity loop min. output REAL 32 000070c2 rw o r 0 0 #x2510 Control loops feedback options UINT 16 1b00 rw o 0 0 #x2511 Position loop Kp REAL 32 acc52737 rw o r 0 0 #x2512 Position loop Ki REAL 32 00000000 rw o r 0 0 #x2513 Position loop Kd REAL 32 00000000 rw o r 0 0 #x2514 Position loop Kd filter REAL 32 00000000 rw o r 0 0 #x2515 Position loop max. output REAL 32 0000fa43 rw o r 0 0 #x2516 Position loop min. output REAL 32 0000fac3 rw o r 0 0 #x2517 Current loop status UDINT 32 00000000 ro o t 0 0 #x2518 Velocity loop status UDINT 32 00000000 ro o t 0 0 #x2519 Position loop status UDINT 32 00000000 ro o t 0 0 #x251a STO status UINT 16 0000 ro o t 0 0 #x251b Velocity loop integral reset UINT 16 0000 wo o 0 0 #x251c Position loop integral reset UINT 16 0000 wo o 0 0 #x251d Velocity loop integral value REAL 32 00000000 ro o t 0 0 #x251e Position loop integral value REAL 32 00000000 ro o t 0 0 #x251f Maximum voltage bus utilization REAL 32 00000000 ro o 0 0 #x2520 Position & velocity loop rate UDINT 32 a8610000 ro o t 0 0 #x2521 Power stage frequency UINT 16 0100 rw o 0 0 #x2522 Control loops option code UDINT 32 00000000 rw o 0 0 #x2523 Torque loop Kp REAL 32 0000803f rw o r 0 0 #x2524 Torque loop Ki REAL 32 00000000 rw o r 0 0 #x2527 Torque loop max. output REAL 32 0000a041 rw o r 0 0 #x2528 Torque loop min. output REAL 32 0000a0c1 rw o r 0 0 #x2530 Position feedback filter 1 type UINT 16 0000 rw o 0 0 #x2531 Position feedback filter 1 frequency UDINT 32 64000000 rw o 0 0 #x2532 Position feedback filter 1 Q-factor REAL 32 8104353f rw o 0 0 #x2533 Position feedback filter 1 gain REAL 32 00000000 rw o 0 0 #x2538 Position feedback filter 2 type UINT 16 0000 rw o 0 0 #x2539 Position feedback filter 2 frequency UDINT 32 64000000 rw o 0 0 #x253a Position feedback filter 2 Q-factor REAL 32 8104353f rw o 0 0 #x253b Position feedback filter 2 gain REAL 32 00000000 rw o 0 0 #x2540 Position reference filter 1 type UINT 16 0000 rw o 0 0 #x2541 Position reference filter 1 frequency UDINT 32 64000000 rw o 0 0 #x2542 Position reference filter 1 Q-factor REAL 32 8104353f rw o 0 0 #x2543 Position reference filter 1 gain REAL 32 00000000 rw o 0 0 #x2548 Position reference filter 2 type UINT 16 0000 rw o 0 0 #x2549 Position reference filter 2 frequency UDINT 32 64000000 rw o 0 0 #x254a Position reference filter 2 Q-factor REAL 32 8104353f rw o 0 0 #x254b Position reference filter 2 gain REAL 32 00000000 rw o 0 0 #x2550 Velocity feedback filter 1 type UINT 16 0100 rw o 0 0 #x2551 Velocity feedback filter 1 frequency UDINT 32 64000000 rw o 0 0 #x2552 Velocity feedback filter 1 Q-factor REAL 32 8104353f rw o 0 0 #x2553 Velocity feedback filter 1 gain REAL 32 00000000 rw o 0 0 #x2558 Velocity feedback filter 2 type UINT 16 0000 rw o 0 0 #x2559 Velocity feedback filter 2 frequency UDINT 32 64000000 rw o 0 0 #x255a Velocity feedback filter 2 Q-factor REAL 32 8104353f rw o 0 0 #x255b Velocity feedback filter 2 gain REAL 32 00000000 rw o 0 0 #x2560 Velocity reference filter 1 type UINT 16 0000 rw o 0 0 #x2561 Velocity reference filter 1 frequency UDINT 32 64000000 rw o 0 0 #x2562 Velocity reference filter 1 Q-factor REAL 32 8104353f rw o 0 0 #x2563 Velocity reference filter 1 gain REAL 32 00000000 rw o 0 0 #x2568 Velocity reference filter 2 type UINT 16 0000 rw o 0 0 #x2569 Velocity reference filter 2 frequency UDINT 32 64000000 rw o 0 0 #x256a Velocity reference filter 2 Q-factor REAL 32 8104353f rw o 0 0 #x256b Velocity reference filter 2 gain REAL 32 00000000 rw o 0 0 #x2570 Current feedback filter 1 type UINT 16 0000 rw o 0 0 #x2571 Current feedback filter 1 frequency UDINT 32 64000000 rw o 0 0 #x2572 Current feedback filter 1 Q-factor REAL 32 8104353f rw o 0 0 #x2573 Current feedback filter 1 gain REAL 32 00000000 rw o 0 0 #x2578 Current feedback filter 2 type UINT 16 0000 rw o 0 0 #x2579 Current feedback filter 2 frequency UDINT 32 64000000 rw o 0 0 #x257a Current feedback filter 2 Q-factor REAL 32 8104353f rw o 0 0 #x257b Current feedback filter 2 gain REAL 32 00000000 rw o 0 0 #x2580 Current reference filter 1 type UINT 16 0000 rw o 0 0 #x2581 Current reference filter 1 frequency UDINT 32 64000000 rw o 0 0 #x2582 Current reference filter 1 Q-factor REAL 32 8104353f rw o 0 0 #x2583 Current reference filter 1 gain REAL 32 00000000 rw o 0 0 #x2588 Current reference filter 2 type UINT 16 0000 rw o 0 0 #x2589 Current reference filter 2 frequency UDINT 32 64000000 rw o 0 0 #x258a Current reference filter 2 Q-factor REAL 32 8104353f rw o 0 0 #x258b Current reference filter 2 gain REAL 32 00000000 rw o 0 0 #x2590 Velocity loop Kffa REAL 32 00000000 rw o r 0 0 #x2591 Position loop Kffv REAL 32 00000000 rw o r 0 0 #x2592 Position loop Kffa REAL 32 00000000 rw o r 0 0 #x25fc Map output 1 UINT 16 0000 rw o 0 0 #x25fd Map output 2 UINT 16 0000 rw o 0 0 #x2600 Digital inputs value UDINT 32 00000000 ro o t 0 0 #x2601 Digital outputs value UDINT 32 00000000 ro o t 0 0 #x2602 Digital outputs set value UDINT 32 00000000 rw o r 0 0 #x2603 Digital outputs polarity UDINT 32 00000000 rw o 0 0 #x2604 Digital inputs polarity UDINT 32 00000000 rw o 0 0 #x2608 Positive switch limit UINT 16 0000 rw o 0 0 #x2609 Negative switch limit UINT 16 0000 rw o 0 0 #x260a Quick stop input UINT 16 0000 rw o 0 0 #x260b Quick stop option code INT 16 0500 rw o 0 0 #x260f User I2T error option code UINT 16 0000 rw o 0 0 #x2610 Position feedback out of limits error option code UINT 16 0000 rw o 0 0 #x2611 Velocity feedback out of limits error option code UINT 16 0000 rw o 0 0 #x2612 Position following error option code UINT 16 0000 rw o 0 0 #x2613 Power stage user over-temperature error option code UINT 16 0000 rw o 0 0 #x2614 Motor over-temperature error option code UINT 16 0000 rw o 0 0 #x2615 Power stage user under-temperature error option code UINT 16 0000 rw o 0 0 #x2616 Power stage user over voltage error option code UINT 16 0000 rw o 0 0 #x2617 Power stage user under voltage error option code UINT 16 0000 rw o 0 0 #x2619 Halls sequence error option code UINT 16 0000 rw o 0 0 #x261a Feedback runaway error option code UINT 16 0000 rw o 0 0 #x261b Over current without current control error option code UINT 16 0000 rw o 0 0 #x261d Velocity following error option code UINT 16 0000 rw o 0 0 #x2620 Halt option code INT 16 0000 rw o 0 0 #x2621 Halt input UINT 16 0000 rw o 0 0 #x2624 Fault reset input UINT 16 0000 rw o 0 0 #x262b Fault reaction timeout UDINT 32 10270000 rw o 0 0 #x262e Disable power stage option code INT 16 0000 rw o 0 0 #x262f Over-voltage sensitivity UINT 16 0000 rw o 0 0 #x2630 User over voltage level REAL 32 00007042 rw o 0 0 #x2631 User under voltage level REAL 32 00002041 rw o 0 0 #x2632 User over temperature level REAL 32 0000dc42 rw o 0 0 #x2633 User under temperature level REAL 32 0000a0c1 rw o 0 0 #x2634 User over temperature warning level REAL 32 0000b442 rw o 0 0 #x2635 User under temperature warning level REAL 32 000020c1 rw o 0 0 #x263b STO error option code UINT 16 0000 rw o 0 0 #x2641 Sync. signal configuration UINT 16 0000 rw o 0 0 #x2643 Sync. signal frequency UDINT 32 e8030000 rw o 0 0 #x2644 Sync. signal PLL filter cutoff frequency UDINT 32 64000000 rw o 0 0 #x2645 Sync. signal PLL phase REAL 32 0000803e rw o 0 0 #x2646 Sync. signal PLL Kp REAL 32 0ad7233c rw o 0 0 #x264d Error total number UINT 16 0000 ro o 0 0 #x264e Error list index request UINT 16 0000 rw o 0 0 #x264f Error list requested code DINT 32 00000000 ro o 0 0 #x26db Store all UDINT 32 01000000 rw o 0 0 #x26dc Restore all UDINT 32 01000000 rw o 0 0 #x26dd Store status UINT 16 0000 ro o 0 0 #x26df System reset UDINT 32 00000000 wo o 0 0 #x26e0 Vendor ID UDINT 32 9c020000 ro o 0 0 #x26e1 Product code UDINT 32 02148103 ro o 0 0 #x26e2 Revision number UDINT 32 15000500 ro o 0 0 #x26e4 Software version STRING(9) 72 322e392e312e303030 ro o 0 0 #x26e6 Serial number UDINT 32 00000000 ro o 0 0 #x2700 Power stage frequency 1 UDINT 32 204e0000 ro o 0 0 #x2701 Power stage frequency 2 UDINT 32 50c30000 ro o 0 0 #x2702 Power stage frequency 3 UDINT 32 a0860100 ro o 0 0 #x2703 Power stage frequency 4 UDINT 32 400d0300 ro o 0 0 #x2704 Power stage dead-time (ns) UDINT 32 55000000 ro o 0 0 #x2706 Min. low side on time (ns) UDINT 32 7d000000 ro o 0 0 #x2707 Min. high side on time (ns) UDINT 32 19000000 ro o 0 0 #x2709 Current saturation counts from ADC ceiling UINT 16 a00f ro o 0 0 #x270a Current saturation counts from ADC floor UINT 16 a00f ro o 0 0 #x270c Current calibration offset tolerance REAL 32 0000c03f ro o 0 0 #x2710 Over-temperature level REAL 32 0000e642 ro o 0 0 #x2711 Under-temperature level REAL 32 0000a0c1 ro o 0 0 #x2712 Over-voltage level REAL 32 00008242 ro o 0 0 #x2713 Under-voltage level REAL 32 00009040 ro o 0 0 #x271d Maximum drive current REAL 32 0000a040 ro o 0 0 #x271e Maximum drive peak current time UDINT 32 e8030000 ro o 0 0 #x271f Maximum drive peak current REAL 32 00002041 ro o 0 0 #x2720 Current measuring range 1 REAL 32 7b5484c1 ro o 0 0 #x2721 Current measuring range 2 REAL 32 7b5484c1 ro o 0 0 #x2722 Current measuring range 3 REAL 32 7b5484c1 ro o 0 0 #x2723 Current measuring range 4 REAL 32 7b5484c1 ro o 0 0 #x2728 Current sensors used mask UINT 16 0700 ro o 0 0 #x2729 Current acquisition time (ns) UINT 16 4501 ro o 0 0 #x272a Current acquisition advance time (ns) UINT 16 0f00 ro o 0 0 #x272b Min. low side on time 2 (ns) UDINT 32 5f000000 ro o 0 0 #x272c Min. low side on time 3 (ns) UDINT 32 26020000 ro o 0 0 #x272d Min. low side on time 4 (ns) UDINT 32 84030000 ro o 0 0 #x272e Min. charge bootstrap time (us) UDINT 32 0a000000 ro o 0 0 #x2732 Bus voltage measuring range REAL 32 9a998a42 ro o 0 0 #x2733 Bus voltage reading offset REAL 32 00000000 ro o 0 0 #x2734 Power stage temp. sensor 1 type UINT 16 0000 ro o 0 0 #x2735 Power stage temp. sensor 1 resistance UDINT 32 10270000 ro o 0 0 #x2736 Power stage temp. sensor 1 Beta UINT 16 6b0d ro o 0 0 #x2737 Power stage temp. sensor 1 ext. resistance UDINT 32 10270000 ro o 0 0 #x2738 Power stage temp. sensor 1 gain REAL 32 0000803f ro o 0 0 #x2739 Power stage temp. sensor 1 offset REAL 32 00000000 ro o 0 0 #x2740 STO configuration UDINT 32 01000000 ro o 0 0 #x2741 Brake configuration UDINT 32 07000000 ro o 0 0 #x2742 Brake max. frequency UDINT 32 409c0000 ro o 0 0 #x2743 Brake frequency UDINT 32 204e0000 rw o 0 0 #x2746 Power stage temp. sensor 2 type UINT 16 0000 ro o 0 0 #x2747 Power stage temp. sensor 2 resistance UDINT 32 10270000 ro o 0 0 #x2748 Power stage temp. sensor 2 Beta UINT 16 6b0d ro o 0 0 #x2749 Power stage temp. sensor 2 ext. resistance UDINT 32 10270000 ro o 0 0 #x274a Power stage temp. sensor 2 gain REAL 32 0000803f ro o 0 0 #x274b Power stage temp. sensor 2 offset REAL 32 00000000 ro o 0 0 #x2750 Derating constant REAL 32 3bdf2f3f ro o 0 0 #x2751 Frequency 1 derating constant REAL 32 b6f3fd3c ro o 0 0 #x2752 Frequency 2 derating constant REAL 32 9eef273d ro o 0 0 #x2753 Frequency 3 derating constant REAL 32 d578693d ro o 0 0 #x2754 Frequency 4 derating constant REAL 32 8fc2f53c ro o 0 0 #x275a Power stage derating temperature threshold 1 REAL 32 3d0a9b42 ro o 0 0 #x275b Power stage derating temperature threshold 2 REAL 32 d7239942 ro o 0 0 #x275c Power stage derating temperature threshold 3 REAL 32 cdcc9942 ro o 0 0 #x275d Power stage derating temperature threshold 4 REAL 32 7b949642 ro o 0 0 #x580f Last error DINT 32 00000000 ro o t 0 0 #x5890 Disturbance mapped register 0 UDINT 32 00000000 rw o 0 0 #x5891 Disturbance mapped register 1 UDINT 32 00000000 rw o 0 0 #x5892 Disturbance mapped register 2 UDINT 32 00000000 rw o 0 0 #x5893 Disturbance mapped register 3 UDINT 32 00000000 rw o 0 0 #x5894 Disturbance mapped register 4 UDINT 32 00000000 rw o 0 0 #x5895 Disturbance mapped register 5 UDINT 32 00000000 rw o 0 0 #x5896 Disturbance mapped register 6 UDINT 32 00000000 rw o 0 0 #x5897 Disturbance mapped register 7 UDINT 32 00000000 rw o 0 0 #x5898 Disturbance mapped register 8 UDINT 32 00000000 rw o 0 0 #x5899 Disturbance mapped register 9 UDINT 32 00000000 rw o 0 0 #x589a Disturbance mapped register 10 UDINT 32 00000000 rw o 0 0 #x589b Disturbance mapped register 11 UDINT 32 00000000 rw o 0 0 #x589c Disturbance mapped register 12 UDINT 32 00000000 rw o 0 0 #x589d Disturbance mapped register 13 UDINT 32 00000000 rw o 0 0 #x589e Disturbance mapped register 14 UDINT 32 00000000 rw o 0 0 #x589f Disturbance mapped register 15 UDINT 32 00000000 rw o 0 0 #x58a0 Number of axes UINT 16 0100 ro o 0 0 #x58a1 IP address UDINT 32 1602a8c0 ro o 0 0 #x58a2 Netmask UDINT 32 00ffffff ro o 0 0 #x58a3 Gateway address UDINT 32 0102a8c0 ro o 0 0 #x58a4 MAC address ULINT 64 010203474e490000 ro o 0 0 #x58aa Bootloader version STRING(9) 72 312e302e302e303030 ro o 0 0 #x58b0 Monitoring status UDINT 32 00000000 ro o 0 0 #x58b1 Actual number of monitoring samples UDINT 32 00000000 ro o 0 0 #x58b2 Monitoring data DT58B2 4112 SubIndex 000 01 Monitoring data Monitoring data #x58b3 Actual number of disturbance samples UDINT 32 00000000 ro o 0 0 #x58b4 Disturbance data DT58B4 4112 SubIndex 000 01 Disturbance data Disturbance data #x58b5 Monitoring maximum size UDINT 32 00000000 ro o 0 0 #x58b6 Disturbance maximum size UDINT 32 00000000 ro o 0 0 #x58b7 Actual number of monitoring bytes UDINT 32 00000000 ro o 0 0 #x58b8 Disturbance current number of bytes UDINT 32 00000000 ro o 0 0 #x58ba Monitoring disturbance version UDINT 32 00000000 ro o 0 0 #x58bc Monitoring lifeguard time UDINT 32 00000000 rw o 0 0 #x58bd Disturbance lifeguard time UDINT 32 00000000 rw o 0 0 #x58bf Disturbance status UDINT 32 00000000 ro o 0 0 #x58c0 Enable monitoring UINT 16 0000 rw o 0 0 #x58c1 Monitoring frequency divider UINT 16 0100 rw o 0 0 #x58c2 Monitoring delay UDINT 32 00000000 rw o 0 0 #x58c3 Monitoring buffer size UDINT 32 00040000 rw o 0 0 #x58c4 Disturbance buffer size UDINT 32 00040000 rw o 0 0 #x58c5 Disturbance frequency divider UINT 16 0100 rw o 0 0 #x58c7 Enable disturbance UINT 16 0000 rw o 0 0 #x58d0 Monitoring mapped register 0 UDINT 32 00000000 rw o 0 0 #x58d1 Monitoring mapped register 1 UDINT 32 00000000 rw o 0 0 #x58d2 Monitoring mapped register 2 UDINT 32 00000000 rw o 0 0 #x58d3 Monitoring mapped register 3 UDINT 32 00000000 rw o 0 0 #x58d4 Monitoring mapped register 4 UDINT 32 00000000 rw o 0 0 #x58d5 Monitoring mapped register 5 UDINT 32 00000000 rw o 0 0 #x58d6 Monitoring mapped register 6 UDINT 32 00000000 rw o 0 0 #x58d7 Monitoring mapped register 7 UDINT 32 00000000 rw o 0 0 #x58d8 Monitoring mapped register 8 UDINT 32 00000000 rw o 0 0 #x58d9 Monitoring mapped register 9 UDINT 32 00000000 rw o 0 0 #x58da Monitoring mapped register 10 UDINT 32 00000000 rw o 0 0 #x58db Monitoring mapped register 11 UDINT 32 00000000 rw o 0 0 #x58dc Monitoring mapped register 12 UDINT 32 00000000 rw o 0 0 #x58dd Monitoring mapped register 13 UDINT 32 00000000 rw o 0 0 #x58de Monitoring mapped register 14 UDINT 32 00000000 rw o 0 0 #x58df Monitoring mapped register 15 UDINT 32 00000000 rw o 0 0 #x58e3 Monitoring number mapped registers UINT 16 0000 rw o 0 0 #x58e4 Monitoring number of bytes per sample UINT 16 0000 ro o 0 0 #x58e8 Disturbance number mapped registers UINT 16 0000 rw o 0 0 #x58e9 Disturbance number of bytes per sample UINT 16 0000 ro o 0 0 #x58ea Monitoring remove data UINT 16 0000 wo o 0 0 #x58eb Disturbance remove data UINT 16 0000 wo o 0 0 #x58f0 Monitoring trigger type UINT 16 0000 rw o 0 0 #x58f1 Monitoring trigger config UINT 16 0000 rw o 0 0 #x58f3 Monitoring force trigger UINT 16 0000 wo o 0 0 #x58f4 Monitoring trigger threshold UDINT 32 00000000 rw o 0 0 #x58f5 Monitoring trigger source UINT 16 0000 rw o 0 0 #x58f7 Monitoring rearm UINT 16 0000 wo o 0 0 #x5940 User memory address pointer INT 16 ffff rw o 0 0 #x5941 User memory data UDINT 32 00000000 rw o 0 0 #x5e49 System last error DINT 32 00000000 ro o t 0 0 #x5e4a System error total number UINT 16 0000 ro o 0 0 #x5e4b System error list index request UINT 16 0000 rw o 0 0 #x5e4c System error list requested code DINT 32 00000000 ro o 0 0 #x5e4d Error total number UINT 16 0000 ro o 0 0 #x5e4e Error list index request UINT 16 0000 rw o 0 0 #x5e4f Error list requested code DINT 32 00000000 ro o 0 0 #x5e50 Abort connection option code INT 16 0100 rw o 0 0 #x5ed1 CRC output communication core UINT 16 0000 ro o 0 0 #x5edb Store all UDINT 32 01000000 rw o 0 0 #x5edc Restore all UDINT 32 01000000 rw o 0 0 #x5edd Store status UINT 16 0000 ro o 0 0 #x5ede Boot mode UDINT 32 00000000 wo o 0 0 #x5edf System reset UDINT 32 00000000 wo o 0 0 #x5ee0 Vendor ID UDINT 32 9c020000 ro o 0 0 #x5ee1 Product code UDINT 32 02148103 ro o 0 0 #x5ee2 Revision number UDINT 32 15000500 ro o 0 0 #x5ee4 Software Version STRING(9) 72 312e302e302e303030 ro o 0 0 #x5ee6 Serial number UDINT 32 34120000 ro o 0 0 #x6007 Abort connection option code INT 16 0100 rw o 0 0 #x603f Error code UINT 16 0000 ro o t 0 0 #x6040 Control Word UINT 16 0000 rw o r 0 0 #x6041 Status Word UINT 16 0000 ro o t 0 0 #x605a Quick stop option code INT 16 0500 rw o 0 0 #x605d Halt option code INT 16 0000 rw o 0 0 #x6060 Modes of operation SINT 8 ff rw o r 0 0 #x6061 Modes of operation display SINT 8 ff ro o t 0 0 #x6062 Position demand value DINT 32 00000000 ro o t 0 0 #x6064 Position actual value DINT 32 00000000 ro o t 0 0 #x6065 Position following error window UDINT 32 64000000 rw o r 0 0 #x6066 Following error time out UINT 16 0000 rw o r 0 0 #x606c Velocity actual value DINT 32 00000000 ro o t 0 0 #x606f Velocity threshold UINT 16 e803 rw o r 0 0 #x6070 Velocity threshold time UINT 16 0000 rw o r 0 0 #x6071 Target torque INT 16 0000 rw o r 0 0 #x6073 Max current UINT 16 c05d rw o r 0 0 #x6074 Torque demand INT 16 0000 ro o t 0 0 #x6075 Motor rated current UDINT 32 10270000 rw o 0 0 #x6076 Motor rated torque UDINT 32 e8030000 rw o 0 0 #x6077 Torque actual value INT 16 0000 ro o t 0 0 #x6078 Current actual value INT 16 0000 ro o t 0 0 #x607a Target position DINT 32 00000000 rw o r 0 0 #x607b Position range limit DT607B 80 SubIndex 000 02 SubIndex 000 SubIndex 001 00000000 Min position range limit SubIndex 002 00000000 Max position range limit #x607c Home offset DINT 32 00000000 rw o r 0 0 #x607d Software position limit DT607D 80 SubIndex 000 02 SubIndex 000 SubIndex 001 00000000 Min position SubIndex 002 00000000 Max position #x6081 Profile velocity UDINT 32 204e0000 rw o r 0 0 #x6083 Profile acceleration UDINT 32 204e0000 rw o r 0 0 #x6084 Profile deceleration UDINT 32 204e0000 rw o r 0 0 #x6098 Homing method SINT 8 25 rw o r 0 0 #x6099 Homing speed DT6099 80 SubIndex 000 02 SubIndex 000 SubIndex 001 00000000 Homing search velocity SubIndex 002 00000000 Homing zero velocity #x60b1 Velocity offset DINT 32 00000000 rw o r 0 0 #x60b2 Torque offset INT 16 0000 rw o r 0 0 #x60c2 Interpolation time period DT60C2 32 Subindex 000 02 Interpolation time period value 01 Interpolation time index fd #x60f2 Position option code UINT 16 0000 rw o r 0 0 #x60f4 Following error actual value DINT 32 00000000 ro o t 0 0 #x60ff Target velocity DINT 32 00000000 rw o r 0 0 #x6502 Supported drive modes UDINT 32 e5030f00 ro o t 0 0 #xf000 Modular Device Profile DTF000 48 SubIndex 000 02 Index distance 1000 Maximum number of modules 0100 #xf030 Configured Module Ident List DTF030 48 SubIndex 000 01 SubIndex 000 SubIndex 001 03008003 Configured module ident of the module 1 #xf050 Detected Module List Object DTF050 112 SubIndex 000 03 SubIndex 000 SubIndex 001 03008003 Module ident of the module detected on position 1 SubIndex 002 04008003 Module ident of the module detected on position 2 SubIndex 003 05008003 Module ident of the module detected on position 3 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RPDO 1 mapping parameter #x1601 #x1602 #x6040 0 16 Control Word object 0x6040:0 UINT #x607a 0 32 Target position object 0x607a:0 DINT #x60ff 0 32 Target velocity object 0x60ff:0 DINT #x6060 0 8 Modes of operation object 0x6060:0 SINT #x1601 RPDO 2 mapping parameter #x1600 #x1602 #x6040 0 16 Control Word object 0x6040:0 UINT #x607a 0 32 Target position object 0x607a:0 DINT #x1602 RPDO 3 mapping parameter #x1600 #x1601 #x6040 0 16 Control Word object 0x6040:0 UINT #x60ff 0 32 Target velocity object 0x60ff:0 DINT #x1a00 TPDO 1 mapping parameter #x1a01 #x1a02 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 Position actual value object 0x6064:0 DINT #x606c 0 32 Velocity actual value object 0x606c:0 DINT #x6061 0 8 Modes of operation display object 0x6061:0 SINT #x1a01 TPDO 2 mapping parameter #x1a00 #x1a02 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 Position actual value object 0x6064:0 DINT #x1a02 TPDO 3 mapping parameter #x1a00 #x1a01 #x6041 0 16 Status Word object 0x6041:0 UINT #x606c 0 32 Velocity actual value object 0x606c:0 DINT Synchron SM-Synchron #x0 0 0 0 0 DCSync DC-Synchron #x300 0 0 0 0 #x03800003 #x03800004 #x03800005 16384 080E02EE409C0000000000000000 0010800000148000 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000232E0000232E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFAFBF8D1DEBEFFFFFF9BBB5BE6ECDCE0E9D5CEDCBAF8FAF5FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDEE7D1FFFFFF9FBE65E6ECDCD2DFC1B7CC94F8FAF68EB43090B538DBE5CDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFA4C06FE4ECDBD4E0C3B8CD96F8FAF68EB42DF4F7F1BFD2A289B10089B100D9E3CAFFFFFFFFFFFFFFFFFFEEF2E8E0E9D5D7E2C7B5CB92F9FAF68FB433F5F8F2BFD1A1CBD9B4EBF0E389B10089B1008EB42DF1F5ECFFFFFFFFFFFFBACE99B0C888FAFBF991B53AF3F6EFC0D2A3CBDAB5EAF0E397B94FFCFDFCA8C37889B10089B100C2D4A7FFFFFFFFFFFE8DB32989B100F1F4ECBED1A1CAD9B3ECF1E597B94FFDFDFCA7C276DEE7D1DBE5CC89B10089B10095B84AFFFFFFEFF3E989B10089B100A9C37A9DBC5F96B84DFCFDFBAAC47BDEE7D1DAE4CBADC683FCFDFB95B74889B10089B100F8FAF6EFF3E989B10089B10089B10089B10089B100DDE6D0DCE5CEAEC784FCFCFA94B746EEF3E9C8D8B089B10089B100F8FAF6FEFFFE8CB32389B10089B10089B10089B100ACC580F9FBF789B100EFF3E9C8D7B0C2D4A8F2F5ED89B10095B84AFFFFFFFFFFFFB8CD9689B10089B10089B10089B10089B10090B53789B100C3D4A9F1F5ED90B538F9FBF7B2C98BC2D4A7FFFFFFFFFFFFECF1E689B10089B10089B10089B10089B10089B10089B10090B539FAFBF8B1C98AD6E1C6E3EAD8F1F5ECFFFFFFFFFFFFFFFFFFCFDDBC89B10089B10089B10089B10089B10089B10089B100C0D2A3AAC47BA3C06DFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD4E0C38EB42C89B10089B10089B10089B10089B10089B10090B538DBE5CEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2F5EDC9D8B1A4C17189B10089B100A3C06ECBD9B5F6F8F3FFFFFFFFFFFFFFFFFFFFFFFF FSoE Safety drive #x1700 FSoE RPDO map 1 #x6770 1 8 FSoE Master Command USINT #x6640 0 1 STO Command BOOL #x6650 1 1 SS1 Command BOOL #x0000 0 14 #x6770 3 16 FSoE Master CRC_0 UINT #x6770 2 16 FSoE Master Connection ID UINT #x1b00 FSoE TPDO map 1 #x6760 1 8 FSoE Slave Command USINT #x6640 0 1 STO Command BOOL #x6650 1 1 SS1 Command BOOL #x0000 0 6 #x46d1 0 1 Safe Inputs Value BOOL #x0000 0 7 #x6760 3 16 FSoE Slave CRC_0 UINT #x6760 2 16 FSoE Slave Connection ID UINT #x1e00 FSoE Parameter Set 1 #x6791 7 16 Communication Parameter Length UINT #x6791 4 16 Watchdog Time UINT #x6791 8 16 Application Parameter Length UINT #x1700 0 8 SubIndex 000 USINT #x1700 1 32 RxPDO FSoE Map Element 1 UDINT #x1700 2 32 RxPDO FSoE Map Element 2 UDINT #x1700 3 32 RxPDO FSoE Map Element 3 UDINT #x1700 4 32 RxPDO FSoE Map Element 4 UDINT #x1700 5 32 RxPDO FSoE Map Element 5 UDINT #x1700 6 32 RxPDO FSoE Map Element 6 UDINT #x1700 7 32 RxPDO FSoE Map Element 7 UDINT #x1700 8 32 RxPDO FSoE Map Element 8 UDINT #x1700 9 32 RxPDO FSoE Map Element 9 UDINT #x1700 10 32 RxPDO FSoE Map Element 10 UDINT #x1700 11 32 RxPDO FSoE Map Element 11 UDINT #x1700 12 32 RxPDO FSoE Map Element 12 UDINT #x1700 13 32 RxPDO FSoE Map Element 13 UDINT #x1700 14 32 RxPDO FSoE Map Element 14 UDINT #x1700 15 32 RxPDO FSoE Map Element 15 UDINT #x1700 16 32 RxPDO FSoE Map Element 16 UDINT #x1700 17 32 RxPDO FSoE Map Element 17 UDINT #x1700 18 32 RxPDO FSoE Map Element 18 UDINT #x1700 19 32 RxPDO FSoE Map Element 19 UDINT #x1700 20 32 RxPDO FSoE Map Element 20 UDINT #x1700 21 32 RxPDO FSoE Map Element 21 UDINT #x1700 22 32 RxPDO FSoE Map Element 22 UDINT #x1700 23 32 RxPDO FSoE Map Element 23 UDINT #x1700 24 32 RxPDO FSoE Map Element 24 UDINT #x1700 25 32 RxPDO FSoE Map Element 25 UDINT #x1700 26 32 RxPDO FSoE Map Element 26 UDINT #x1700 27 32 RxPDO FSoE Map Element 27 UDINT #x1700 28 32 RxPDO FSoE Map Element 28 UDINT #x1700 29 32 RxPDO FSoE Map Element 29 UDINT #x1700 30 32 RxPDO FSoE Map Element 30 UDINT #x1700 31 32 RxPDO FSoE Map Element 31 UDINT #x1700 32 32 RxPDO FSoE Map Element 32 UDINT #x1700 33 32 RxPDO FSoE Map Element 33 UDINT #x1700 34 32 RxPDO FSoE Map Element 34 UDINT #x1700 35 32 RxPDO FSoE Map Element 35 UDINT #x1700 36 32 RxPDO FSoE Map Element 36 UDINT #x1700 37 32 RxPDO FSoE Map Element 37 UDINT #x1700 38 32 RxPDO FSoE Map Element 38 UDINT #x1700 39 32 RxPDO FSoE Map Element 39 UDINT #x1700 40 32 RxPDO FSoE Map Element 40 UDINT #x1700 41 32 RxPDO FSoE Map Element 41 UDINT #x1700 42 32 RxPDO FSoE Map Element 42 UDINT #x1700 43 32 RxPDO FSoE Map Element 43 UDINT #x1700 44 32 RxPDO FSoE Map Element 44 UDINT #x1700 45 32 RxPDO FSoE Map Element 45 UDINT #x1b00 0 8 SubIndex 000 USINT #x1b00 1 32 TxPDO FSoE Map Element 1 UDINT #x1b00 2 32 TxPDO FSoE Map Element 2 UDINT #x1b00 3 32 TxPDO FSoE Map Element 3 UDINT #x1b00 4 32 TxPDO FSoE Map Element 4 UDINT #x1b00 5 32 TxPDO FSoE Map Element 5 UDINT #x1b00 6 32 TxPDO FSoE Map Element 6 UDINT #x1b00 7 32 TxPDO FSoE Map Element 7 UDINT #x1b00 8 32 TxPDO FSoE Map Element 8 UDINT #x1b00 9 32 TxPDO FSoE Map Element 9 UDINT #x1b00 10 32 TxPDO FSoE Map Element 10 UDINT #x1b00 11 32 TxPDO FSoE Map Element 11 UDINT #x1b00 12 32 TxPDO FSoE Map Element 12 UDINT #x1b00 13 32 TxPDO FSoE Map Element 13 UDINT #x1b00 14 32 TxPDO FSoE Map Element 14 UDINT #x1b00 15 32 TxPDO FSoE Map Element 15 UDINT #x1b00 16 32 TxPDO FSoE Map Element 16 UDINT #x1b00 17 32 TxPDO FSoE Map Element 17 UDINT #x1b00 18 32 TxPDO FSoE Map Element 18 UDINT #x1b00 19 32 TxPDO FSoE Map Element 19 UDINT #x1b00 20 32 TxPDO FSoE Map Element 20 UDINT #x1b00 21 32 TxPDO FSoE Map Element 21 UDINT #x1b00 22 32 TxPDO FSoE Map Element 22 UDINT #x1b00 23 32 TxPDO FSoE Map Element 23 UDINT #x1b00 24 32 TxPDO FSoE Map Element 24 UDINT #x1b00 25 32 TxPDO FSoE Map Element 25 UDINT #x1b00 26 32 TxPDO FSoE Map Element 26 UDINT #x1b00 27 32 TxPDO FSoE Map Element 27 UDINT #x1b00 28 32 TxPDO FSoE Map Element 28 UDINT #x1b00 29 32 TxPDO FSoE Map Element 29 UDINT #x1b00 30 32 TxPDO FSoE Map Element 30 UDINT #x1b00 31 32 TxPDO FSoE Map Element 31 UDINT #x1b00 32 32 TxPDO FSoE Map Element 32 UDINT #x1b00 33 32 TxPDO FSoE Map Element 33 UDINT #x1b00 34 32 TxPDO FSoE Map Element 34 UDINT #x1b00 35 32 TxPDO FSoE Map Element 35 UDINT #x1b00 36 32 TxPDO FSoE Map Element 36 UDINT #x1b00 37 32 TxPDO FSoE Map Element 37 UDINT #x1b00 38 32 TxPDO FSoE Map Element 38 UDINT #x1b00 39 32 TxPDO FSoE Map Element 39 UDINT #x1b00 40 32 TxPDO FSoE Map Element 40 UDINT #x1b00 41 32 TxPDO FSoE Map Element 41 UDINT #x1b00 42 32 TxPDO FSoE Map Element 42 UDINT #x1b00 43 32 TxPDO FSoE Map Element 43 UDINT #x1b00 44 32 TxPDO FSoE Map Element 44 UDINT #x1b00 45 32 TxPDO FSoE Map Element 45 UDINT #x6651 1 16 SS1 Time to STO UINT #x6653 1 32 SS1 Velocity zero window UDINT #x6654 1 16 SS1 Time for velocity zero UINT #x6656 1 32 SS1 Deceleration limit UDINT #x6657 1 16 SS1 Time delay for deceleration monitoring UINT #x666a 1 32 SOS Position zero window UDINT #x666c 1 32 SOS Velocity zero window UDINT #x6671 1 16 SS2 Time to SOS UINT #x6672 1 16 SS2 Time for velocity zero UINT #x6674 1 32 SS2 Deceleration limit UDINT #x6675 1 16 SS2 Time delay for deceleration monitoring UINT #x6677 1 32 SS2 Error reaction UDINT #x6683 1 32 SSR-1 Velocity Upper Limit DINT #x6683 2 32 SSR-2 Velocity Upper Limit DINT #x6683 3 32 SSR-3 Velocity Upper Limit DINT #x6683 4 32 SSR-4 Velocity Upper Limit DINT #x6683 5 32 SSR-5 Velocity Upper Limit DINT #x6683 6 32 SSR-6 Velocity Upper Limit DINT #x6683 7 32 SSR-7 Velocity Upper Limit DINT #x6683 8 32 SSR-8 Velocity Upper Limit DINT #x6685 1 32 SSR-1 Velocity Lower Limit DINT #x6685 2 32 SSR-2 Velocity Lower Limit DINT #x6685 3 32 SSR-3 Velocity Lower Limit DINT #x6685 4 32 SSR-4 Velocity Lower Limit DINT #x6685 5 32 SSR-5 Velocity Lower Limit DINT #x6685 6 32 SSR-6 Velocity Lower Limit DINT #x6685 7 32 SSR-7 Velocity Lower Limit DINT #x6685 8 32 SSR-8 Velocity Lower Limit DINT #x668a 1 32 SSR-1 Error Reaction UDINT #x668a 2 32 SSR-2 Error Reaction UDINT #x668a 3 32 SSR-3 Error Reaction UDINT #x668a 4 32 SSR-4 Error Reaction UDINT #x668a 5 32 SSR-5 Error Reaction UDINT #x668a 6 32 SSR-6 Error Reaction UDINT #x668a 7 32 SSR-7 Error Reaction UDINT #x668a 8 32 SSR-8 Error Reaction UDINT #x6693 1 32 SLS-1 Velocity Limit DINT #x6693 2 32 SLS-2 Velocity Limit DINT #x6693 3 32 SLS-3 Velocity Limit DINT #x6693 4 32 SLS-4 Velocity Limit DINT #x6693 5 32 SLS-5 Velocity Limit DINT #x6693 6 32 SLS-6 Velocity Limit DINT #x6693 7 32 SLS-7 Velocity Limit DINT #x6693 8 32 SLS-8 Velocity Limit DINT #x6698 1 32 SLS-1 Error Reaction UDINT #x6698 2 32 SLS-2 Error Reaction UDINT #x6698 3 32 SLS-3 Error Reaction UDINT #x6698 4 32 SLS-4 Error Reaction UDINT #x6698 5 32 SLS-5 Error Reaction UDINT #x6698 6 32 SLS-6 Error Reaction UDINT #x6698 7 32 SLS-7 Error Reaction UDINT #x6698 8 32 SLS-8 Error Reaction UDINT #x66a2 1 32 SLP 1 Position Upper Limit DINT #x66a2 2 32 SLP 2 Position Upper Limit DINT #x66a2 3 32 SLP 3 Position Upper Limit DINT #x66a2 4 32 SLP 4 Position Upper Limit DINT #x66a2 5 32 SLP 5 Position Upper Limit DINT #x66a2 6 32 SLP 6 Position Upper Limit DINT #x66a2 7 32 SLP 7 Position Upper Limit DINT #x66a2 8 32 SLP 8 Position Upper Limit DINT #x66a4 1 32 SLP 1 Position Lower Limit DINT #x66a4 2 32 SLP 2 Position Lower Limit DINT #x66a4 3 32 SLP 3 Position Lower Limit DINT #x66a4 4 32 SLP 4 Position Lower Limit DINT #x66a4 5 32 SLP 5 Position Lower Limit DINT #x66a4 6 32 SLP 6 Position Lower Limit DINT #x66a4 7 32 SLP 7 Position Lower Limit DINT #x66a4 8 32 SLP 8 Position Lower Limit DINT #x66a5 1 32 SLP 1 Error Reaction UDINT #x66a5 2 32 SLP 2 Error Reaction UDINT #x66a5 3 32 SLP 3 Error Reaction UDINT #x66a5 4 32 SLP 4 Error Reaction UDINT #x66a5 5 32 SLP 5 Error Reaction UDINT #x66a5 6 32 SLP 6 Error Reaction UDINT #x66a5 7 32 SLP 7 Error Reaction UDINT #x66a5 8 32 SLP 8 Error Reaction UDINT #x66ba 1 32 SLI Position Relative Upper Limit UDINT #x66bc 1 32 SLI Position Relative Lower Limit UDINT #x66bd 1 32 SLI Error Reaction UDINT #x66d3 0 32 SDI Position zero window UDINT #x46d2 0 16 Safe Inputs Map UINT #x46ef 0 32 User Over Temperature REAL #x46f2 0 32 Safe Homing Reference DINT #x46fa 0 16 Feedback scenario UINT #x46fb 0 32 Position tolerance REAL #x46fc 1 16 Redundant feedback turns UINT #x46fc 2 16 Main feedback turns UINT #x4701 0 16 Safety core primary absolute slave 1 - Frame size UINT #x4702 0 16 Safety core primary absolute slave 1 - Polarity UINT #x4704 0 16 Safety core primary absolute slave 1 - Position bits UINT #x4705 0 16 Safety core primary absolute slave 1 - Single-turn bits UINT #x4707 0 32 Safety core primary absolute slave 1 - Baudrate UDINT #x4708 0 32 Safety core primary absolute slave 1 - Timeout UDINT #x470c 0 16 Safety core secondary absolute slave 1 - Frame size UINT #x470d 0 16 Safety core secondary absolute slave 1 - Polarity UINT #x470f 0 16 Safety core secondary absolute slave 1 - Position bits UINT #x4710 0 16 Safety core secondary absolute slave 1 - Single-turn bits UINT #x4712 0 32 Safety core secondary absolute slave 1 - Baudrate UDINT #x4713 0 32 Safety core secondary absolute slave 1 - Timeout UDINT #x4722 0 32 Safety core incremental encoder 1 - Resolution UDINT #x4723 0 16 Safety core incremental encoder 1 - Polarity UINT #x4732 0 16 Safety core digital hall feedback - Pole pairs UINT #x4733 0 16 Safety core digital hall feedback - Polarity UINT 790 BOOL 1 SINT 8 BYTE 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 REAL 32 DT1700 1456 0 SubIndex 000 USINT 8 0 rw o 0 0 1 RxPDO FSoE Map Element 1 UDINT 32 16 rw o 0 0 2 RxPDO FSoE Map Element 2 UDINT 32 48 rw o 0 0 3 RxPDO FSoE Map Element 3 UDINT 32 80 rw o 0 0 4 RxPDO FSoE Map Element 4 UDINT 32 112 rw o 0 0 5 RxPDO FSoE Map Element 5 UDINT 32 144 rw o 0 0 6 RxPDO FSoE Map Element 6 UDINT 32 176 rw o 0 0 7 RxPDO FSoE Map Element 7 UDINT 32 208 rw o 0 0 8 RxPDO FSoE Map Element 8 UDINT 32 240 rw o 0 0 9 RxPDO FSoE Map Element 9 UDINT 32 272 rw o 0 0 10 RxPDO FSoE Map Element 10 UDINT 32 304 rw o 0 0 11 RxPDO FSoE Map Element 11 UDINT 32 336 rw o 0 0 12 RxPDO FSoE Map Element 12 UDINT 32 368 rw o 0 0 13 RxPDO FSoE Map Element 13 UDINT 32 400 rw o 0 0 14 RxPDO FSoE Map Element 14 UDINT 32 432 rw o 0 0 15 RxPDO FSoE Map Element 15 UDINT 32 464 rw o 0 0 16 RxPDO FSoE Map Element 16 UDINT 32 496 rw o 0 0 17 RxPDO FSoE Map Element 17 UDINT 32 528 rw o 0 0 18 RxPDO FSoE Map Element 18 UDINT 32 560 rw o 0 0 19 RxPDO FSoE Map Element 19 UDINT 32 592 rw o 0 0 20 RxPDO FSoE Map Element 20 UDINT 32 624 rw o 0 0 21 RxPDO FSoE Map Element 21 UDINT 32 656 rw o 0 0 22 RxPDO FSoE Map Element 22 UDINT 32 688 rw o 0 0 23 RxPDO FSoE Map Element 23 UDINT 32 720 rw o 0 0 24 RxPDO FSoE Map Element 24 UDINT 32 752 rw o 0 0 25 RxPDO FSoE Map Element 25 UDINT 32 784 rw o 0 0 26 RxPDO FSoE Map Element 26 UDINT 32 816 rw o 0 0 27 RxPDO FSoE Map Element 27 UDINT 32 848 rw o 0 0 28 RxPDO FSoE Map Element 28 UDINT 32 880 rw o 0 0 29 RxPDO FSoE Map Element 29 UDINT 32 912 rw o 0 0 30 RxPDO FSoE Map Element 30 UDINT 32 944 rw o 0 0 31 RxPDO FSoE Map Element 31 UDINT 32 976 rw o 0 0 32 RxPDO FSoE Map Element 32 UDINT 32 1008 rw o 0 0 33 RxPDO FSoE Map Element 33 UDINT 32 1040 rw o 0 0 34 RxPDO FSoE Map Element 34 UDINT 32 1072 rw o 0 0 35 RxPDO FSoE Map Element 35 UDINT 32 1104 rw o 0 0 36 RxPDO FSoE Map Element 36 UDINT 32 1136 rw o 0 0 37 RxPDO FSoE Map Element 37 UDINT 32 1168 rw o 0 0 38 RxPDO FSoE Map Element 38 UDINT 32 1200 rw o 0 0 39 RxPDO FSoE Map Element 39 UDINT 32 1232 rw o 0 0 40 RxPDO FSoE Map Element 40 UDINT 32 1264 rw o 0 0 41 RxPDO FSoE Map Element 41 UDINT 32 1296 rw o 0 0 42 RxPDO FSoE Map Element 42 UDINT 32 1328 rw o 0 0 43 RxPDO FSoE Map Element 43 UDINT 32 1360 rw o 0 0 44 RxPDO FSoE Map Element 44 UDINT 32 1392 rw o 0 0 45 RxPDO FSoE Map Element 45 UDINT 32 1424 rw o 0 0 DT1B00 1456 0 SubIndex 000 USINT 8 0 rw o 0 0 1 TxPDO FSoE Map Element 1 UDINT 32 16 rw o 0 0 2 TxPDO FSoE Map Element 2 UDINT 32 48 rw o 0 0 3 TxPDO FSoE Map Element 3 UDINT 32 80 rw o 0 0 4 TxPDO FSoE Map Element 4 UDINT 32 112 rw o 0 0 5 TxPDO FSoE Map Element 5 UDINT 32 144 rw o 0 0 6 TxPDO FSoE Map Element 6 UDINT 32 176 rw o 0 0 7 TxPDO FSoE Map Element 7 UDINT 32 208 rw o 0 0 8 TxPDO FSoE Map Element 8 UDINT 32 240 rw o 0 0 9 TxPDO FSoE Map Element 9 UDINT 32 272 rw o 0 0 10 TxPDO FSoE Map Element 10 UDINT 32 304 rw o 0 0 11 TxPDO FSoE Map Element 11 UDINT 32 336 rw o 0 0 12 TxPDO FSoE Map Element 12 UDINT 32 368 rw o 0 0 13 TxPDO FSoE Map Element 13 UDINT 32 400 rw o 0 0 14 TxPDO FSoE Map Element 14 UDINT 32 432 rw o 0 0 15 TxPDO FSoE Map Element 15 UDINT 32 464 rw o 0 0 16 TxPDO FSoE Map Element 16 UDINT 32 496 rw o 0 0 17 TxPDO FSoE Map Element 17 UDINT 32 528 rw o 0 0 18 TxPDO FSoE Map Element 18 UDINT 32 560 rw o 0 0 19 TxPDO FSoE Map Element 19 UDINT 32 592 rw o 0 0 20 TxPDO FSoE Map Element 20 UDINT 32 624 rw o 0 0 21 TxPDO FSoE Map Element 21 UDINT 32 656 rw o 0 0 22 TxPDO FSoE Map Element 22 UDINT 32 688 rw o 0 0 23 TxPDO FSoE Map Element 23 UDINT 32 720 rw o 0 0 24 TxPDO FSoE Map Element 24 UDINT 32 752 rw o 0 0 25 TxPDO FSoE Map Element 25 UDINT 32 784 rw o 0 0 26 TxPDO FSoE Map Element 26 UDINT 32 816 rw o 0 0 27 TxPDO FSoE Map Element 27 UDINT 32 848 rw o 0 0 28 TxPDO FSoE Map Element 28 UDINT 32 880 rw o 0 0 29 TxPDO FSoE Map Element 29 UDINT 32 912 rw o 0 0 30 TxPDO FSoE Map Element 30 UDINT 32 944 rw o 0 0 31 TxPDO FSoE Map Element 31 UDINT 32 976 rw o 0 0 32 TxPDO FSoE Map Element 32 UDINT 32 1008 rw o 0 0 33 TxPDO FSoE Map Element 33 UDINT 32 1040 rw o 0 0 34 TxPDO FSoE Map Element 34 UDINT 32 1072 rw o 0 0 35 TxPDO FSoE Map Element 35 UDINT 32 1104 rw o 0 0 36 TxPDO FSoE Map Element 36 UDINT 32 1136 rw o 0 0 37 TxPDO FSoE Map Element 37 UDINT 32 1168 rw o 0 0 38 TxPDO FSoE Map Element 38 UDINT 32 1200 rw o 0 0 39 TxPDO FSoE Map Element 39 UDINT 32 1232 rw o 0 0 40 TxPDO FSoE Map Element 40 UDINT 32 1264 rw o 0 0 41 TxPDO FSoE Map Element 41 UDINT 32 1296 rw o 0 0 42 TxPDO FSoE Map Element 42 UDINT 32 1328 rw o 0 0 43 TxPDO FSoE Map Element 43 UDINT 32 1360 rw o 0 0 44 TxPDO FSoE Map Element 44 UDINT 32 1392 rw o 0 0 45 TxPDO FSoE Map Element 45 UDINT 32 1424 rw o 0 0 DT400FARR UDINT 64 1 2 DT400F 80 0 Last Error number of elements USINT 8 0 ro o 0 0 Elements DT400FARR 64 16 ro o DT464DARR UINT 32 1 2 DT464D 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT464DARR 32 16 ro o DT464EARR UINT 32 1 2 DT464E 48 0 Error List Index Request number of elements USINT 8 0 ro o 0 0 Elements DT464EARR 32 16 rw o DT464FARR UDINT 64 1 2 DT464F 80 0 Error List Requested Code number of elements USINT 8 0 ro o 0 0 Elements DT464FARR 64 16 ro o STRING(9) 72 DT46F0ARR REAL 64 1 2 DT46F0 80 0 Temperature number of elements USINT 8 0 ro o 0 0 Elements DT46F0ARR 64 16 ro o DT46FCARR UINT 32 1 2 DT46FC 48 0 Feedback ratio number of elements USINT 8 0 ro o 0 0 Elements DT46FCARR 32 16 rw o DT6650ARR BOOL 1 1 1 DT6650 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6650ARR 1 16 ro o rt DT6651ARR UINT 16 1 1 DT6651 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6651ARR 16 16 rw o DT6653ARR UDINT 32 1 1 DT6653 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6653ARR 32 16 rw o DT6654ARR UINT 16 1 1 DT6654 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6654ARR 16 16 rw o DT6656ARR UDINT 32 1 1 DT6656 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6656ARR 32 16 rw o DT6657ARR UINT 16 1 1 DT6657 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6657ARR 16 16 rw o DT6668ARR BOOL 1 1 1 DT6668 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6668ARR 1 16 ro o rt DT666AARR UDINT 32 1 1 DT666A 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT666AARR 32 16 rw o DT666CARR UDINT 32 1 1 DT666C 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT666CARR 32 16 rw o DT6670ARR BOOL 1 1 1 DT6670 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6670ARR 1 16 ro o rt DT6671ARR UINT 16 1 1 DT6671 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6671ARR 16 16 rw o DT6672ARR UINT 16 1 1 DT6672 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6672ARR 16 16 rw o DT6674ARR UDINT 32 1 1 DT6674 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6674ARR 32 16 rw o DT6675ARR UINT 16 1 1 DT6675 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6675ARR 16 16 rw o DT6677ARR UDINT 32 1 1 DT6677 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6677ARR 32 16 rw o DT6680ARR BOOL 8 1 8 DT6680 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6680ARR 8 16 ro o rt DT6683ARR DINT 256 1 8 DT6683 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6683ARR 256 16 rw o DT6685ARR DINT 256 1 8 DT6685 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6685ARR 256 16 rw o DT668AARR UDINT 256 1 8 DT668A 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT668AARR 256 16 rw o DT6690ARR BOOL 8 1 8 DT6690 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6690ARR 8 16 ro o rt DT6693ARR DINT 256 1 8 DT6693 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6693ARR 256 16 rw o DT6698ARR UDINT 256 1 8 DT6698 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6698ARR 256 16 rw o DT66A0ARR BOOL 8 1 8 DT66A0 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A0ARR 8 16 ro o rt DT66A2ARR DINT 256 1 8 DT66A2 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A2ARR 256 16 rw o DT66A4ARR DINT 256 1 8 DT66A4 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A4ARR 256 16 rw o DT66A5ARR UDINT 256 1 8 DT66A5 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A5ARR 256 16 rw o DT66B8ARR BOOL 1 1 1 DT66B8 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66B8ARR 1 16 ro o rt DT66BAARR UDINT 32 1 1 DT66BA 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BAARR 32 16 rw o DT66BCARR UDINT 32 1 1 DT66BC 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BCARR 32 16 rw o DT66BDARR UDINT 32 1 1 DT66BD 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BDARR 32 16 rw o DT6760 168 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Slave Command USINT 8 16 ro o t 0 0 2 FSoE Slave Connection ID UINT 16 24 ro o t 0 0 3 FSoE Slave CRC_0 UINT 16 40 ro o t 0 0 4 FSoE Slave CRC_1 UINT 16 56 ro o t 0 0 5 FSoE Slave CRC_2 UINT 16 72 ro o t 0 0 6 FSoE Slave CRC_3 UINT 16 88 ro o t 0 0 7 FSoE Slave CRC_4 UINT 16 104 ro o t 0 0 8 FSoE Slave CRC_5 UINT 16 120 ro o t 0 0 9 FSoE Slave CRC_6 UINT 16 136 ro o t 0 0 10 FSoE Slave CRC_7 UINT 16 152 ro o t 0 0 DT6770 168 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Master Command USINT 8 16 ro o r 0 0 2 FSoE Master Connection ID UINT 16 24 ro o r 0 0 3 FSoE Master CRC_0 UINT 16 40 ro o r 0 0 4 FSoE Master CRC_1 UINT 16 56 ro o r 0 0 5 FSoE Master CRC_2 UINT 16 72 ro o r 0 0 6 FSoE Master CRC_3 UINT 16 88 ro o r 0 0 7 FSoE Master CRC_4 UINT 16 104 ro o r 0 0 8 FSoE Master CRC_5 UINT 16 120 ro o r 0 0 9 FSoE Master CRC_6 UINT 16 136 ro o r 0 0 10 FSoE Master CRC_7 UINT 16 152 ro o r 0 0 STRING(2) 16 DT6791 160 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Version STRING(2) 16 16 ro o 0 0 2 Safety Address UINT 16 32 ro o 0 0 3 Connection ID UINT 16 48 ro o 0 0 4 Watchdog Time UINT 16 64 ro o 0 0 6 Connection Type UINT 16 80 ro o 0 0 7 Communication Parameter Length UINT 16 96 ro o 0 0 8 Application Parameter Length UINT 16 112 ro o 0 0 9 SRA CRC UDINT 32 128 ro o 0 0 DTF980 32 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Address UINT 16 16 ro o 0 0 #x1700 RxPDO FSoE Map 1 DT1700 1456 SubIndex 000 06 RxPDO FSoE Map Element 1 08017067 RxPDO FSoE Map Element 2 01004066 RxPDO FSoE Map Element 3 01015066 RxPDO FSoE Map Element 4 0e000000 RxPDO FSoE Map Element 5 10037067 RxPDO FSoE Map Element 6 10027067 RxPDO FSoE Map Element 7 00000000 RxPDO FSoE Map Element 8 00000000 RxPDO FSoE Map Element 9 00000000 RxPDO FSoE Map Element 10 00000000 RxPDO FSoE Map Element 11 00000000 RxPDO FSoE Map Element 12 00000000 RxPDO FSoE Map Element 13 00000000 RxPDO FSoE Map Element 14 00000000 RxPDO FSoE Map Element 15 00000000 RxPDO FSoE Map Element 16 00000000 RxPDO FSoE Map Element 17 00000000 RxPDO FSoE Map Element 18 00000000 RxPDO FSoE Map Element 19 00000000 RxPDO FSoE Map Element 20 00000000 RxPDO FSoE Map Element 21 00000000 RxPDO FSoE Map Element 22 00000000 RxPDO FSoE Map Element 23 00000000 RxPDO FSoE Map Element 24 00000000 RxPDO FSoE Map Element 25 00000000 RxPDO FSoE Map Element 26 00000000 RxPDO FSoE Map Element 27 00000000 RxPDO FSoE Map Element 28 00000000 RxPDO FSoE Map Element 29 00000000 RxPDO FSoE Map Element 30 00000000 RxPDO FSoE Map Element 31 00000000 RxPDO FSoE Map Element 32 00000000 RxPDO FSoE Map Element 33 00000000 RxPDO FSoE Map Element 34 00000000 RxPDO FSoE Map Element 35 00000000 RxPDO FSoE Map Element 36 00000000 RxPDO FSoE Map Element 37 00000000 RxPDO FSoE Map Element 38 00000000 RxPDO FSoE Map Element 39 00000000 RxPDO FSoE Map Element 40 00000000 RxPDO FSoE Map Element 41 00000000 RxPDO FSoE Map Element 42 00000000 RxPDO FSoE Map Element 43 00000000 RxPDO FSoE Map Element 44 00000000 RxPDO FSoE Map Element 45 00000000 #x1b00 TxPDO FSoE Map 1 DT1B00 1456 SubIndex 000 08 TxPDO FSoE Map Element 1 08016067 TxPDO FSoE Map Element 2 01004066 TxPDO FSoE Map Element 3 01015066 TxPDO FSoE Map Element 4 06000000 TxPDO FSoE Map Element 5 0100d146 TxPDO FSoE Map Element 6 07000000 TxPDO FSoE Map Element 7 10036067 TxPDO FSoE Map Element 8 10026067 TxPDO FSoE Map Element 9 00000000 TxPDO FSoE Map Element 10 00000000 TxPDO FSoE Map Element 11 00000000 TxPDO FSoE Map Element 12 00000000 TxPDO FSoE Map Element 13 00000000 TxPDO FSoE Map Element 14 00000000 TxPDO FSoE Map Element 15 00000000 TxPDO FSoE Map Element 16 00000000 TxPDO FSoE Map Element 17 00000000 TxPDO FSoE Map Element 18 00000000 TxPDO FSoE Map Element 19 00000000 TxPDO FSoE Map Element 20 00000000 TxPDO FSoE Map Element 21 00000000 TxPDO FSoE Map Element 22 00000000 TxPDO FSoE Map Element 23 00000000 TxPDO FSoE Map Element 24 00000000 TxPDO FSoE Map Element 25 00000000 TxPDO FSoE Map Element 26 00000000 TxPDO FSoE Map Element 27 00000000 TxPDO FSoE Map Element 28 00000000 TxPDO FSoE Map Element 29 00000000 TxPDO FSoE Map Element 30 00000000 TxPDO FSoE Map Element 31 00000000 TxPDO FSoE Map Element 32 00000000 TxPDO FSoE Map Element 33 00000000 TxPDO FSoE Map Element 34 00000000 TxPDO FSoE Map Element 35 00000000 TxPDO FSoE Map Element 36 00000000 TxPDO FSoE Map Element 37 00000000 TxPDO FSoE Map Element 38 00000000 TxPDO FSoE Map Element 39 00000000 TxPDO FSoE Map Element 40 00000000 TxPDO FSoE Map Element 41 00000000 TxPDO FSoE Map Element 42 00000000 TxPDO FSoE Map Element 43 00000000 TxPDO FSoE Map Element 44 00000000 TxPDO FSoE Map Element 45 00000000 #x400f Last Error DT400F 80 SubIndex 000 02 Last Error number of elements SubIndex 001 00000000 MCUA Last Error SubIndex 002 00000000 MCUB Last Error #x4193 Safety Address UINT 16 2000 rw o 0 0 #x4400 Safety Project CRC UDINT 32 00000000 rw o 0 0 #x464d Error Total Number DT464D 48 SubIndex 000 02 SubIndex 000 SubIndex 001 0000 MCUA Error Total Number SubIndex 002 0000 MCUB Error Total Number #x464e Error List Index Request DT464E 48 SubIndex 000 02 Error List Index Request number of elements SubIndex 001 0000 MCUA Error List Index Request SubIndex 002 0000 MCUB Error List Index Request #x464f Error List Requested Code DT464F 80 SubIndex 000 02 Error List Requested Code number of elements SubIndex 001 00000000 MCUA Error List Requested Code SubIndex 002 00000000 MCUB Error List Requested Code #x46d1 Safe Inputs Value BOOL 1 00 ro o t 0 0 #x46d2 Safe Inputs Map UINT 16 0000 rw o 0 0 #x46db Store Subnode UDINT 32 01000000 rw o 0 0 #x46dd Restore Subnode UDINT 32 01000000 rw o 0 0 #x46e1 Product code UDINT 32 00000000 ro o 0 0 #x46e3 Bootloader version STRING(9) 72 302e362e302e303030 ro o 0 0 #x46e4 Software version STRING(9) 72 322e302e302e303030 ro o 0 0 #x46e6 Serial number UDINT 32 00000000 ro o 0 0 #x46ef User Over Temperature REAL 32 0000aa42 rw o 0 0 #x46f0 Safety core temperature DT46F0 80 SubIndex 000 02 Temperature number of elements SubIndex 001 MCU A Temperature SubIndex 002 MCU B Temperature #x46f1 Safe Homing BOOL 1 00 ro o rt 0 0 #x46f2 Safe Homing Reference DINT 32 00000000 rw o 0 0 #x46fa Feedback scenario UINT 16 0000 rw o 0 0 #x46fb Position tolerance REAL 32 0000a040 rw o 0 0 #x46fc Redundant to main feedback ratio DT46FC 48 SubIndex 000 02 Feedback ratio number of elements SubIndex 001 0100 Redundant feedback turns SubIndex 002 0100 Main feedback turns #x4701 Safety core primary absolute slave 1 - Frame size UINT 16 1800 rw o 0 0 #x4702 Safety core primary absolute slave 1 - Polarity UINT 16 0000 rw o 0 0 #x4704 Safety core primary absolute slave 1 - Position bits UINT 16 1600 rw o 0 0 #x4705 Safety core primary absolute slave 1 - Single-turn bits UINT 16 1600 rw o 0 0 #x4707 Safety core primary absolute slave 1 - Baudrate UDINT 32 e8030000 rw o 0 0 #x4708 Safety core primary absolute slave 1 - Timeout UDINT 32 e8030000 rw o 0 0 #x4709 Safety core primary absolute slave 1 - Position DINT 32 00000000 ro o 0 0 #x470a Safety core primary absolute slave 1 - Status UINT 16 0000 ro o 0 0 #x470c Safety core secondary absolute slave 1 - Frame size UINT 16 1800 rw o 0 0 #x470d Safety core secondary absolute slave 1 - Polarity UINT 16 0000 rw o 0 0 #x470f Safety core secondary absolute slave 1 - Position bits UINT 16 1600 rw o 0 0 #x4710 Safety core secondary absolute slave 1 - Single-turn bits UINT 16 1600 rw o 0 0 #x4712 Safety core secondary absolute slave 1 - Baudrate UDINT 32 e8030000 rw o 0 0 #x4713 Safety core secondary absolute slave 1 - Timeout UDINT 32 e8030000 rw o 0 0 #x4714 Safety core secondary absolute slave 1 - Position DINT 32 00000000 ro o 0 0 #x4715 Safety core secondary absolute slave 1 - Status UINT 16 0000 ro o 0 0 #x4720 Safety core incremental encoder 1 - Value DINT 32 00000000 ro o 0 0 #x4721 Safety core incremental encoder 1 - Status UINT 16 0000 ro o 0 0 #x4722 Safety core incremental encoder 1 - Resolution UDINT 32 a00f0000 rw o 0 0 #x4723 Safety core incremental encoder 1 - Polarity UINT 16 0000 rw o 0 0 #x4730 Safety core digital hall feedback - Position DINT 32 00000000 ro o 0 0 #x4731 Safety core digital hall feedback - Status UINT 16 0000 ro o 0 0 #x4732 Safety core digital hall feedback - Pole pairs UINT 16 0100 rw o 0 0 #x4733 Safety core digital hall feedback - Polarity UINT 16 0000 rw o 0 0 #x6600 Time Unit UDINT 32 000003fd ro o 0 0 #x6601 Position Unit UDINT 32 0000b500 ro o 0 0 #x6602 Velocity unit UDINT 32 0003b4fd ro o 0 0 #x6611 Safe Position Actual Value DINT 32 00000000 ro o t 0 0 #x6613 Safe Velocity Actual Value DINT 32 00000000 ro o t 0 0 #x6640 STO Command BOOL 1 01 ro o rt 0 0 #x6650 SS1 Command DT6650 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SS1 Command #x6651 SS1 Time to STO DT6651 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time to STO #x6653 SS1 Velocity zero window DT6653 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS1 Velocity zero window #x6654 SS1 Time for velocity zero DT6654 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time for velocity zero #x6656 SS1 Deceleration limit DT6656 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS1 Deceleration limit #x6657 SS1 Time delay deceleration monitoring DT6657 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time delay for deceleration monitoring #x6668 SOS Command DT6668 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SOS Command #x666a SOS Position zero window DT666A 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SOS Position zero window #x666c SOS Velocity zero window DT666C 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SOS Velocity zero window #x6670 SS2 Command DT6670 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SS2 Command #x6671 SS2 Time to SOS DT6671 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time to SOS #x6672 SS2 Time for velocity zero DT6672 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time for velocity zero #x6674 SS2 Deceleration limit DT6674 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS2 Deceleration limit #x6675 SS2 Time delay for deceleration monitoring DT6675 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time delay for deceleration monitoring #x6677 SS2 Error reaction DT6677 48 SubIndex 000 01 SubIndex 000 SubIndex 001 01004066 SS2 Error reaction #x6680 SSR Command DT6680 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SSR-1 Command SubIndex 002 01 SSR-2 Command SubIndex 003 01 SSR-3 Command SubIndex 004 01 SSR-4 Command SubIndex 005 01 SSR-5 Command SubIndex 006 01 SSR-6 Command SubIndex 007 01 SSR-7 Command SubIndex 008 01 SSR-8 Command #x6683 SSR Velocity Upper Limit DT6683 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SSR-1 Velocity Upper Limit SubIndex 002 00000000 SSR-2 Velocity Upper Limit SubIndex 003 00000000 SSR-3 Velocity Upper Limit SubIndex 004 00000000 SSR-4 Velocity Upper Limit SubIndex 005 00000000 SSR-5 Velocity Upper Limit SubIndex 006 00000000 SSR-6 Velocity Upper Limit SubIndex 007 00000000 SSR-7 Velocity Upper Limit SubIndex 008 00000000 SSR-8 Velocity Upper Limit #x6685 SSR Velocity Lower Limit DT6685 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SSR-1 Velocity Lower Limit SubIndex 002 00000000 SSR-2 Velocity Lower Limit SubIndex 003 00000000 SSR-3 Velocity Lower Limit SubIndex 004 00000000 SSR-4 Velocity Lower Limit SubIndex 005 00000000 SSR-5 Velocity Lower Limit SubIndex 006 00000000 SSR-6 Velocity Lower Limit SubIndex 007 00000000 SSR-7 Velocity Lower Limit SubIndex 008 00000000 SSR-8 Velocity Lower Limit #x668a SSR Error Reaction DT668A 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SSR-1 Error Reaction SubIndex 002 01004066 SSR-2 Error Reaction SubIndex 003 01004066 SSR-3 Error Reaction SubIndex 004 01004066 SSR-4 Error Reaction SubIndex 005 01004066 SSR-5 Error Reaction SubIndex 006 01004066 SSR-6 Error Reaction SubIndex 007 01004066 SSR-7 Error Reaction SubIndex 008 01004066 SSR-8 Error Reaction #x6690 SLS Command DT6690 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SLS-1 Command SubIndex 002 01 SLS-2 Command SubIndex 003 01 SLS-3 Command SubIndex 004 01 SLS-4 Command SubIndex 005 01 SLS-5 Command SubIndex 006 01 SLS-6 Command SubIndex 007 01 SLS-7 Command SubIndex 008 01 SLS-8 Command #x6693 SLS Velocity Limit DT6693 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLS-1 Velocity Limit SubIndex 002 00000000 SLS-2 Velocity Limit SubIndex 003 00000000 SLS-3 Velocity Limit SubIndex 004 00000000 SLS-4 Velocity Limit SubIndex 005 00000000 SLS-5 Velocity Limit SubIndex 006 00000000 SLS-6 Velocity Limit SubIndex 007 00000000 SLS-7 Velocity Limit SubIndex 008 00000000 SLS-8 Velocity Limit #x6698 SLS Error Reaction DT6698 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SLS-1 Error Reaction SubIndex 002 01004066 SLS-2 Error Reaction SubIndex 003 01004066 SLS-3 Error Reaction SubIndex 004 01004066 SLS-4 Error Reaction SubIndex 005 01004066 SLS-5 Error Reaction SubIndex 006 01004066 SLS-6 Error Reaction SubIndex 007 01004066 SLS-7 Error Reaction SubIndex 008 01004066 SLS-8 Error Reaction #x66a0 SLP Command DT66A0 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SLP 1 Command SubIndex 002 01 SLP 2 Command SubIndex 003 01 SLP 3 Command SubIndex 004 01 SLP 4 Command SubIndex 005 01 SLP 5 Command SubIndex 006 01 SLP 6 Command SubIndex 007 01 SLP 7 Command SubIndex 008 01 SLP 8 Command #x66a2 SLP Position Upper Limit DT66A2 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLP 1 Position Upper Limit SubIndex 002 00000000 SLP 2 Position Upper Limit SubIndex 003 00000000 SLP 3 Position Upper Limit SubIndex 004 00000000 SLP 4 Position Upper Limit SubIndex 005 00000000 SLP 5 Position Upper Limit SubIndex 006 00000000 SLP 6 Position Upper Limit SubIndex 007 00000000 SLP 7 Position Upper Limit SubIndex 008 00000000 SLP 8 Position Upper Limit #x66a4 SLP Position Lower Limit DT66A4 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLP 1 Position Lower Limit SubIndex 002 00000000 SLP 2 Position Lower Limit SubIndex 003 00000000 SLP 3 Position Lower Limit SubIndex 004 00000000 SLP 4 Position Lower Limit SubIndex 005 00000000 SLP 5 Position Lower Limit SubIndex 006 00000000 SLP 6 Position Lower Limit SubIndex 007 00000000 SLP 7 Position Lower Limit SubIndex 008 00000000 SLP 8 Position Lower Limit #x66a5 SLP Error Reaction DT66A5 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SLP 1 Error Reaction SubIndex 002 01004066 SLP 2 Error Reaction SubIndex 003 01004066 SLP 3 Error Reaction SubIndex 004 01004066 SLP 4 Error Reaction SubIndex 005 01004066 SLP 5 Error Reaction SubIndex 006 01004066 SLP 6 Error Reaction SubIndex 007 01004066 SLP 7 Error Reaction SubIndex 008 01004066 SLP 8 Error Reaction #x66b8 SLI Command DT66B8 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SLI Command #x66ba SLI Position Relative Upper Limit DT66BA 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SLI Position Relative Upper Limit #x66bc SLI Position Relative Lower Limit DT66BC 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SLI Position Relative Lower Limit #x66bd SLI Error Reaction DT66BD 48 SubIndex 000 01 SubIndex 000 SubIndex 001 01004066 SLI Error Reaction #x66d0 SDI positive direction command BOOL 1 01 ro o rt 0 0 #x66d1 SDI negative direction command BOOL 1 01 ro o rt 0 0 #x66d3 SDI Position zero window UDINT 32 00000000 rw o 0 0 #x6760 FSoE Slave Frame Elements DT6760 168 SubIndex 000 0a FSoE Slave Command 2a FSoE Slave Connection ID 0000 FSoE Slave CRC_0 0000 FSoE Slave CRC_1 0000 FSoE Slave CRC_2 0000 FSoE Slave CRC_3 0000 FSoE Slave CRC_4 0000 FSoE Slave CRC_5 0000 FSoE Slave CRC_6 0000 FSoE Slave CRC_7 0000 #x6770 FSoE Master Frame Elements DT6770 168 SubIndex 000 0a FSoE Master Command 2a FSoE Master Connection ID 0000 FSoE Master CRC_0 0000 FSoE Master CRC_1 0000 FSoE Master CRC_2 0000 FSoE Master CRC_3 0000 FSoE Master CRC_4 0000 FSoE Master CRC_5 0000 FSoE Master CRC_6 0000 FSoE Master CRC_7 0000 #x6791 FSoE Communication Parameter DT6791 160 SubIndex 000 09 Version 3031 Safety Address 2000 Connection ID 0000 Watchdog Time 3200 Connection Type 0100 Communication Parameter Length 0200 Application Parameter Length 0200 SRA CRC 00000000 #xf980 Device FSoE Slave Address DTF980 32 SubIndex 000 01 FSoE Address 2000 FSoE with SRA CRC Safety drive with SRA CRC #x1700 FSoE RPDO map 1 #x6770 1 8 FSoE Master Command USINT #x6640 0 1 STO Command BOOL #x6650 1 1 SS1 Command BOOL #x0000 0 14 #x6770 3 16 FSoE Master CRC_0 UINT #x6770 2 16 FSoE Master Connection ID UINT #x1b00 FSoE TPDO map 1 #x6760 1 8 FSoE Slave Command USINT #x6640 0 1 STO Command BOOL #x6650 1 1 SS1 Command BOOL #x0000 0 6 #x46d1 0 1 Safe Inputs Value BOOL #x0000 0 7 #x6760 3 16 FSoE Slave CRC_0 UINT #x6760 2 16 FSoE Slave Connection ID UINT #x1e00 FSoE Parameter Set 1 #x6791 7 16 Communication Parameter Length UINT #x6791 4 16 Watchdog Time UINT #x6791 8 16 Application Parameter Length UINT #x6791 9 32 SRA CRC UDINT #x1e01 SRA CRC Parameter Set 1 #x1700 0 8 SubIndex 000 USINT #x1700 1 32 RxPDO FSoE Map Element 1 UDINT #x1700 2 32 RxPDO FSoE Map Element 2 UDINT #x1700 3 32 RxPDO FSoE Map Element 3 UDINT #x1700 4 32 RxPDO FSoE Map Element 4 UDINT #x1700 5 32 RxPDO FSoE Map Element 5 UDINT #x1700 6 32 RxPDO FSoE Map Element 6 UDINT #x1700 7 32 RxPDO FSoE Map Element 7 UDINT #x1700 8 32 RxPDO FSoE Map Element 8 UDINT #x1700 9 32 RxPDO FSoE Map Element 9 UDINT #x1700 10 32 RxPDO FSoE Map Element 10 UDINT #x1700 11 32 RxPDO FSoE Map Element 11 UDINT #x1700 12 32 RxPDO FSoE Map Element 12 UDINT #x1700 13 32 RxPDO FSoE Map Element 13 UDINT #x1700 14 32 RxPDO FSoE Map Element 14 UDINT #x1700 15 32 RxPDO FSoE Map Element 15 UDINT #x1700 16 32 RxPDO FSoE Map Element 16 UDINT #x1700 17 32 RxPDO FSoE Map Element 17 UDINT #x1700 18 32 RxPDO FSoE Map Element 18 UDINT #x1700 19 32 RxPDO FSoE Map Element 19 UDINT #x1700 20 32 RxPDO FSoE Map Element 20 UDINT #x1700 21 32 RxPDO FSoE Map Element 21 UDINT #x1700 22 32 RxPDO FSoE Map Element 22 UDINT #x1700 23 32 RxPDO FSoE Map Element 23 UDINT #x1700 24 32 RxPDO FSoE Map Element 24 UDINT #x1700 25 32 RxPDO FSoE Map Element 25 UDINT #x1700 26 32 RxPDO FSoE Map Element 26 UDINT #x1700 27 32 RxPDO FSoE Map Element 27 UDINT #x1700 28 32 RxPDO FSoE Map Element 28 UDINT #x1700 29 32 RxPDO FSoE Map Element 29 UDINT #x1700 30 32 RxPDO FSoE Map Element 30 UDINT #x1700 31 32 RxPDO FSoE Map Element 31 UDINT #x1700 32 32 RxPDO FSoE Map Element 32 UDINT #x1700 33 32 RxPDO FSoE Map Element 33 UDINT #x1700 34 32 RxPDO FSoE Map Element 34 UDINT #x1700 35 32 RxPDO FSoE Map Element 35 UDINT #x1700 36 32 RxPDO FSoE Map Element 36 UDINT #x1700 37 32 RxPDO FSoE Map Element 37 UDINT #x1700 38 32 RxPDO FSoE Map Element 38 UDINT #x1700 39 32 RxPDO FSoE Map Element 39 UDINT #x1700 40 32 RxPDO FSoE Map Element 40 UDINT #x1700 41 32 RxPDO FSoE Map Element 41 UDINT #x1700 42 32 RxPDO FSoE Map Element 42 UDINT #x1700 43 32 RxPDO FSoE Map Element 43 UDINT #x1700 44 32 RxPDO FSoE Map Element 44 UDINT #x1700 45 32 RxPDO FSoE Map Element 45 UDINT #x1b00 0 8 SubIndex 000 USINT #x1b00 1 32 TxPDO FSoE Map Element 1 UDINT #x1b00 2 32 TxPDO FSoE Map Element 2 UDINT #x1b00 3 32 TxPDO FSoE Map Element 3 UDINT #x1b00 4 32 TxPDO FSoE Map Element 4 UDINT #x1b00 5 32 TxPDO FSoE Map Element 5 UDINT #x1b00 6 32 TxPDO FSoE Map Element 6 UDINT #x1b00 7 32 TxPDO FSoE Map Element 7 UDINT #x1b00 8 32 TxPDO FSoE Map Element 8 UDINT #x1b00 9 32 TxPDO FSoE Map Element 9 UDINT #x1b00 10 32 TxPDO FSoE Map Element 10 UDINT #x1b00 11 32 TxPDO FSoE Map Element 11 UDINT #x1b00 12 32 TxPDO FSoE Map Element 12 UDINT #x1b00 13 32 TxPDO FSoE Map Element 13 UDINT #x1b00 14 32 TxPDO FSoE Map Element 14 UDINT #x1b00 15 32 TxPDO FSoE Map Element 15 UDINT #x1b00 16 32 TxPDO FSoE Map Element 16 UDINT #x1b00 17 32 TxPDO FSoE Map Element 17 UDINT #x1b00 18 32 TxPDO FSoE Map Element 18 UDINT #x1b00 19 32 TxPDO FSoE Map Element 19 UDINT #x1b00 20 32 TxPDO FSoE Map Element 20 UDINT #x1b00 21 32 TxPDO FSoE Map Element 21 UDINT #x1b00 22 32 TxPDO FSoE Map Element 22 UDINT #x1b00 23 32 TxPDO FSoE Map Element 23 UDINT #x1b00 24 32 TxPDO FSoE Map Element 24 UDINT #x1b00 25 32 TxPDO FSoE Map Element 25 UDINT #x1b00 26 32 TxPDO FSoE Map Element 26 UDINT #x1b00 27 32 TxPDO FSoE Map Element 27 UDINT #x1b00 28 32 TxPDO FSoE Map Element 28 UDINT #x1b00 29 32 TxPDO FSoE Map Element 29 UDINT #x1b00 30 32 TxPDO FSoE Map Element 30 UDINT #x1b00 31 32 TxPDO FSoE Map Element 31 UDINT #x1b00 32 32 TxPDO FSoE Map Element 32 UDINT #x1b00 33 32 TxPDO FSoE Map Element 33 UDINT #x1b00 34 32 TxPDO FSoE Map Element 34 UDINT #x1b00 35 32 TxPDO FSoE Map Element 35 UDINT #x1b00 36 32 TxPDO FSoE Map Element 36 UDINT #x1b00 37 32 TxPDO FSoE Map Element 37 UDINT #x1b00 38 32 TxPDO FSoE Map Element 38 UDINT #x1b00 39 32 TxPDO FSoE Map Element 39 UDINT #x1b00 40 32 TxPDO FSoE Map Element 40 UDINT #x1b00 41 32 TxPDO FSoE Map Element 41 UDINT #x1b00 42 32 TxPDO FSoE Map Element 42 UDINT #x1b00 43 32 TxPDO FSoE Map Element 43 UDINT #x1b00 44 32 TxPDO FSoE Map Element 44 UDINT #x1b00 45 32 TxPDO FSoE Map Element 45 UDINT #x6651 1 16 SS1 Time to STO UINT #x6653 1 32 SS1 Velocity zero window UDINT #x6654 1 16 SS1 Time for velocity zero UINT #x6656 1 32 SS1 Deceleration limit UDINT #x6657 1 16 SS1 Time delay for deceleration monitoring UINT #x666a 1 32 SOS Position zero window UDINT #x666c 1 32 SOS Velocity zero window UDINT #x6671 1 16 SS2 Time to SOS UINT #x6672 1 16 SS2 Time for velocity zero UINT #x6674 1 32 SS2 Deceleration limit UDINT #x6675 1 16 SS2 Time delay for deceleration monitoring UINT #x6677 1 32 SS2 Error reaction UDINT #x6683 1 32 SSR-1 Velocity Upper Limit DINT #x6683 2 32 SSR-2 Velocity Upper Limit DINT #x6683 3 32 SSR-3 Velocity Upper Limit DINT #x6683 4 32 SSR-4 Velocity Upper Limit DINT #x6683 5 32 SSR-5 Velocity Upper Limit DINT #x6683 6 32 SSR-6 Velocity Upper Limit DINT #x6683 7 32 SSR-7 Velocity Upper Limit DINT #x6683 8 32 SSR-8 Velocity Upper Limit DINT #x6685 1 32 SSR-1 Velocity Lower Limit DINT #x6685 2 32 SSR-2 Velocity Lower Limit DINT #x6685 3 32 SSR-3 Velocity Lower Limit DINT #x6685 4 32 SSR-4 Velocity Lower Limit DINT #x6685 5 32 SSR-5 Velocity Lower Limit DINT #x6685 6 32 SSR-6 Velocity Lower Limit DINT #x6685 7 32 SSR-7 Velocity Lower Limit DINT #x6685 8 32 SSR-8 Velocity Lower Limit DINT #x668a 1 32 SSR-1 Error Reaction UDINT #x668a 2 32 SSR-2 Error Reaction UDINT #x668a 3 32 SSR-3 Error Reaction UDINT #x668a 4 32 SSR-4 Error Reaction UDINT #x668a 5 32 SSR-5 Error Reaction UDINT #x668a 6 32 SSR-6 Error Reaction UDINT #x668a 7 32 SSR-7 Error Reaction UDINT #x668a 8 32 SSR-8 Error Reaction UDINT #x6693 1 32 SLS-1 Velocity Limit DINT #x6693 2 32 SLS-2 Velocity Limit DINT #x6693 3 32 SLS-3 Velocity Limit DINT #x6693 4 32 SLS-4 Velocity Limit DINT #x6693 5 32 SLS-5 Velocity Limit DINT #x6693 6 32 SLS-6 Velocity Limit DINT #x6693 7 32 SLS-7 Velocity Limit DINT #x6693 8 32 SLS-8 Velocity Limit DINT #x6698 1 32 SLS-1 Error Reaction UDINT #x6698 2 32 SLS-2 Error Reaction UDINT #x6698 3 32 SLS-3 Error Reaction UDINT #x6698 4 32 SLS-4 Error Reaction UDINT #x6698 5 32 SLS-5 Error Reaction UDINT #x6698 6 32 SLS-6 Error Reaction UDINT #x6698 7 32 SLS-7 Error Reaction UDINT #x6698 8 32 SLS-8 Error Reaction UDINT #x66a2 1 32 SLP 1 Position Upper Limit DINT #x66a2 2 32 SLP 2 Position Upper Limit DINT #x66a2 3 32 SLP 3 Position Upper Limit DINT #x66a2 4 32 SLP 4 Position Upper Limit DINT #x66a2 5 32 SLP 5 Position Upper Limit DINT #x66a2 6 32 SLP 6 Position Upper Limit DINT #x66a2 7 32 SLP 7 Position Upper Limit DINT #x66a2 8 32 SLP 8 Position Upper Limit DINT #x66a4 1 32 SLP 1 Position Lower Limit DINT #x66a4 2 32 SLP 2 Position Lower Limit DINT #x66a4 3 32 SLP 3 Position Lower Limit DINT #x66a4 4 32 SLP 4 Position Lower Limit DINT #x66a4 5 32 SLP 5 Position Lower Limit DINT #x66a4 6 32 SLP 6 Position Lower Limit DINT #x66a4 7 32 SLP 7 Position Lower Limit DINT #x66a4 8 32 SLP 8 Position Lower Limit DINT #x66a5 1 32 SLP 1 Error Reaction UDINT #x66a5 2 32 SLP 2 Error Reaction UDINT #x66a5 3 32 SLP 3 Error Reaction UDINT #x66a5 4 32 SLP 4 Error Reaction UDINT #x66a5 5 32 SLP 5 Error Reaction UDINT #x66a5 6 32 SLP 6 Error Reaction UDINT #x66a5 7 32 SLP 7 Error Reaction UDINT #x66a5 8 32 SLP 8 Error Reaction UDINT #x66ba 1 32 SLI Position Relative Upper Limit UDINT #x66bc 1 32 SLI Position Relative Lower Limit UDINT #x66bd 1 32 SLI Error Reaction UDINT #x66d3 0 32 SDI Position zero window UDINT #x46d2 0 16 Safe Inputs Map UINT #x46ef 0 32 User Over Temperature REAL #x46f2 0 32 Safe Homing Reference DINT #x46fa 0 16 Feedback scenario UINT #x46fb 0 32 Position tolerance REAL #x46fc 1 16 Redundant feedback turns UINT #x46fc 2 16 Main feedback turns UINT #x4701 0 16 Safety core primary absolute slave 1 - Frame size UINT #x4702 0 16 Safety core primary absolute slave 1 - Polarity UINT #x4704 0 16 Safety core primary absolute slave 1 - Position bits UINT #x4705 0 16 Safety core primary absolute slave 1 - Single-turn bits UINT #x4707 0 32 Safety core primary absolute slave 1 - Baudrate UDINT #x4708 0 32 Safety core primary absolute slave 1 - Timeout UDINT #x470c 0 16 Safety core secondary absolute slave 1 - Frame size UINT #x470d 0 16 Safety core secondary absolute slave 1 - Polarity UINT #x470f 0 16 Safety core secondary absolute slave 1 - Position bits UINT #x4710 0 16 Safety core secondary absolute slave 1 - Single-turn bits UINT #x4712 0 32 Safety core secondary absolute slave 1 - Baudrate UDINT #x4713 0 32 Safety core secondary absolute slave 1 - Timeout UDINT #x4722 0 32 Safety core incremental encoder 1 - Resolution UDINT #x4723 0 16 Safety core incremental encoder 1 - Polarity UINT #x4732 0 16 Safety core digital hall feedback - Pole pairs UINT #x4733 0 16 Safety core digital hall feedback - Polarity UINT 790 BOOL 1 SINT 8 BYTE 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 REAL 32 DT1700 1456 0 SubIndex 000 USINT 8 0 rw o 0 0 1 RxPDO FSoE Map Element 1 UDINT 32 16 rw o 0 0 2 RxPDO FSoE Map Element 2 UDINT 32 48 rw o 0 0 3 RxPDO FSoE Map Element 3 UDINT 32 80 rw o 0 0 4 RxPDO FSoE Map Element 4 UDINT 32 112 rw o 0 0 5 RxPDO FSoE Map Element 5 UDINT 32 144 rw o 0 0 6 RxPDO FSoE Map Element 6 UDINT 32 176 rw o 0 0 7 RxPDO FSoE Map Element 7 UDINT 32 208 rw o 0 0 8 RxPDO FSoE Map Element 8 UDINT 32 240 rw o 0 0 9 RxPDO FSoE Map Element 9 UDINT 32 272 rw o 0 0 10 RxPDO FSoE Map Element 10 UDINT 32 304 rw o 0 0 11 RxPDO FSoE Map Element 11 UDINT 32 336 rw o 0 0 12 RxPDO FSoE Map Element 12 UDINT 32 368 rw o 0 0 13 RxPDO FSoE Map Element 13 UDINT 32 400 rw o 0 0 14 RxPDO FSoE Map Element 14 UDINT 32 432 rw o 0 0 15 RxPDO FSoE Map Element 15 UDINT 32 464 rw o 0 0 16 RxPDO FSoE Map Element 16 UDINT 32 496 rw o 0 0 17 RxPDO FSoE Map Element 17 UDINT 32 528 rw o 0 0 18 RxPDO FSoE Map Element 18 UDINT 32 560 rw o 0 0 19 RxPDO FSoE Map Element 19 UDINT 32 592 rw o 0 0 20 RxPDO FSoE Map Element 20 UDINT 32 624 rw o 0 0 21 RxPDO FSoE Map Element 21 UDINT 32 656 rw o 0 0 22 RxPDO FSoE Map Element 22 UDINT 32 688 rw o 0 0 23 RxPDO FSoE Map Element 23 UDINT 32 720 rw o 0 0 24 RxPDO FSoE Map Element 24 UDINT 32 752 rw o 0 0 25 RxPDO FSoE Map Element 25 UDINT 32 784 rw o 0 0 26 RxPDO FSoE Map Element 26 UDINT 32 816 rw o 0 0 27 RxPDO FSoE Map Element 27 UDINT 32 848 rw o 0 0 28 RxPDO FSoE Map Element 28 UDINT 32 880 rw o 0 0 29 RxPDO FSoE Map Element 29 UDINT 32 912 rw o 0 0 30 RxPDO FSoE Map Element 30 UDINT 32 944 rw o 0 0 31 RxPDO FSoE Map Element 31 UDINT 32 976 rw o 0 0 32 RxPDO FSoE Map Element 32 UDINT 32 1008 rw o 0 0 33 RxPDO FSoE Map Element 33 UDINT 32 1040 rw o 0 0 34 RxPDO FSoE Map Element 34 UDINT 32 1072 rw o 0 0 35 RxPDO FSoE Map Element 35 UDINT 32 1104 rw o 0 0 36 RxPDO FSoE Map Element 36 UDINT 32 1136 rw o 0 0 37 RxPDO FSoE Map Element 37 UDINT 32 1168 rw o 0 0 38 RxPDO FSoE Map Element 38 UDINT 32 1200 rw o 0 0 39 RxPDO FSoE Map Element 39 UDINT 32 1232 rw o 0 0 40 RxPDO FSoE Map Element 40 UDINT 32 1264 rw o 0 0 41 RxPDO FSoE Map Element 41 UDINT 32 1296 rw o 0 0 42 RxPDO FSoE Map Element 42 UDINT 32 1328 rw o 0 0 43 RxPDO FSoE Map Element 43 UDINT 32 1360 rw o 0 0 44 RxPDO FSoE Map Element 44 UDINT 32 1392 rw o 0 0 45 RxPDO FSoE Map Element 45 UDINT 32 1424 rw o 0 0 DT1B00 1456 0 SubIndex 000 USINT 8 0 rw o 0 0 1 TxPDO FSoE Map Element 1 UDINT 32 16 rw o 0 0 2 TxPDO FSoE Map Element 2 UDINT 32 48 rw o 0 0 3 TxPDO FSoE Map Element 3 UDINT 32 80 rw o 0 0 4 TxPDO FSoE Map Element 4 UDINT 32 112 rw o 0 0 5 TxPDO FSoE Map Element 5 UDINT 32 144 rw o 0 0 6 TxPDO FSoE Map Element 6 UDINT 32 176 rw o 0 0 7 TxPDO FSoE Map Element 7 UDINT 32 208 rw o 0 0 8 TxPDO FSoE Map Element 8 UDINT 32 240 rw o 0 0 9 TxPDO FSoE Map Element 9 UDINT 32 272 rw o 0 0 10 TxPDO FSoE Map Element 10 UDINT 32 304 rw o 0 0 11 TxPDO FSoE Map Element 11 UDINT 32 336 rw o 0 0 12 TxPDO FSoE Map Element 12 UDINT 32 368 rw o 0 0 13 TxPDO FSoE Map Element 13 UDINT 32 400 rw o 0 0 14 TxPDO FSoE Map Element 14 UDINT 32 432 rw o 0 0 15 TxPDO FSoE Map Element 15 UDINT 32 464 rw o 0 0 16 TxPDO FSoE Map Element 16 UDINT 32 496 rw o 0 0 17 TxPDO FSoE Map Element 17 UDINT 32 528 rw o 0 0 18 TxPDO FSoE Map Element 18 UDINT 32 560 rw o 0 0 19 TxPDO FSoE Map Element 19 UDINT 32 592 rw o 0 0 20 TxPDO FSoE Map Element 20 UDINT 32 624 rw o 0 0 21 TxPDO FSoE Map Element 21 UDINT 32 656 rw o 0 0 22 TxPDO FSoE Map Element 22 UDINT 32 688 rw o 0 0 23 TxPDO FSoE Map Element 23 UDINT 32 720 rw o 0 0 24 TxPDO FSoE Map Element 24 UDINT 32 752 rw o 0 0 25 TxPDO FSoE Map Element 25 UDINT 32 784 rw o 0 0 26 TxPDO FSoE Map Element 26 UDINT 32 816 rw o 0 0 27 TxPDO FSoE Map Element 27 UDINT 32 848 rw o 0 0 28 TxPDO FSoE Map Element 28 UDINT 32 880 rw o 0 0 29 TxPDO FSoE Map Element 29 UDINT 32 912 rw o 0 0 30 TxPDO FSoE Map Element 30 UDINT 32 944 rw o 0 0 31 TxPDO FSoE Map Element 31 UDINT 32 976 rw o 0 0 32 TxPDO FSoE Map Element 32 UDINT 32 1008 rw o 0 0 33 TxPDO FSoE Map Element 33 UDINT 32 1040 rw o 0 0 34 TxPDO FSoE Map Element 34 UDINT 32 1072 rw o 0 0 35 TxPDO FSoE Map Element 35 UDINT 32 1104 rw o 0 0 36 TxPDO FSoE Map Element 36 UDINT 32 1136 rw o 0 0 37 TxPDO FSoE Map Element 37 UDINT 32 1168 rw o 0 0 38 TxPDO FSoE Map Element 38 UDINT 32 1200 rw o 0 0 39 TxPDO FSoE Map Element 39 UDINT 32 1232 rw o 0 0 40 TxPDO FSoE Map Element 40 UDINT 32 1264 rw o 0 0 41 TxPDO FSoE Map Element 41 UDINT 32 1296 rw o 0 0 42 TxPDO FSoE Map Element 42 UDINT 32 1328 rw o 0 0 43 TxPDO FSoE Map Element 43 UDINT 32 1360 rw o 0 0 44 TxPDO FSoE Map Element 44 UDINT 32 1392 rw o 0 0 45 TxPDO FSoE Map Element 45 UDINT 32 1424 rw o 0 0 DT400FARR UDINT 64 1 2 DT400F 80 0 Last Error number of elements USINT 8 0 ro o 0 0 Elements DT400FARR 64 16 ro o DT464DARR UINT 32 1 2 DT464D 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT464DARR 32 16 ro o DT464EARR UINT 32 1 2 DT464E 48 0 Error List Index Request number of elements USINT 8 0 ro o 0 0 Elements DT464EARR 32 16 rw o DT464FARR UDINT 64 1 2 DT464F 80 0 Error List Requested Code number of elements USINT 8 0 ro o 0 0 Elements DT464FARR 64 16 ro o STRING(9) 72 DT46F0ARR REAL 64 1 2 DT46F0 80 0 Temperature number of elements USINT 8 0 ro o 0 0 Elements DT46F0ARR 64 16 ro o DT46FCARR UINT 32 1 2 DT46FC 48 0 Feedback ratio number of elements USINT 8 0 ro o 0 0 Elements DT46FCARR 32 16 rw o DT6650ARR BOOL 1 1 1 DT6650 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6650ARR 1 16 ro o rt DT6651ARR UINT 16 1 1 DT6651 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6651ARR 16 16 rw o DT6653ARR UDINT 32 1 1 DT6653 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6653ARR 32 16 rw o DT6654ARR UINT 16 1 1 DT6654 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6654ARR 16 16 rw o DT6656ARR UDINT 32 1 1 DT6656 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6656ARR 32 16 rw o DT6657ARR UINT 16 1 1 DT6657 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6657ARR 16 16 rw o DT6668ARR BOOL 1 1 1 DT6668 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6668ARR 1 16 ro o rt DT666AARR UDINT 32 1 1 DT666A 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT666AARR 32 16 rw o DT666CARR UDINT 32 1 1 DT666C 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT666CARR 32 16 rw o DT6670ARR BOOL 1 1 1 DT6670 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6670ARR 1 16 ro o rt DT6671ARR UINT 16 1 1 DT6671 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6671ARR 16 16 rw o DT6672ARR UINT 16 1 1 DT6672 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6672ARR 16 16 rw o DT6674ARR UDINT 32 1 1 DT6674 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6674ARR 32 16 rw o DT6675ARR UINT 16 1 1 DT6675 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6675ARR 16 16 rw o DT6677ARR UDINT 32 1 1 DT6677 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6677ARR 32 16 rw o DT6680ARR BOOL 8 1 8 DT6680 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6680ARR 8 16 ro o rt DT6683ARR DINT 256 1 8 DT6683 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6683ARR 256 16 rw o DT6685ARR DINT 256 1 8 DT6685 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6685ARR 256 16 rw o DT668AARR UDINT 256 1 8 DT668A 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT668AARR 256 16 rw o DT6690ARR BOOL 8 1 8 DT6690 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6690ARR 8 16 ro o rt DT6693ARR DINT 256 1 8 DT6693 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6693ARR 256 16 rw o DT6698ARR UDINT 256 1 8 DT6698 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6698ARR 256 16 rw o DT66A0ARR BOOL 8 1 8 DT66A0 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A0ARR 8 16 ro o rt DT66A2ARR DINT 256 1 8 DT66A2 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A2ARR 256 16 rw o DT66A4ARR DINT 256 1 8 DT66A4 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A4ARR 256 16 rw o DT66A5ARR UDINT 256 1 8 DT66A5 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A5ARR 256 16 rw o DT66B8ARR BOOL 1 1 1 DT66B8 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66B8ARR 1 16 ro o rt DT66BAARR UDINT 32 1 1 DT66BA 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BAARR 32 16 rw o DT66BCARR UDINT 32 1 1 DT66BC 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BCARR 32 16 rw o DT66BDARR UDINT 32 1 1 DT66BD 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BDARR 32 16 rw o DT6760 168 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Slave Command USINT 8 16 ro o t 0 0 2 FSoE Slave Connection ID UINT 16 24 ro o t 0 0 3 FSoE Slave CRC_0 UINT 16 40 ro o t 0 0 4 FSoE Slave CRC_1 UINT 16 56 ro o t 0 0 5 FSoE Slave CRC_2 UINT 16 72 ro o t 0 0 6 FSoE Slave CRC_3 UINT 16 88 ro o t 0 0 7 FSoE Slave CRC_4 UINT 16 104 ro o t 0 0 8 FSoE Slave CRC_5 UINT 16 120 ro o t 0 0 9 FSoE Slave CRC_6 UINT 16 136 ro o t 0 0 10 FSoE Slave CRC_7 UINT 16 152 ro o t 0 0 DT6770 168 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Master Command USINT 8 16 ro o r 0 0 2 FSoE Master Connection ID UINT 16 24 ro o r 0 0 3 FSoE Master CRC_0 UINT 16 40 ro o r 0 0 4 FSoE Master CRC_1 UINT 16 56 ro o r 0 0 5 FSoE Master CRC_2 UINT 16 72 ro o r 0 0 6 FSoE Master CRC_3 UINT 16 88 ro o r 0 0 7 FSoE Master CRC_4 UINT 16 104 ro o r 0 0 8 FSoE Master CRC_5 UINT 16 120 ro o r 0 0 9 FSoE Master CRC_6 UINT 16 136 ro o r 0 0 10 FSoE Master CRC_7 UINT 16 152 ro o r 0 0 STRING(2) 16 DT6791 160 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Version STRING(2) 16 16 ro o 0 0 2 Safety Address UINT 16 32 ro o 0 0 3 Connection ID UINT 16 48 ro o 0 0 4 Watchdog Time UINT 16 64 ro o 0 0 6 Connection Type UINT 16 80 ro o 0 0 7 Communication Parameter Length UINT 16 96 ro o 0 0 8 Application Parameter Length UINT 16 112 ro o 0 0 9 SRA CRC UDINT 32 128 ro o 0 0 DTF980 32 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Address UINT 16 16 ro o 0 0 #x1700 RxPDO FSoE Map 1 DT1700 1456 SubIndex 000 06 RxPDO FSoE Map Element 1 08017067 RxPDO FSoE Map Element 2 01004066 RxPDO FSoE Map Element 3 01015066 RxPDO FSoE Map Element 4 0e000000 RxPDO FSoE Map Element 5 10037067 RxPDO FSoE Map Element 6 10027067 RxPDO FSoE Map Element 7 00000000 RxPDO FSoE Map Element 8 00000000 RxPDO FSoE Map Element 9 00000000 RxPDO FSoE Map Element 10 00000000 RxPDO FSoE Map Element 11 00000000 RxPDO FSoE Map Element 12 00000000 RxPDO FSoE Map Element 13 00000000 RxPDO FSoE Map Element 14 00000000 RxPDO FSoE Map Element 15 00000000 RxPDO FSoE Map Element 16 00000000 RxPDO FSoE Map Element 17 00000000 RxPDO FSoE Map Element 18 00000000 RxPDO FSoE Map Element 19 00000000 RxPDO FSoE Map Element 20 00000000 RxPDO FSoE Map Element 21 00000000 RxPDO FSoE Map Element 22 00000000 RxPDO FSoE Map Element 23 00000000 RxPDO FSoE Map Element 24 00000000 RxPDO FSoE Map Element 25 00000000 RxPDO FSoE Map Element 26 00000000 RxPDO FSoE Map Element 27 00000000 RxPDO FSoE Map Element 28 00000000 RxPDO FSoE Map Element 29 00000000 RxPDO FSoE Map Element 30 00000000 RxPDO FSoE Map Element 31 00000000 RxPDO FSoE Map Element 32 00000000 RxPDO FSoE Map Element 33 00000000 RxPDO FSoE Map Element 34 00000000 RxPDO FSoE Map Element 35 00000000 RxPDO FSoE Map Element 36 00000000 RxPDO FSoE Map Element 37 00000000 RxPDO FSoE Map Element 38 00000000 RxPDO FSoE Map Element 39 00000000 RxPDO FSoE Map Element 40 00000000 RxPDO FSoE Map Element 41 00000000 RxPDO FSoE Map Element 42 00000000 RxPDO FSoE Map Element 43 00000000 RxPDO FSoE Map Element 44 00000000 RxPDO FSoE Map Element 45 00000000 #x1b00 TxPDO FSoE Map 1 DT1B00 1456 SubIndex 000 08 TxPDO FSoE Map Element 1 08016067 TxPDO FSoE Map Element 2 01004066 TxPDO FSoE Map Element 3 01015066 TxPDO FSoE Map Element 4 06000000 TxPDO FSoE Map Element 5 0100d146 TxPDO FSoE Map Element 6 07000000 TxPDO FSoE Map Element 7 10036067 TxPDO FSoE Map Element 8 10026067 TxPDO FSoE Map Element 9 00000000 TxPDO FSoE Map Element 10 00000000 TxPDO FSoE Map Element 11 00000000 TxPDO FSoE Map Element 12 00000000 TxPDO FSoE Map Element 13 00000000 TxPDO FSoE Map Element 14 00000000 TxPDO FSoE Map Element 15 00000000 TxPDO FSoE Map Element 16 00000000 TxPDO FSoE Map Element 17 00000000 TxPDO FSoE Map Element 18 00000000 TxPDO FSoE Map Element 19 00000000 TxPDO FSoE Map Element 20 00000000 TxPDO FSoE Map Element 21 00000000 TxPDO FSoE Map Element 22 00000000 TxPDO FSoE Map Element 23 00000000 TxPDO FSoE Map Element 24 00000000 TxPDO FSoE Map Element 25 00000000 TxPDO FSoE Map Element 26 00000000 TxPDO FSoE Map Element 27 00000000 TxPDO FSoE Map Element 28 00000000 TxPDO FSoE Map Element 29 00000000 TxPDO FSoE Map Element 30 00000000 TxPDO FSoE Map Element 31 00000000 TxPDO FSoE Map Element 32 00000000 TxPDO FSoE Map Element 33 00000000 TxPDO FSoE Map Element 34 00000000 TxPDO FSoE Map Element 35 00000000 TxPDO FSoE Map Element 36 00000000 TxPDO FSoE Map Element 37 00000000 TxPDO FSoE Map Element 38 00000000 TxPDO FSoE Map Element 39 00000000 TxPDO FSoE Map Element 40 00000000 TxPDO FSoE Map Element 41 00000000 TxPDO FSoE Map Element 42 00000000 TxPDO FSoE Map Element 43 00000000 TxPDO FSoE Map Element 44 00000000 TxPDO FSoE Map Element 45 00000000 #x400f Last Error DT400F 80 SubIndex 000 02 Last Error number of elements SubIndex 001 00000000 MCUA Last Error SubIndex 002 00000000 MCUB Last Error #x4193 Safety Address UINT 16 2000 rw o 0 0 #x4400 Safety Project CRC UDINT 32 00000000 rw o 0 0 #x464d Error Total Number DT464D 48 SubIndex 000 02 SubIndex 000 SubIndex 001 0000 MCUA Error Total Number SubIndex 002 0000 MCUB Error Total Number #x464e Error List Index Request DT464E 48 SubIndex 000 02 Error List Index Request number of elements SubIndex 001 0000 MCUA Error List Index Request SubIndex 002 0000 MCUB Error List Index Request #x464f Error List Requested Code DT464F 80 SubIndex 000 02 Error List Requested Code number of elements SubIndex 001 00000000 MCUA Error List Requested Code SubIndex 002 00000000 MCUB Error List Requested Code #x46d1 Safe Inputs Value BOOL 1 00 ro o t 0 0 #x46d2 Safe Inputs Map UINT 16 0000 rw o 0 0 #x46db Store Subnode UDINT 32 01000000 rw o 0 0 #x46dd Restore Subnode UDINT 32 01000000 rw o 0 0 #x46e1 Product code UDINT 32 00000000 ro o 0 0 #x46e3 Bootloader version STRING(9) 72 302e362e302e303030 ro o 0 0 #x46e4 Software version STRING(9) 72 322e302e302e303030 ro o 0 0 #x46e6 Serial number UDINT 32 00000000 ro o 0 0 #x46ef User Over Temperature REAL 32 0000aa42 rw o 0 0 #x46f0 Safety core temperature DT46F0 80 SubIndex 000 02 Temperature number of elements SubIndex 001 MCU A Temperature SubIndex 002 MCU B Temperature #x46f1 Safe Homing BOOL 1 00 ro o rt 0 0 #x46f2 Safe Homing Reference DINT 32 00000000 rw o 0 0 #x46fa Feedback scenario UINT 16 0000 rw o 0 0 #x46fb Position tolerance REAL 32 0000a040 rw o 0 0 #x46fc Redundant to main feedback ratio DT46FC 48 SubIndex 000 02 Feedback ratio number of elements SubIndex 001 0100 Redundant feedback turns SubIndex 002 0100 Main feedback turns #x4701 Safety core primary absolute slave 1 - Frame size UINT 16 1800 rw o 0 0 #x4702 Safety core primary absolute slave 1 - Polarity UINT 16 0000 rw o 0 0 #x4704 Safety core primary absolute slave 1 - Position bits UINT 16 1600 rw o 0 0 #x4705 Safety core primary absolute slave 1 - Single-turn bits UINT 16 1600 rw o 0 0 #x4707 Safety core primary absolute slave 1 - Baudrate UDINT 32 e8030000 rw o 0 0 #x4708 Safety core primary absolute slave 1 - Timeout UDINT 32 e8030000 rw o 0 0 #x4709 Safety core primary absolute slave 1 - Position DINT 32 00000000 ro o 0 0 #x470a Safety core primary absolute slave 1 - Status UINT 16 0000 ro o 0 0 #x470c Safety core secondary absolute slave 1 - Frame size UINT 16 1800 rw o 0 0 #x470d Safety core secondary absolute slave 1 - Polarity UINT 16 0000 rw o 0 0 #x470f Safety core secondary absolute slave 1 - Position bits UINT 16 1600 rw o 0 0 #x4710 Safety core secondary absolute slave 1 - Single-turn bits UINT 16 1600 rw o 0 0 #x4712 Safety core secondary absolute slave 1 - Baudrate UDINT 32 e8030000 rw o 0 0 #x4713 Safety core secondary absolute slave 1 - Timeout UDINT 32 e8030000 rw o 0 0 #x4714 Safety core secondary absolute slave 1 - Position DINT 32 00000000 ro o 0 0 #x4715 Safety core secondary absolute slave 1 - Status UINT 16 0000 ro o 0 0 #x4720 Safety core incremental encoder 1 - Value DINT 32 00000000 ro o 0 0 #x4721 Safety core incremental encoder 1 - Status UINT 16 0000 ro o 0 0 #x4722 Safety core incremental encoder 1 - Resolution UDINT 32 a00f0000 rw o 0 0 #x4723 Safety core incremental encoder 1 - Polarity UINT 16 0000 rw o 0 0 #x4730 Safety core digital hall feedback - Position DINT 32 00000000 ro o 0 0 #x4731 Safety core digital hall feedback - Status UINT 16 0000 ro o 0 0 #x4732 Safety core digital hall feedback - Pole pairs UINT 16 0100 rw o 0 0 #x4733 Safety core digital hall feedback - Polarity UINT 16 0000 rw o 0 0 #x6600 Time Unit UDINT 32 000003fd ro o 0 0 #x6601 Position Unit UDINT 32 0000b500 ro o 0 0 #x6602 Velocity unit UDINT 32 0003b4fd ro o 0 0 #x6611 Safe Position Actual Value DINT 32 00000000 ro o t 0 0 #x6613 Safe Velocity Actual Value DINT 32 00000000 ro o t 0 0 #x6640 STO Command BOOL 1 01 ro o rt 0 0 #x6650 SS1 Command DT6650 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SS1 Command #x6651 SS1 Time to STO DT6651 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time to STO #x6653 SS1 Velocity zero window DT6653 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS1 Velocity zero window #x6654 SS1 Time for velocity zero DT6654 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time for velocity zero #x6656 SS1 Deceleration limit DT6656 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS1 Deceleration limit #x6657 SS1 Time delay deceleration monitoring DT6657 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time delay for deceleration monitoring #x6668 SOS Command DT6668 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SOS Command #x666a SOS Position zero window DT666A 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SOS Position zero window #x666c SOS Velocity zero window DT666C 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SOS Velocity zero window #x6670 SS2 Command DT6670 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SS2 Command #x6671 SS2 Time to SOS DT6671 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time to SOS #x6672 SS2 Time for velocity zero DT6672 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time for velocity zero #x6674 SS2 Deceleration limit DT6674 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS2 Deceleration limit #x6675 SS2 Time delay for deceleration monitoring DT6675 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time delay for deceleration monitoring #x6677 SS2 Error reaction DT6677 48 SubIndex 000 01 SubIndex 000 SubIndex 001 01004066 SS2 Error reaction #x6680 SSR Command DT6680 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SSR-1 Command SubIndex 002 01 SSR-2 Command SubIndex 003 01 SSR-3 Command SubIndex 004 01 SSR-4 Command SubIndex 005 01 SSR-5 Command SubIndex 006 01 SSR-6 Command SubIndex 007 01 SSR-7 Command SubIndex 008 01 SSR-8 Command #x6683 SSR Velocity Upper Limit DT6683 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SSR-1 Velocity Upper Limit SubIndex 002 00000000 SSR-2 Velocity Upper Limit SubIndex 003 00000000 SSR-3 Velocity Upper Limit SubIndex 004 00000000 SSR-4 Velocity Upper Limit SubIndex 005 00000000 SSR-5 Velocity Upper Limit SubIndex 006 00000000 SSR-6 Velocity Upper Limit SubIndex 007 00000000 SSR-7 Velocity Upper Limit SubIndex 008 00000000 SSR-8 Velocity Upper Limit #x6685 SSR Velocity Lower Limit DT6685 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SSR-1 Velocity Lower Limit SubIndex 002 00000000 SSR-2 Velocity Lower Limit SubIndex 003 00000000 SSR-3 Velocity Lower Limit SubIndex 004 00000000 SSR-4 Velocity Lower Limit SubIndex 005 00000000 SSR-5 Velocity Lower Limit SubIndex 006 00000000 SSR-6 Velocity Lower Limit SubIndex 007 00000000 SSR-7 Velocity Lower Limit SubIndex 008 00000000 SSR-8 Velocity Lower Limit #x668a SSR Error Reaction DT668A 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SSR-1 Error Reaction SubIndex 002 01004066 SSR-2 Error Reaction SubIndex 003 01004066 SSR-3 Error Reaction SubIndex 004 01004066 SSR-4 Error Reaction SubIndex 005 01004066 SSR-5 Error Reaction SubIndex 006 01004066 SSR-6 Error Reaction SubIndex 007 01004066 SSR-7 Error Reaction SubIndex 008 01004066 SSR-8 Error Reaction #x6690 SLS Command DT6690 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SLS-1 Command SubIndex 002 01 SLS-2 Command SubIndex 003 01 SLS-3 Command SubIndex 004 01 SLS-4 Command SubIndex 005 01 SLS-5 Command SubIndex 006 01 SLS-6 Command SubIndex 007 01 SLS-7 Command SubIndex 008 01 SLS-8 Command #x6693 SLS Velocity Limit DT6693 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLS-1 Velocity Limit SubIndex 002 00000000 SLS-2 Velocity Limit SubIndex 003 00000000 SLS-3 Velocity Limit SubIndex 004 00000000 SLS-4 Velocity Limit SubIndex 005 00000000 SLS-5 Velocity Limit SubIndex 006 00000000 SLS-6 Velocity Limit SubIndex 007 00000000 SLS-7 Velocity Limit SubIndex 008 00000000 SLS-8 Velocity Limit #x6698 SLS Error Reaction DT6698 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SLS-1 Error Reaction SubIndex 002 01004066 SLS-2 Error Reaction SubIndex 003 01004066 SLS-3 Error Reaction SubIndex 004 01004066 SLS-4 Error Reaction SubIndex 005 01004066 SLS-5 Error Reaction SubIndex 006 01004066 SLS-6 Error Reaction SubIndex 007 01004066 SLS-7 Error Reaction SubIndex 008 01004066 SLS-8 Error Reaction #x66a0 SLP Command DT66A0 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SLP 1 Command SubIndex 002 01 SLP 2 Command SubIndex 003 01 SLP 3 Command SubIndex 004 01 SLP 4 Command SubIndex 005 01 SLP 5 Command SubIndex 006 01 SLP 6 Command SubIndex 007 01 SLP 7 Command SubIndex 008 01 SLP 8 Command #x66a2 SLP Position Upper Limit DT66A2 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLP 1 Position Upper Limit SubIndex 002 00000000 SLP 2 Position Upper Limit SubIndex 003 00000000 SLP 3 Position Upper Limit SubIndex 004 00000000 SLP 4 Position Upper Limit SubIndex 005 00000000 SLP 5 Position Upper Limit SubIndex 006 00000000 SLP 6 Position Upper Limit SubIndex 007 00000000 SLP 7 Position Upper Limit SubIndex 008 00000000 SLP 8 Position Upper Limit #x66a4 SLP Position Lower Limit DT66A4 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLP 1 Position Lower Limit SubIndex 002 00000000 SLP 2 Position Lower Limit SubIndex 003 00000000 SLP 3 Position Lower Limit SubIndex 004 00000000 SLP 4 Position Lower Limit SubIndex 005 00000000 SLP 5 Position Lower Limit SubIndex 006 00000000 SLP 6 Position Lower Limit SubIndex 007 00000000 SLP 7 Position Lower Limit SubIndex 008 00000000 SLP 8 Position Lower Limit #x66a5 SLP Error Reaction DT66A5 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SLP 1 Error Reaction SubIndex 002 01004066 SLP 2 Error Reaction SubIndex 003 01004066 SLP 3 Error Reaction SubIndex 004 01004066 SLP 4 Error Reaction SubIndex 005 01004066 SLP 5 Error Reaction SubIndex 006 01004066 SLP 6 Error Reaction SubIndex 007 01004066 SLP 7 Error Reaction SubIndex 008 01004066 SLP 8 Error Reaction #x66b8 SLI Command DT66B8 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SLI Command #x66ba SLI Position Relative Upper Limit DT66BA 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SLI Position Relative Upper Limit #x66bc SLI Position Relative Lower Limit DT66BC 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SLI Position Relative Lower Limit #x66bd SLI Error Reaction DT66BD 48 SubIndex 000 01 SubIndex 000 SubIndex 001 01004066 SLI Error Reaction #x66d0 SDI positive direction command BOOL 1 01 ro o rt 0 0 #x66d1 SDI negative direction command BOOL 1 01 ro o rt 0 0 #x66d3 SDI Position zero window UDINT 32 00000000 rw o 0 0 #x6760 FSoE Slave Frame Elements DT6760 168 SubIndex 000 0a FSoE Slave Command 2a FSoE Slave Connection ID 0000 FSoE Slave CRC_0 0000 FSoE Slave CRC_1 0000 FSoE Slave CRC_2 0000 FSoE Slave CRC_3 0000 FSoE Slave CRC_4 0000 FSoE Slave CRC_5 0000 FSoE Slave CRC_6 0000 FSoE Slave CRC_7 0000 #x6770 FSoE Master Frame Elements DT6770 168 SubIndex 000 0a FSoE Master Command 2a FSoE Master Connection ID 0000 FSoE Master CRC_0 0000 FSoE Master CRC_1 0000 FSoE Master CRC_2 0000 FSoE Master CRC_3 0000 FSoE Master CRC_4 0000 FSoE Master CRC_5 0000 FSoE Master CRC_6 0000 FSoE Master CRC_7 0000 #x6791 FSoE Communication Parameter DT6791 160 SubIndex 000 09 Version 3031 Safety Address 2000 Connection ID 0000 Watchdog Time 3200 Connection Type 0100 Communication Parameter Length 0200 Application Parameter Length 0200 SRA CRC 00000000 #xf980 Device FSoE Slave Address DTF980 32 SubIndex 000 01 FSoE Address 2000 FSoE with Safety project CRC Safety drive with Safety Project CRC #x1700 FSoE RPDO map 1 #x6770 1 8 FSoE Master Command USINT #x6640 0 1 STO Command BOOL #x6650 1 1 SS1 Command BOOL #x0000 0 14 #x6770 3 16 FSoE Master CRC_0 UINT #x6770 2 16 FSoE Master Connection ID UINT #x1b00 FSoE TPDO map 1 #x6760 1 8 FSoE Slave Command USINT #x6640 0 1 STO Command BOOL #x6650 1 1 SS1 Command BOOL #x0000 0 6 #x46d1 0 1 Safe Inputs Value BOOL #x0000 0 7 #x6760 3 16 FSoE Slave CRC_0 UINT #x6760 2 16 FSoE Slave Connection ID UINT #x1e00 FSoE Parameter Set 1 #x6791 7 16 Communication Parameter Length UINT #x6791 4 16 Watchdog Time UINT #x6791 8 16 Application Parameter Length UINT #x4400 0 32 Safety Project CRC UDINT 790 BOOL 1 SINT 8 BYTE 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 REAL 32 DT1700 1456 0 SubIndex 000 USINT 8 0 rw o 0 0 1 RxPDO FSoE Map Element 1 UDINT 32 16 rw o 0 0 2 RxPDO FSoE Map Element 2 UDINT 32 48 rw o 0 0 3 RxPDO FSoE Map Element 3 UDINT 32 80 rw o 0 0 4 RxPDO FSoE Map Element 4 UDINT 32 112 rw o 0 0 5 RxPDO FSoE Map Element 5 UDINT 32 144 rw o 0 0 6 RxPDO FSoE Map Element 6 UDINT 32 176 rw o 0 0 7 RxPDO FSoE Map Element 7 UDINT 32 208 rw o 0 0 8 RxPDO FSoE Map Element 8 UDINT 32 240 rw o 0 0 9 RxPDO FSoE Map Element 9 UDINT 32 272 rw o 0 0 10 RxPDO FSoE Map Element 10 UDINT 32 304 rw o 0 0 11 RxPDO FSoE Map Element 11 UDINT 32 336 rw o 0 0 12 RxPDO FSoE Map Element 12 UDINT 32 368 rw o 0 0 13 RxPDO FSoE Map Element 13 UDINT 32 400 rw o 0 0 14 RxPDO FSoE Map Element 14 UDINT 32 432 rw o 0 0 15 RxPDO FSoE Map Element 15 UDINT 32 464 rw o 0 0 16 RxPDO FSoE Map Element 16 UDINT 32 496 rw o 0 0 17 RxPDO FSoE Map Element 17 UDINT 32 528 rw o 0 0 18 RxPDO FSoE Map Element 18 UDINT 32 560 rw o 0 0 19 RxPDO FSoE Map Element 19 UDINT 32 592 rw o 0 0 20 RxPDO FSoE Map Element 20 UDINT 32 624 rw o 0 0 21 RxPDO FSoE Map Element 21 UDINT 32 656 rw o 0 0 22 RxPDO FSoE Map Element 22 UDINT 32 688 rw o 0 0 23 RxPDO FSoE Map Element 23 UDINT 32 720 rw o 0 0 24 RxPDO FSoE Map Element 24 UDINT 32 752 rw o 0 0 25 RxPDO FSoE Map Element 25 UDINT 32 784 rw o 0 0 26 RxPDO FSoE Map Element 26 UDINT 32 816 rw o 0 0 27 RxPDO FSoE Map Element 27 UDINT 32 848 rw o 0 0 28 RxPDO FSoE Map Element 28 UDINT 32 880 rw o 0 0 29 RxPDO FSoE Map Element 29 UDINT 32 912 rw o 0 0 30 RxPDO FSoE Map Element 30 UDINT 32 944 rw o 0 0 31 RxPDO FSoE Map Element 31 UDINT 32 976 rw o 0 0 32 RxPDO FSoE Map Element 32 UDINT 32 1008 rw o 0 0 33 RxPDO FSoE Map Element 33 UDINT 32 1040 rw o 0 0 34 RxPDO FSoE Map Element 34 UDINT 32 1072 rw o 0 0 35 RxPDO FSoE Map Element 35 UDINT 32 1104 rw o 0 0 36 RxPDO FSoE Map Element 36 UDINT 32 1136 rw o 0 0 37 RxPDO FSoE Map Element 37 UDINT 32 1168 rw o 0 0 38 RxPDO FSoE Map Element 38 UDINT 32 1200 rw o 0 0 39 RxPDO FSoE Map Element 39 UDINT 32 1232 rw o 0 0 40 RxPDO FSoE Map Element 40 UDINT 32 1264 rw o 0 0 41 RxPDO FSoE Map Element 41 UDINT 32 1296 rw o 0 0 42 RxPDO FSoE Map Element 42 UDINT 32 1328 rw o 0 0 43 RxPDO FSoE Map Element 43 UDINT 32 1360 rw o 0 0 44 RxPDO FSoE Map Element 44 UDINT 32 1392 rw o 0 0 45 RxPDO FSoE Map Element 45 UDINT 32 1424 rw o 0 0 DT1B00 1456 0 SubIndex 000 USINT 8 0 rw o 0 0 1 TxPDO FSoE Map Element 1 UDINT 32 16 rw o 0 0 2 TxPDO FSoE Map Element 2 UDINT 32 48 rw o 0 0 3 TxPDO FSoE Map Element 3 UDINT 32 80 rw o 0 0 4 TxPDO FSoE Map Element 4 UDINT 32 112 rw o 0 0 5 TxPDO FSoE Map Element 5 UDINT 32 144 rw o 0 0 6 TxPDO FSoE Map Element 6 UDINT 32 176 rw o 0 0 7 TxPDO FSoE Map Element 7 UDINT 32 208 rw o 0 0 8 TxPDO FSoE Map Element 8 UDINT 32 240 rw o 0 0 9 TxPDO FSoE Map Element 9 UDINT 32 272 rw o 0 0 10 TxPDO FSoE Map Element 10 UDINT 32 304 rw o 0 0 11 TxPDO FSoE Map Element 11 UDINT 32 336 rw o 0 0 12 TxPDO FSoE Map Element 12 UDINT 32 368 rw o 0 0 13 TxPDO FSoE Map Element 13 UDINT 32 400 rw o 0 0 14 TxPDO FSoE Map Element 14 UDINT 32 432 rw o 0 0 15 TxPDO FSoE Map Element 15 UDINT 32 464 rw o 0 0 16 TxPDO FSoE Map Element 16 UDINT 32 496 rw o 0 0 17 TxPDO FSoE Map Element 17 UDINT 32 528 rw o 0 0 18 TxPDO FSoE Map Element 18 UDINT 32 560 rw o 0 0 19 TxPDO FSoE Map Element 19 UDINT 32 592 rw o 0 0 20 TxPDO FSoE Map Element 20 UDINT 32 624 rw o 0 0 21 TxPDO FSoE Map Element 21 UDINT 32 656 rw o 0 0 22 TxPDO FSoE Map Element 22 UDINT 32 688 rw o 0 0 23 TxPDO FSoE Map Element 23 UDINT 32 720 rw o 0 0 24 TxPDO FSoE Map Element 24 UDINT 32 752 rw o 0 0 25 TxPDO FSoE Map Element 25 UDINT 32 784 rw o 0 0 26 TxPDO FSoE Map Element 26 UDINT 32 816 rw o 0 0 27 TxPDO FSoE Map Element 27 UDINT 32 848 rw o 0 0 28 TxPDO FSoE Map Element 28 UDINT 32 880 rw o 0 0 29 TxPDO FSoE Map Element 29 UDINT 32 912 rw o 0 0 30 TxPDO FSoE Map Element 30 UDINT 32 944 rw o 0 0 31 TxPDO FSoE Map Element 31 UDINT 32 976 rw o 0 0 32 TxPDO FSoE Map Element 32 UDINT 32 1008 rw o 0 0 33 TxPDO FSoE Map Element 33 UDINT 32 1040 rw o 0 0 34 TxPDO FSoE Map Element 34 UDINT 32 1072 rw o 0 0 35 TxPDO FSoE Map Element 35 UDINT 32 1104 rw o 0 0 36 TxPDO FSoE Map Element 36 UDINT 32 1136 rw o 0 0 37 TxPDO FSoE Map Element 37 UDINT 32 1168 rw o 0 0 38 TxPDO FSoE Map Element 38 UDINT 32 1200 rw o 0 0 39 TxPDO FSoE Map Element 39 UDINT 32 1232 rw o 0 0 40 TxPDO FSoE Map Element 40 UDINT 32 1264 rw o 0 0 41 TxPDO FSoE Map Element 41 UDINT 32 1296 rw o 0 0 42 TxPDO FSoE Map Element 42 UDINT 32 1328 rw o 0 0 43 TxPDO FSoE Map Element 43 UDINT 32 1360 rw o 0 0 44 TxPDO FSoE Map Element 44 UDINT 32 1392 rw o 0 0 45 TxPDO FSoE Map Element 45 UDINT 32 1424 rw o 0 0 DT400FARR UDINT 64 1 2 DT400F 80 0 Last Error number of elements USINT 8 0 ro o 0 0 Elements DT400FARR 64 16 ro o DT464DARR UINT 32 1 2 DT464D 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT464DARR 32 16 ro o DT464EARR UINT 32 1 2 DT464E 48 0 Error List Index Request number of elements USINT 8 0 ro o 0 0 Elements DT464EARR 32 16 rw o DT464FARR UDINT 64 1 2 DT464F 80 0 Error List Requested Code number of elements USINT 8 0 ro o 0 0 Elements DT464FARR 64 16 ro o STRING(9) 72 DT46F0ARR REAL 64 1 2 DT46F0 80 0 Temperature number of elements USINT 8 0 ro o 0 0 Elements DT46F0ARR 64 16 ro o DT46FCARR UINT 32 1 2 DT46FC 48 0 Feedback ratio number of elements USINT 8 0 ro o 0 0 Elements DT46FCARR 32 16 rw o DT6650ARR BOOL 1 1 1 DT6650 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6650ARR 1 16 ro o rt DT6651ARR UINT 16 1 1 DT6651 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6651ARR 16 16 rw o DT6653ARR UDINT 32 1 1 DT6653 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6653ARR 32 16 rw o DT6654ARR UINT 16 1 1 DT6654 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6654ARR 16 16 rw o DT6656ARR UDINT 32 1 1 DT6656 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6656ARR 32 16 rw o DT6657ARR UINT 16 1 1 DT6657 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6657ARR 16 16 rw o DT6668ARR BOOL 1 1 1 DT6668 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6668ARR 1 16 ro o rt DT666AARR UDINT 32 1 1 DT666A 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT666AARR 32 16 rw o DT666CARR UDINT 32 1 1 DT666C 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT666CARR 32 16 rw o DT6670ARR BOOL 1 1 1 DT6670 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6670ARR 1 16 ro o rt DT6671ARR UINT 16 1 1 DT6671 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6671ARR 16 16 rw o DT6672ARR UINT 16 1 1 DT6672 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6672ARR 16 16 rw o DT6674ARR UDINT 32 1 1 DT6674 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6674ARR 32 16 rw o DT6675ARR UINT 16 1 1 DT6675 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6675ARR 16 16 rw o DT6677ARR UDINT 32 1 1 DT6677 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6677ARR 32 16 rw o DT6680ARR BOOL 8 1 8 DT6680 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6680ARR 8 16 ro o rt DT6683ARR DINT 256 1 8 DT6683 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6683ARR 256 16 rw o DT6685ARR DINT 256 1 8 DT6685 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6685ARR 256 16 rw o DT668AARR UDINT 256 1 8 DT668A 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT668AARR 256 16 rw o DT6690ARR BOOL 8 1 8 DT6690 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6690ARR 8 16 ro o rt DT6693ARR DINT 256 1 8 DT6693 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6693ARR 256 16 rw o DT6698ARR UDINT 256 1 8 DT6698 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6698ARR 256 16 rw o DT66A0ARR BOOL 8 1 8 DT66A0 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A0ARR 8 16 ro o rt DT66A2ARR DINT 256 1 8 DT66A2 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A2ARR 256 16 rw o DT66A4ARR DINT 256 1 8 DT66A4 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A4ARR 256 16 rw o DT66A5ARR UDINT 256 1 8 DT66A5 272 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66A5ARR 256 16 rw o DT66B8ARR BOOL 1 1 1 DT66B8 24 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66B8ARR 1 16 ro o rt DT66BAARR UDINT 32 1 1 DT66BA 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BAARR 32 16 rw o DT66BCARR UDINT 32 1 1 DT66BC 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BCARR 32 16 rw o DT66BDARR UDINT 32 1 1 DT66BD 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT66BDARR 32 16 rw o DT6760 168 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Slave Command USINT 8 16 ro o t 0 0 2 FSoE Slave Connection ID UINT 16 24 ro o t 0 0 3 FSoE Slave CRC_0 UINT 16 40 ro o t 0 0 4 FSoE Slave CRC_1 UINT 16 56 ro o t 0 0 5 FSoE Slave CRC_2 UINT 16 72 ro o t 0 0 6 FSoE Slave CRC_3 UINT 16 88 ro o t 0 0 7 FSoE Slave CRC_4 UINT 16 104 ro o t 0 0 8 FSoE Slave CRC_5 UINT 16 120 ro o t 0 0 9 FSoE Slave CRC_6 UINT 16 136 ro o t 0 0 10 FSoE Slave CRC_7 UINT 16 152 ro o t 0 0 DT6770 168 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Master Command USINT 8 16 ro o r 0 0 2 FSoE Master Connection ID UINT 16 24 ro o r 0 0 3 FSoE Master CRC_0 UINT 16 40 ro o r 0 0 4 FSoE Master CRC_1 UINT 16 56 ro o r 0 0 5 FSoE Master CRC_2 UINT 16 72 ro o r 0 0 6 FSoE Master CRC_3 UINT 16 88 ro o r 0 0 7 FSoE Master CRC_4 UINT 16 104 ro o r 0 0 8 FSoE Master CRC_5 UINT 16 120 ro o r 0 0 9 FSoE Master CRC_6 UINT 16 136 ro o r 0 0 10 FSoE Master CRC_7 UINT 16 152 ro o r 0 0 STRING(2) 16 DT6791 160 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Version STRING(2) 16 16 ro o 0 0 2 Safety Address UINT 16 32 ro o 0 0 3 Connection ID UINT 16 48 ro o 0 0 4 Watchdog Time UINT 16 64 ro o 0 0 6 Connection Type UINT 16 80 ro o 0 0 7 Communication Parameter Length UINT 16 96 ro o 0 0 8 Application Parameter Length UINT 16 112 ro o 0 0 9 SRA CRC UDINT 32 128 ro o 0 0 DTF980 32 0 SubIndex 000 USINT 8 0 ro o 0 0 1 FSoE Address UINT 16 16 ro o 0 0 #x1700 RxPDO FSoE Map 1 DT1700 1456 SubIndex 000 06 RxPDO FSoE Map Element 1 08017067 RxPDO FSoE Map Element 2 01004066 RxPDO FSoE Map Element 3 01015066 RxPDO FSoE Map Element 4 0e000000 RxPDO FSoE Map Element 5 10037067 RxPDO FSoE Map Element 6 10027067 RxPDO FSoE Map Element 7 00000000 RxPDO FSoE Map Element 8 00000000 RxPDO FSoE Map Element 9 00000000 RxPDO FSoE Map Element 10 00000000 RxPDO FSoE Map Element 11 00000000 RxPDO FSoE Map Element 12 00000000 RxPDO FSoE Map Element 13 00000000 RxPDO FSoE Map Element 14 00000000 RxPDO FSoE Map Element 15 00000000 RxPDO FSoE Map Element 16 00000000 RxPDO FSoE Map Element 17 00000000 RxPDO FSoE Map Element 18 00000000 RxPDO FSoE Map Element 19 00000000 RxPDO FSoE Map Element 20 00000000 RxPDO FSoE Map Element 21 00000000 RxPDO FSoE Map Element 22 00000000 RxPDO FSoE Map Element 23 00000000 RxPDO FSoE Map Element 24 00000000 RxPDO FSoE Map Element 25 00000000 RxPDO FSoE Map Element 26 00000000 RxPDO FSoE Map Element 27 00000000 RxPDO FSoE Map Element 28 00000000 RxPDO FSoE Map Element 29 00000000 RxPDO FSoE Map Element 30 00000000 RxPDO FSoE Map Element 31 00000000 RxPDO FSoE Map Element 32 00000000 RxPDO FSoE Map Element 33 00000000 RxPDO FSoE Map Element 34 00000000 RxPDO FSoE Map Element 35 00000000 RxPDO FSoE Map Element 36 00000000 RxPDO FSoE Map Element 37 00000000 RxPDO FSoE Map Element 38 00000000 RxPDO FSoE Map Element 39 00000000 RxPDO FSoE Map Element 40 00000000 RxPDO FSoE Map Element 41 00000000 RxPDO FSoE Map Element 42 00000000 RxPDO FSoE Map Element 43 00000000 RxPDO FSoE Map Element 44 00000000 RxPDO FSoE Map Element 45 00000000 #x1b00 TxPDO FSoE Map 1 DT1B00 1456 SubIndex 000 08 TxPDO FSoE Map Element 1 08016067 TxPDO FSoE Map Element 2 01004066 TxPDO FSoE Map Element 3 01015066 TxPDO FSoE Map Element 4 06000000 TxPDO FSoE Map Element 5 0100d146 TxPDO FSoE Map Element 6 07000000 TxPDO FSoE Map Element 7 10036067 TxPDO FSoE Map Element 8 10026067 TxPDO FSoE Map Element 9 00000000 TxPDO FSoE Map Element 10 00000000 TxPDO FSoE Map Element 11 00000000 TxPDO FSoE Map Element 12 00000000 TxPDO FSoE Map Element 13 00000000 TxPDO FSoE Map Element 14 00000000 TxPDO FSoE Map Element 15 00000000 TxPDO FSoE Map Element 16 00000000 TxPDO FSoE Map Element 17 00000000 TxPDO FSoE Map Element 18 00000000 TxPDO FSoE Map Element 19 00000000 TxPDO FSoE Map Element 20 00000000 TxPDO FSoE Map Element 21 00000000 TxPDO FSoE Map Element 22 00000000 TxPDO FSoE Map Element 23 00000000 TxPDO FSoE Map Element 24 00000000 TxPDO FSoE Map Element 25 00000000 TxPDO FSoE Map Element 26 00000000 TxPDO FSoE Map Element 27 00000000 TxPDO FSoE Map Element 28 00000000 TxPDO FSoE Map Element 29 00000000 TxPDO FSoE Map Element 30 00000000 TxPDO FSoE Map Element 31 00000000 TxPDO FSoE Map Element 32 00000000 TxPDO FSoE Map Element 33 00000000 TxPDO FSoE Map Element 34 00000000 TxPDO FSoE Map Element 35 00000000 TxPDO FSoE Map Element 36 00000000 TxPDO FSoE Map Element 37 00000000 TxPDO FSoE Map Element 38 00000000 TxPDO FSoE Map Element 39 00000000 TxPDO FSoE Map Element 40 00000000 TxPDO FSoE Map Element 41 00000000 TxPDO FSoE Map Element 42 00000000 TxPDO FSoE Map Element 43 00000000 TxPDO FSoE Map Element 44 00000000 TxPDO FSoE Map Element 45 00000000 #x400f Last Error DT400F 80 SubIndex 000 02 Last Error number of elements SubIndex 001 00000000 MCUA Last Error SubIndex 002 00000000 MCUB Last Error #x4193 Safety Address UINT 16 2000 rw o 0 0 #x4400 Safety Project CRC UDINT 32 00000000 rw o 0 0 #x464d Error Total Number DT464D 48 SubIndex 000 02 SubIndex 000 SubIndex 001 0000 MCUA Error Total Number SubIndex 002 0000 MCUB Error Total Number #x464e Error List Index Request DT464E 48 SubIndex 000 02 Error List Index Request number of elements SubIndex 001 0000 MCUA Error List Index Request SubIndex 002 0000 MCUB Error List Index Request #x464f Error List Requested Code DT464F 80 SubIndex 000 02 Error List Requested Code number of elements SubIndex 001 00000000 MCUA Error List Requested Code SubIndex 002 00000000 MCUB Error List Requested Code #x46d1 Safe Inputs Value BOOL 1 00 ro o t 0 0 #x46d2 Safe Inputs Map UINT 16 0000 rw o 0 0 #x46db Store Subnode UDINT 32 01000000 rw o 0 0 #x46dd Restore Subnode UDINT 32 01000000 rw o 0 0 #x46e1 Product code UDINT 32 00000000 ro o 0 0 #x46e3 Bootloader version STRING(9) 72 302e362e302e303030 ro o 0 0 #x46e4 Software version STRING(9) 72 322e302e302e303030 ro o 0 0 #x46e6 Serial number UDINT 32 00000000 ro o 0 0 #x46ef User Over Temperature REAL 32 0000aa42 rw o 0 0 #x46f0 Safety core temperature DT46F0 80 SubIndex 000 02 Temperature number of elements SubIndex 001 MCU A Temperature SubIndex 002 MCU B Temperature #x46f1 Safe Homing BOOL 1 00 ro o rt 0 0 #x46f2 Safe Homing Reference DINT 32 00000000 rw o 0 0 #x46fa Feedback scenario UINT 16 0000 rw o 0 0 #x46fb Position tolerance REAL 32 0000a040 rw o 0 0 #x46fc Redundant to main feedback ratio DT46FC 48 SubIndex 000 02 Feedback ratio number of elements SubIndex 001 0100 Redundant feedback turns SubIndex 002 0100 Main feedback turns #x4701 Safety core primary absolute slave 1 - Frame size UINT 16 1800 rw o 0 0 #x4702 Safety core primary absolute slave 1 - Polarity UINT 16 0000 rw o 0 0 #x4704 Safety core primary absolute slave 1 - Position bits UINT 16 1600 rw o 0 0 #x4705 Safety core primary absolute slave 1 - Single-turn bits UINT 16 1600 rw o 0 0 #x4707 Safety core primary absolute slave 1 - Baudrate UDINT 32 e8030000 rw o 0 0 #x4708 Safety core primary absolute slave 1 - Timeout UDINT 32 e8030000 rw o 0 0 #x4709 Safety core primary absolute slave 1 - Position DINT 32 00000000 ro o 0 0 #x470a Safety core primary absolute slave 1 - Status UINT 16 0000 ro o 0 0 #x470c Safety core secondary absolute slave 1 - Frame size UINT 16 1800 rw o 0 0 #x470d Safety core secondary absolute slave 1 - Polarity UINT 16 0000 rw o 0 0 #x470f Safety core secondary absolute slave 1 - Position bits UINT 16 1600 rw o 0 0 #x4710 Safety core secondary absolute slave 1 - Single-turn bits UINT 16 1600 rw o 0 0 #x4712 Safety core secondary absolute slave 1 - Baudrate UDINT 32 e8030000 rw o 0 0 #x4713 Safety core secondary absolute slave 1 - Timeout UDINT 32 e8030000 rw o 0 0 #x4714 Safety core secondary absolute slave 1 - Position DINT 32 00000000 ro o 0 0 #x4715 Safety core secondary absolute slave 1 - Status UINT 16 0000 ro o 0 0 #x4720 Safety core incremental encoder 1 - Value DINT 32 00000000 ro o 0 0 #x4721 Safety core incremental encoder 1 - Status UINT 16 0000 ro o 0 0 #x4722 Safety core incremental encoder 1 - Resolution UDINT 32 a00f0000 rw o 0 0 #x4723 Safety core incremental encoder 1 - Polarity UINT 16 0000 rw o 0 0 #x4730 Safety core digital hall feedback - Position DINT 32 00000000 ro o 0 0 #x4731 Safety core digital hall feedback - Status UINT 16 0000 ro o 0 0 #x4732 Safety core digital hall feedback - Pole pairs UINT 16 0100 rw o 0 0 #x4733 Safety core digital hall feedback - Polarity UINT 16 0000 rw o 0 0 #x6600 Time Unit UDINT 32 000003fd ro o 0 0 #x6601 Position Unit UDINT 32 0000b500 ro o 0 0 #x6602 Velocity unit UDINT 32 0003b4fd ro o 0 0 #x6611 Safe Position Actual Value DINT 32 00000000 ro o t 0 0 #x6613 Safe Velocity Actual Value DINT 32 00000000 ro o t 0 0 #x6640 STO Command BOOL 1 01 ro o rt 0 0 #x6650 SS1 Command DT6650 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SS1 Command #x6651 SS1 Time to STO DT6651 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time to STO #x6653 SS1 Velocity zero window DT6653 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS1 Velocity zero window #x6654 SS1 Time for velocity zero DT6654 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time for velocity zero #x6656 SS1 Deceleration limit DT6656 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS1 Deceleration limit #x6657 SS1 Time delay deceleration monitoring DT6657 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS1 Time delay for deceleration monitoring #x6668 SOS Command DT6668 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SOS Command #x666a SOS Position zero window DT666A 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SOS Position zero window #x666c SOS Velocity zero window DT666C 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SOS Velocity zero window #x6670 SS2 Command DT6670 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SS2 Command #x6671 SS2 Time to SOS DT6671 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time to SOS #x6672 SS2 Time for velocity zero DT6672 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time for velocity zero #x6674 SS2 Deceleration limit DT6674 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SS2 Deceleration limit #x6675 SS2 Time delay for deceleration monitoring DT6675 32 SubIndex 000 01 SubIndex 000 SubIndex 001 0000 SS2 Time delay for deceleration monitoring #x6677 SS2 Error reaction DT6677 48 SubIndex 000 01 SubIndex 000 SubIndex 001 01004066 SS2 Error reaction #x6680 SSR Command DT6680 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SSR-1 Command SubIndex 002 01 SSR-2 Command SubIndex 003 01 SSR-3 Command SubIndex 004 01 SSR-4 Command SubIndex 005 01 SSR-5 Command SubIndex 006 01 SSR-6 Command SubIndex 007 01 SSR-7 Command SubIndex 008 01 SSR-8 Command #x6683 SSR Velocity Upper Limit DT6683 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SSR-1 Velocity Upper Limit SubIndex 002 00000000 SSR-2 Velocity Upper Limit SubIndex 003 00000000 SSR-3 Velocity Upper Limit SubIndex 004 00000000 SSR-4 Velocity Upper Limit SubIndex 005 00000000 SSR-5 Velocity Upper Limit SubIndex 006 00000000 SSR-6 Velocity Upper Limit SubIndex 007 00000000 SSR-7 Velocity Upper Limit SubIndex 008 00000000 SSR-8 Velocity Upper Limit #x6685 SSR Velocity Lower Limit DT6685 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SSR-1 Velocity Lower Limit SubIndex 002 00000000 SSR-2 Velocity Lower Limit SubIndex 003 00000000 SSR-3 Velocity Lower Limit SubIndex 004 00000000 SSR-4 Velocity Lower Limit SubIndex 005 00000000 SSR-5 Velocity Lower Limit SubIndex 006 00000000 SSR-6 Velocity Lower Limit SubIndex 007 00000000 SSR-7 Velocity Lower Limit SubIndex 008 00000000 SSR-8 Velocity Lower Limit #x668a SSR Error Reaction DT668A 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SSR-1 Error Reaction SubIndex 002 01004066 SSR-2 Error Reaction SubIndex 003 01004066 SSR-3 Error Reaction SubIndex 004 01004066 SSR-4 Error Reaction SubIndex 005 01004066 SSR-5 Error Reaction SubIndex 006 01004066 SSR-6 Error Reaction SubIndex 007 01004066 SSR-7 Error Reaction SubIndex 008 01004066 SSR-8 Error Reaction #x6690 SLS Command DT6690 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SLS-1 Command SubIndex 002 01 SLS-2 Command SubIndex 003 01 SLS-3 Command SubIndex 004 01 SLS-4 Command SubIndex 005 01 SLS-5 Command SubIndex 006 01 SLS-6 Command SubIndex 007 01 SLS-7 Command SubIndex 008 01 SLS-8 Command #x6693 SLS Velocity Limit DT6693 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLS-1 Velocity Limit SubIndex 002 00000000 SLS-2 Velocity Limit SubIndex 003 00000000 SLS-3 Velocity Limit SubIndex 004 00000000 SLS-4 Velocity Limit SubIndex 005 00000000 SLS-5 Velocity Limit SubIndex 006 00000000 SLS-6 Velocity Limit SubIndex 007 00000000 SLS-7 Velocity Limit SubIndex 008 00000000 SLS-8 Velocity Limit #x6698 SLS Error Reaction DT6698 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SLS-1 Error Reaction SubIndex 002 01004066 SLS-2 Error Reaction SubIndex 003 01004066 SLS-3 Error Reaction SubIndex 004 01004066 SLS-4 Error Reaction SubIndex 005 01004066 SLS-5 Error Reaction SubIndex 006 01004066 SLS-6 Error Reaction SubIndex 007 01004066 SLS-7 Error Reaction SubIndex 008 01004066 SLS-8 Error Reaction #x66a0 SLP Command DT66A0 24 SubIndex 000 08 SubIndex 000 SubIndex 001 01 SLP 1 Command SubIndex 002 01 SLP 2 Command SubIndex 003 01 SLP 3 Command SubIndex 004 01 SLP 4 Command SubIndex 005 01 SLP 5 Command SubIndex 006 01 SLP 6 Command SubIndex 007 01 SLP 7 Command SubIndex 008 01 SLP 8 Command #x66a2 SLP Position Upper Limit DT66A2 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLP 1 Position Upper Limit SubIndex 002 00000000 SLP 2 Position Upper Limit SubIndex 003 00000000 SLP 3 Position Upper Limit SubIndex 004 00000000 SLP 4 Position Upper Limit SubIndex 005 00000000 SLP 5 Position Upper Limit SubIndex 006 00000000 SLP 6 Position Upper Limit SubIndex 007 00000000 SLP 7 Position Upper Limit SubIndex 008 00000000 SLP 8 Position Upper Limit #x66a4 SLP Position Lower Limit DT66A4 272 SubIndex 000 08 SubIndex 000 SubIndex 001 00000000 SLP 1 Position Lower Limit SubIndex 002 00000000 SLP 2 Position Lower Limit SubIndex 003 00000000 SLP 3 Position Lower Limit SubIndex 004 00000000 SLP 4 Position Lower Limit SubIndex 005 00000000 SLP 5 Position Lower Limit SubIndex 006 00000000 SLP 6 Position Lower Limit SubIndex 007 00000000 SLP 7 Position Lower Limit SubIndex 008 00000000 SLP 8 Position Lower Limit #x66a5 SLP Error Reaction DT66A5 272 SubIndex 000 08 SubIndex 000 SubIndex 001 01004066 SLP 1 Error Reaction SubIndex 002 01004066 SLP 2 Error Reaction SubIndex 003 01004066 SLP 3 Error Reaction SubIndex 004 01004066 SLP 4 Error Reaction SubIndex 005 01004066 SLP 5 Error Reaction SubIndex 006 01004066 SLP 6 Error Reaction SubIndex 007 01004066 SLP 7 Error Reaction SubIndex 008 01004066 SLP 8 Error Reaction #x66b8 SLI Command DT66B8 24 SubIndex 000 01 SubIndex 000 SubIndex 001 01 SLI Command #x66ba SLI Position Relative Upper Limit DT66BA 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SLI Position Relative Upper Limit #x66bc SLI Position Relative Lower Limit DT66BC 48 SubIndex 000 01 SubIndex 000 SubIndex 001 00000000 SLI Position Relative Lower Limit #x66bd SLI Error Reaction DT66BD 48 SubIndex 000 01 SubIndex 000 SubIndex 001 01004066 SLI Error Reaction #x66d0 SDI positive direction command BOOL 1 01 ro o rt 0 0 #x66d1 SDI negative direction command BOOL 1 01 ro o rt 0 0 #x66d3 SDI Position zero window UDINT 32 00000000 rw o 0 0 #x6760 FSoE Slave Frame Elements DT6760 168 SubIndex 000 0a FSoE Slave Command 2a FSoE Slave Connection ID 0000 FSoE Slave CRC_0 0000 FSoE Slave CRC_1 0000 FSoE Slave CRC_2 0000 FSoE Slave CRC_3 0000 FSoE Slave CRC_4 0000 FSoE Slave CRC_5 0000 FSoE Slave CRC_6 0000 FSoE Slave CRC_7 0000 #x6770 FSoE Master Frame Elements DT6770 168 SubIndex 000 0a FSoE Master Command 2a FSoE Master Connection ID 0000 FSoE Master CRC_0 0000 FSoE Master CRC_1 0000 FSoE Master CRC_2 0000 FSoE Master CRC_3 0000 FSoE Master CRC_4 0000 FSoE Master CRC_5 0000 FSoE Master CRC_6 0000 FSoE Master CRC_7 0000 #x6791 FSoE Communication Parameter DT6791 160 SubIndex 000 09 Version 3031 Safety Address 2000 Connection ID 0000 Watchdog Time 3200 Connection Type 0100 Communication Parameter Length 0200 Application Parameter Length 0200 SRA CRC 00000000 #xf980 Device FSoE Slave Address DTF980 32 SubIndex 000 01 FSoE Address 2000