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 (see "PL.FB")
6065h	0	U32	1:1	RW	no	Following error window	PL. ERRFTHRESH (see "PL.ERRFTHRESH")
606Bh	0	INT32	1:1	RO	no	Velocity demand value	VL.CMD (see "VL.CMD")
606Ch	0	INT32	1000:1	RO	yes	Velocity actual value (PDO in RPM)	VL.FB (see "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 (see "DRV.ICONT")
607Ah	0	INT32	1:1	RW	yes	Target position	MT.P (see "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 (see "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 (see "SWLS.LIMIT0")
607Dh	2	INT32	1:1	RW	no	Software position limit 2	SWLS.LIMIT1 (see "SWLS.LIMIT1")
6081h	0	U32	1:1	RW	yes	Profile Velocity	MT.V (see "MT.V")
6083h	0	U32	1:1	RW	yes	Profile Acceleration	MT.ACC (see "MT.ACC"), DRV.ACC (see "DRV.ACC")
6084h	0	U32	1:1	RW	yes	Profile Deceleration	MT.DEC (see "MT.DEC"), DRV.DEC (see "DRV.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 (see "UNIT.PIN")
6092h	2	U32		RW	no	Shaft revolutions	—
6098h	0	INT8		RW	no	Homing type	HOME.MODE (see "HOME.MODE"), HOME.DIR (see "HOME.DIR")
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 (see "HOME.V")
6099h	2	U32		RW	no	Speed while searching for zero mark	HOME. FEEDRATE (see "HOME.FEEDRATE")
609Ah	0	U32	1:1	RW	no	Homing acceleration	HOME.ACC (see "HOME.ACC"), HOME.DEC (see "HOME.DEC")
60B1h	0	INT32	1:1	RW	yes*	Velocity offset	VL.BUSFF (see "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 (see "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 (see "IL.LIMITP")
60E1h	0	UINT16		RO	yes*	Negative torque limit value	IL.LIMITN (see "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 (see "FB1.P")
60E4h	2	INT32		RO	no	2nd additional position actual value	FB2.P (see "FB2.P")
60E4h	3	INT32		RO	no	3rd additional position actual value	FB3.P (see "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(see "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(see "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 (see "DS402.1ADDPOSFCSHAFTREV")
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 (see "DS402.3ADDPOSFCSHAFTREV")
60F4h	0	INT32		RO	yes	Following error actual value	PL.ERR (see "PL.ERR")
60FCh	0	INT32		RO	yes	Position demand internal value	PL.CMD (see "PL.CMD")
60FDh	0	U32		RO	yes	Digital inputs	DIN1.MODE TO DIN6.MODE (see "DIN1.MODE TO DIN7.MODE")
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 (see "VL.CMDU")
6502h	0	U32		RO	no	Supported drive modes	—

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 (see "PL.FB")

6065h

0

U32

1:1

RW

no

Following error window

PL.
ERRFTHRESH (see "PL.ERRFTHRESH")

606Bh

0

INT32

1:1

RO

no

Velocity demand value

VL.CMD (see "VL.CMD")

606Ch

0

INT32

1000:1

RO

yes

Velocity actual value (PDO in RPM)

VL.FB (see "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 (see "DRV.ICONT")

607Ah

0

INT32

1:1

RW

yes

Target position

MT.P (see "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 (see "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 (see "SWLS.LIMIT0")

607Dh

2

INT32

1:1

RW

no

Software position limit 2

SWLS.LIMIT1 (see "SWLS.LIMIT1")

6081h

0

U32

1:1

RW

yes

Profile Velocity

MT.V (see "MT.V")

6083h

0

U32

1:1

RW

yes

Profile Acceleration

MT.ACC (see "MT.ACC"), DRV.ACC (see "DRV.ACC")

6084h

0

U32

1:1

RW

yes

Profile Deceleration

MT.DEC (see "MT.DEC"), DRV.DEC (see "DRV.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 (see "UNIT.PIN")

6092h

2

U32

RW

no

Shaft revolutions

—

6098h

0

INT8

RW

no

Homing type

HOME.MODE (see "HOME.MODE"), HOME.DIR (see "HOME.DIR")

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 (see "HOME.V")

6099h

2

U32

RW

no

Speed while searching for zero mark

HOME.
FEEDRATE (see "HOME.FEEDRATE")

609Ah

0

U32

1:1

RW

no

Homing acceleration

HOME.ACC (see "HOME.ACC"), HOME.DEC (see "HOME.DEC")

60B1h

0

INT32

1:1

RW

yes*

Velocity offset

VL.BUSFF (see "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 (see "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 (see "IL.LIMITP")

60E1h

0

UINT16

RO

yes*

Negative torque limit value

IL.LIMITN (see "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 (see "FB1.P")

60E4h

2

INT32

RO

no

2nd additional position actual value

FB2.P (see "FB2.P")

60E4h

3

INT32

RO

no

3rd additional position actual value

FB3.P (see "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(see "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(see "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 (see "DS402.1ADDPOSFCSHAFTREV")

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 (see "DS402.3ADDPOSFCSHAFTREV")

60F4h

0

INT32

RO

yes

Following error actual value

PL.ERR (see "PL.ERR")

60FCh

0

INT32

RO

yes

Position demand internal value

PL.CMD (see "PL.CMD")

60FDh

0

U32

RO

yes

Digital inputs

DIN1.MODE TO DIN6.MODE (see "DIN1.MODE TO DIN7.MODE")

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 (see "VL.CMDU")

6502h

0

U32

RO

no

Supported drive modes

—