Profile Specific SDOs
Index | SubIndex | Data Type | Float Scale | Access | PDO map. | Description | ASCII object |
---|---|---|---|---|---|---|---|
6040h | 0 | U16 | WO | yes | Control word | — | |
6041h | 0 | U16 | RO | yes | Status word | — | |
605Ah | 0 | INT16 | RW | no | Quick stop option code | — | |
6060h | 0 | INT8 | RW | yes | Modes of operation | — | |
6061h | 0 | INT8 | RO | yes | Modes of operation display | — | |
6063h | 0 | INT32 | RO | yes | Position actual value (increments) | — | |
6064h | 0 | INT32 | 1:1 | RO | yes | Position actual value (position units) |
PL.FB
|
6065h | 0 | U32 | 1:1 | RW | no | Following error window |
PL. ERRFTHRESH |
606Bh | 0 | INT32 | 1:1 | RO | no | Velocity demand value |
VL.CMD
|
606Ch | 0 | INT32 | 1000:1 | RO | yes | Velocity actual value (PDO in RPM) |
VL.FB
|
606Dh | 0 | U16 | RW | yes | Velocity window | ||
606Eh | 0 | U16 | RW | yes | Velocity window time | ||
6071h | 0 | INT16 | RW | yes* | Target torque | — | |
6072h | 0 | U16 | RW | yes* | Max torque | — | |
6073h | 0 | U16 | RW | no | Max current | ||
6077h | 0 | INT16 | RO | yes | Torque actual value |
DRV.ICONT
|
|
607Ah | 0 | INT32 | 1:1 | RW | yes | Target position |
MT.P
|
607Bh | 0 | INT32 | R/W | no | Position range limit |
PL.MODP1 PL.MODP1 PL.MODP2 PL.MODP2 |
|
607Ch | 0 | INT32 | 1:1 | RW | no | Reference offset |
HOME.P
|
607Dh | Array | Software position limit | |||||
607Dh | 0 | U8 | RO | no | highest sub-index | ||
607Dh | 1 | INT32 | 1:1 | RW | no | Software position limit 1 |
SWLS.LIMIT0
|
607Dh | 2 | INT32 | 1:1 | RW | no | Software position limit 2 |
SWLS.LIMIT1
|
6081h | 0 | U32 | 1:1 | RW | yes | Profile Velocity |
MT.V
|
6083h | 0 | U32 | 1:1 | RW | yes | Profile Acceleration |
MT.ACC
|
6084h | 0 | U32 | 1:1 | RW | yes | Profile Deceleration |
MT.DEC
|
6087h | 0 | U32 | RW | yes | Torque slope | — | |
608Fh | Array | Position encoder resolution | — | ||||
608Fh | 0 | U8 | RO | no | highest sub-index | — | |
608Fh | 1 | U32 | RW | no | Encoder increments | — | |
608Fh | 2 | U32 | RW | no | Motor revolutions | ||
6091h | Array | Gear ratio | — | ||||
6091h | 0 | U8 | RO | no | highest sub-index | — | |
6091h | 1 | U32 | RW | no | Motor revolution | ||
6091h | 2 | U32 | RW | no | Shaft revolutions | ||
6092h | Array | Feed constant | — | ||||
6092h | 0 | U8 | RO | no | highest sub-index | — | |
6092h | 1 | U32 | RW | no | Feed |
UNIT.PIN
|
|
6092h | 2 | U32 | RW | no | Shaft revolutions | — | |
6098h | 0 | INT8 | RW | no | Homing type |
HOME.MODE
|
|
6099h | Array | Homing velocity | — | ||||
6099h | 0 | U8 | RO | no | highest sub-index | — | |
6099h | 1 | U32 | 1:1 | RW | no | Speed while searching for limit switch |
HOME.V
|
6099h | 2 | U32 | RW | no | Speed while searching for zero mark |
HOME. FEEDRATE |
|
609Ah | 0 | U32 | 1:1 | RW | no | Homing acceleration |
HOME.ACC
|
60B1h | 0 | INT32 | 1:1 | RW | yes* | Velocity offset |
VL.BUSFF
|
60B2h | 0 | INT16 | RW | yes* | Torque offset (PDO only) | ||
60B8h | 0 | U16 | RW | yes | Touch probe function | — | |
60B9h | 0 | U16 | RW | yes | Touch probe status | — | |
60BAh | 0 | INT32 | RW | yes | Touch probe 1 positive edge | — | |
60BBh | 0 | INT32 | RW | yes | Touch probe 1 negative edge | — | |
60BCh | 0 | INT32 | RW | yes | Touch probe 2 positive edge | — | |
60BDh | 0 | INT32 | RW | yes | Touch probe 2 negative edge | — | |
60C0h | 0 | INT16 | RW | no | Interpolation submode select | — | |
60C1h | Array | Interpolation data record | — | ||||
60C1h | 0 | U8 | RO | no | highest sub-index | — | |
60C1h | 1 | INT32 | RW | yes* | Interpolation target position | — | |
60C1h | 2 | U32 | RW | yes | Interpolation time | — | |
60C1h | 3 | INT32 | RW | yes | Interpolation target velocity | — | |
60C2h | Record | Interpolation time period | — | ||||
60C2h | 0 | U8 | RO | no | highest sub-index |
FBUS. SAMPLEPERIOD |
|
60C2h | 1 | U8 | RW | no | Interpolation time units | — | |
60C2h | 2 | INT8 | RW | no | Interpolation time index | — | |
60C4h | Record | Interpolation data configuration | — | ||||
60C4h | 0 | U8 | RO | no | highest sub-index | — | |
60C4h | 1 | U32 | RO | no | Maximum buffer size | — | |
60C4h | 2 | U32 | RO | yes | Actual buffer size | — | |
60C4h | 3 | U8 | RW | no | Buffer organization | — | |
60C4h | 4 | U16 | RW | no | Buffer position | — | |
60C4h | 5 | U8 | WO | no | Siza of data record | — | |
60C4h | 6 | U8 | WO | no | Buffer clear | — | |
60D0h | Array | Touch probe source | — | ||||
60D0h | 0 | U8 | RO | no | highest sub-index | - | |
60D0h | 1 | INT16 | RW | no | Touch probe 1 source | — | |
60D0h | 2 | INT16 | RW | no | Touch probe 2 source | — | |
60E0h | 0 | UINT16 | RO | yes* | Positive torque limit value |
IL.LIMITP |
|
60E1h | 0 | UINT16 | RO | yes* | Negative torque limit value |
IL.LIMITN |
|
60E4h | Array | Additional position actual value | — | ||||
60E4h | 0 | U8 | RO | no | highest sub-index | — | |
60E4h | 1 | INT32 | RO | no | 1st additional position actual value |
FB1.P |
|
60E4h | 2 | INT32 | RO | no | 2nd additional position actual value |
FB2.P |
|
60E4h | 3 | INT32 | RO | no | 3rd additional position actual value |
FB3.P |
|
60E8h | Array | Additional gear ratio - motor shaft revolutions | — | ||||
60E8h | 0 | U8 | RO | no | highest sub-index | — | |
60E8h | 1 | U32 | RW | no | 1st additional gear ratio - motor shaft revolutions | DS402.1ADDPOSGEARMOTORREV | |
60E8h | 2 | U32 | RW | no | 2nd additional gear ratio - motor shaft revolutions | DS402.2ADDPOSGEARMOTORREV | |
60E8h | 3 | U32 | RW | no | 3rd additional gear ratio - motor shaft revolutions | DS402.3ADDPOSGEARMOTORREV | |
60E9h | Array | Additional feed constant - feed | — | ||||
60E9h | 0 | U8 | RO | no | highest sub-index | — | |
60E9h | 1 | U32 | RW | no | 1st additional feed constant - feed |
DS402. 1ADDPOSFCFEED |
|
60E9h | 2 | U32 | RW | no | 2nd additional gear ratio - motor shaft revolutions | DS402.2ADDPOSFCFEED | |
60E9h | 3 | U32 | RW | no | 3rd additional feed constant - feed |
DS402. 3ADDPOSFCFEED |
|
60EDh | Array | Additional gear ratio - driving shaft revolutions | — | ||||
60EDh | 0 | U8 | RO | no | highest sub-index | — | |
60EDh | 1 | U32 | RW | no | 1st additional gear ratio - driving shaft revolutions | DS402.1ADDPOSGEARSHAFTREV | |
60EDh | 2 | U32 | RW | no | 2nd additional gear ratio - driving shaft revolutions | DS402.2ADDPOSGEARSHAFTREV | |
60EDh | 3 | U32 | RW | no | 3rd additional gear ratio - driving shaft revolutions | DS402.3ADDPOSGEARSHAFTREV | |
60EEh | Array | Additional feed constant - driving shaft revolutions | — | ||||
60EEh | 0 | U8 | RO | no | highest sub-index | — | |
60EEh | 1 | U32 | RW | no | 1st additional feed constant - driving shaft revolutions |
DS402. 1ADDPOSFCFSHAFTREV |
|
60EEh | 2 | U32 | RW | no | 2nd additional feed constant - driving shaft revolutions |
DS402. 2ADDPOSFCFSHAFTREV |
|
60EEh | 3 | U32 | RW | no | 3rd additional feed constant - driving shaft revolutions |
DS402. 3ADDPOSFCFSHAFTREV |
|
60F4h | 0 | INT32 | RO | yes | Following error actual value |
PL.ERR
|
|
60FCh | 0 | INT32 | RO | yes | Position demand internal value |
PL.CMD |
|
60FDh | 0 | U32 | RO | yes | Digital inputs |
|
|
60FEh | Array | Digital outputs | |||||
60FEh | 0 | U8 | RO | no | highest sub-index | ||
60FEh | 1 | U32 | RW | yes | Physical outputs | ||
60FEh | 2 | U32 | RW | no | Bit mask | ||
60FFh | 0 | INT32 | 1000:1 | RW | yes* | Target velocity |
VL.CMDU
|
6502h | 0 | U32 | RO | no | Supported drive modes | — |