Manufacturer specific SDOs

2000h

ARRAY

System Warnings

2000h

0

U8

RO

no

highest sub-index

2000h

1

U32

RO

no

System Warning 1

2000h

2

U32

RO

no

System Warning 2

2000h

3

U32

RO

no

System Warning 3

2001h

ARRAY

System Faults

2001h

0

U8

RO

no

highest sub-index

2001h

1

U32

RO

no

System Fault 1

2001h

2

U32

RO

no

System Fault 2

2001h

3

U32

RO

no

System Fault 3

2001h

4

U32

RO

no

System Fault 4

2001h

5

U32

RO

no

System Fault 5

2001h

6

U32

RO

no

System Fault 6

2001h

7

U32

RO

no

System Fault 7

2001h

8

U32

RO

no

System Fault 8

2001h

9

U32

RO

no

System Fault 9

2001h

A

U32

RO

no

System Fault 10

2002h

ARRAY

Manufacturer status bytes

2002h

0

U8

RO

no

highest sub-index

2002h

1

U8

RO

yes

Manufacturer status bytes 1

2002h

2

U8

RO

yes

Manufacturer status bytes 2

2002h

3

U8

RO

yes

Manufacturer status bytes 3

2002h

4

U8

RO

yes

Manufacturer status bytes 4

2011h

VAR

RO

DRV.RUNTIME in seconds

2012h

ARRAY

Fault history: Fault numbers

2012h

0

U8

RO

no

highest sub-index

2012h

1 to 20

U32

RO

no

Nth-latest entry in fault number list of fault history table

2013h

ARRAY

Fault history: Time stamps

2013h

0

U8

RO

no

highest sub-index

2013h

1 to 20

U32

RO

no

Nth-latest entry in fault time stamp list of fault history table

2014h

ARRAY

Mask TxPDO Channel 1

2014h

1

U32

RW

no

Mask (Byte 0..3)

2014h

2

U32

RW

no

Mask (Byte 4..7)

2015h

ARRAY

Mask TxPDO Channel 2

2015h

1

U32

RW

no

Mask (Byte 0..3)

2015h

2

U32

RW

no

Mask (Byte 4..7)

2016h

ARRAY

Mask TxPDO Channel 3

2016h

1

U32

RW

no

Mask (Byte 0..3)

2016h

2

U32

RW

no

Mask (Byte 4..7)

2017h

ARRAY

Mask TxPDO Channel 4

2017h

1

U32

RW

no

Mask (Byte 0..3)

2017h

2

U32

RW

no

Mask (Byte 4..7)

2018h

ARRAY

Firmware version

2018h

0

U16

const

no

highest sub-index

2018h

1

U16

const

no

Major version

2018h

2

U16

const

no

Minor version

2018h

3

U16

const

no

Revision

2018h

4

U16

const

no

Branch version

2026h

ARRAY

ASCII Channel

2026h

0

U8

RO

no

highest sub-index

2026h

1

VisStr

WO

no

Command

2026h

2

VisStr

RO

no

Response

2031h

0

VisStr

RW

no

Drive Name, length 10 bits

2032h

0

VisStr

RW

no

Drive custom identifier string, length 32 byte

204Ch

ARRAY

pv scaling factor

204Ch

0

U8

RO

no

highest sub-index

204Ch

1

INT32

RW

no

pv scaling factor numerator

204Ch

2

INT32

RW

no

pv scaling factor denominator

2050h

0

INT32

1:1

RO

yes

Position, secondary feedback

2071h

0

INT32

RW

yes*

Target current

2077h

0

INT32

RO

yes

Current actual value

2077h

0

UINT32

RW

yes

Maximum velocity in CST, PT-mode

2080h

0

U16

WO

yes

Selects motion task to be executed in profile position mode.

2081h

0

U16

RO

yes

Last active motion task.

20A0h

0

INT32

var

RO

yes

LatchThe control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT bus cycle. The status word is used to return the drive's latch status position 1, positive edge

20A1h

0

INT32

var

RO

yes

Latch position 1, negative edge

20A2h

0

INT32

var

RO

yes

Latch position 2, positive edge

20A3h

0

INT32

var

RO

yes

Latch position 2, negative edge

20A4h

0

U16

RW

yes

Latch control register

20A5h

0

U16

RW

yes

Latch status register

20A6h

0

INT32

var

RO

yes

Gets captured position value

20A7h

0

INT32

var

RO

yes

Gets captured position value

20B8h

0

U16

RW

yes

Clear changed digital input information

3405h

ARRAY

VL.ARTYPE

3405h

0

U8

RO

no

highest sub-index

3405h

1

U8

RW

no

Calculation method for BiQuad filter 1

3405h

2

U8

RW

no

Calculation method for BiQuad filter 2

3405h

3

U8

RW

no

Calculation method for BiQuad filter 3

3405h

4

U8

RW

no

Calculation method for BiQuad filter 4

3406h

ARRAY

VL BiQuad

3406h

0

U8

RO

no

highest sub-index

3406h

1

U32

1000:1

RW

no

Natural frequency of pole of anti-resonance (AR) filter 1

3406h

2

U32

1000:1

RW

no

Natural frequency of pole of anti-resonance (AR) filter 2

3406h

3

U32

1000:1

RW

no

Natural frequency of pole of anti-resonance (AR) filter 3

3406h

4

U32

1000:1

RW

no

Natural frequency of pole of anti-resonance (AR) filter 4

3406h

5

U32

1000:1

RW

no

Q of pole of anti-resonance (AR) filter 1

3406h

6

U32

1000:1

RW

no

Q of pole of anti-resonance (AR) filter 2

3406h

7

U32

1000:1

RW

no

Q of pole of anti-resonance (AR) filter 3

3406h

8

U32

1000:1

RW

no

Q of pole of anti-resonance (AR) filter 4

3406h

9

U32

1000:1

RW

no

Natural frequency of zero of anti-resonance (AR) filter 1

3406h

A

U32

1000:1

RW

no

Natural frequency of zero of anti-resonance (AR) filter 2

3406h

B

U32

1000:1

RW

no

Natural frequency of zero of anti-resonance (AR) filter 3

3406h

C

U32

1000:1

RW

no

Natural frequency of zero of anti-resonance (AR) filter 4

3406h

D

U32

1000:1

RW

no

Q of zero of anti-resonance filter 1

3406h

E

U32

1000:1

RW

no

Q of zero of anti-resonance filter 2

3406h

F

U32

1000:1

RW

no

Q of zero of anti-resonance filter 3

3406h

10

U32

1000:1

RW

no

Q of zero of anti-resonance filter 4

3407h

STRUCT

Velocity Filter

3407h

0

U8

RO

no

highest sub-index

3407h

1

INT32

1000:1

RW

no

10 Hz filtered VL.FB

3407h

2

U32

1000:1

RW

no

Gain for the velocity feedforward

3407h

3

U32

RW

no

Gain for the acceleration feedforward

3407h

4

U32

1:1

RW

no

Sets the velocity error

3412h

0

INT8

RW

no

Type of regen resistor

3414h

0

U8

RW

Returns and sets the regen resistor fault level temperature.

3415h

0

U32

1000:1

RO

no

Thermal regen resistor time constant

3416h

0

U32

RO

no

Gets regen resistor's calculated power

3417h

0

U32

RO

no

Returns a filtered version of 3416h

3420h

0

U16

1000:1

RW

no

Sets the foldback fault level.

3421h

0

U32

1000:1

RW

no

Sets the user value for the foldback fault level.

3422h

0

U32

1000:1

no

Sets friction compensation value.

3423h

0

INT32

1000:1

no

A constant current command added to compensate for gravity.

3424h

0

U16

no

Enables/disables the integrator part of the PI loop.

3425h

0

U32

1000:1

RO

no

Reads the overall foldback current limit

3426h

0

U32

1000:1

RW

no

Sets current loop acceleration feedforward gain value

3427h

RECORD

Motor protection parameters

3427h

0

U8

RO

no

highest sub-index

3427h

1

U8

RW

no

3427h

2

U8

RW

no

3427h

3

U32

RW

yes

3430h

0

U8

RW

no

Sets the direction for absolute motion tasks.

3431h

0

U16

RW

no

Sets the motion task in the drive

3432h

0

U16

WO

no

Loads motion task for editing

3440h

ARRAY

Controlled stop parameters

3440h

0

U8

RO

no

highest sub-index

3440h

1

U32

1:1

RW

no

Sets the deceleration value for a controlled stop.

3440h

2

U32

1:1

RW

no

Sets the velocity threshold for a controlled stop.

3440h

3

U32

RW

no

Sets the time value for the drive velocity to be within CS.VTHRESH.

3441h

0

U8

RO

no

Controlled stop state

3443h

0

U16

RO

no

Returns the possible reason for a drive disable

3444h

0

U16

1000:1

RO

no

Maximum current for dynamic braking

3445h

0

U32

RO

no

Emergency timeout for braking

3450h

0

U8

RW

yes

Release or enable brake

3451h

0

U8

RW

no

Determines which drive parameters are calculated automatically.

3452h

0

U16

RW

no

Sets the motor maximum voltage

3453h

0

U32

RW

no

Sets the motor temperature warning level

3454h

0

U32

1000:1

RW

no

Sets the thermal constant of the motor coil

3455h

0

U32

1000:1

RW

no

Sets the line-to-line motor Lq

3456h

0

U32

1000:1

RW

no

Sets the stator winding resistance phase-phase in ohms

3457h

RECORD

Induction Motor parameter

3457h

0

U8

RO

no

highest sub-index

3457h

1

INT32

1000:1

RW

no

Configuration of induction motor's rated velocity.

3457h

2

U16

RW

no

Configuration of induction motor's rated voltage.

3457h

3

U16

RW

no

Sets the minimum voltage for V/f Control.

3458h

0

U16

RO

yes

Motor temperature for motors with sensorA sensor is a type of transducer that converts one type of energy into another for various purposes including measurement or information transfer

345Ah

ARRAY

Brake Control

345Ah

0

U8

RO

no

highest sub-index

345Ah

1

U16

RW

yes

Brake Control Command

345Ah

2

U16

RO

yes

Brake Status Response

3460h

RECORD

Capture engines parameters

3460h

0

U8

RO

no

highest sub-index

3460h

1

U8

RW

no

Specifies the trigger source for the position capture.

3460h

2

U8

RW

no

Specifies the trigger source for the position capture.

3460h

3

U8

RW

no

Selects the captured value.

3460h

4

U8

RW

no

Selects the captured value.

3460h

5

U8

RW

no

Controls the precondition logic.

3460h

6

U8

RW

no

Controls the precondition logic.

3460h

7

U8

RW

no

Selects the capture precondition edge.

3460h

8

U8

RW

no

Selects the capture precondition edge.

3460h

9

U8

RW

no

Sets the precondition trigger.

3460h

A

U8

RW

no

Sets the precondition trigger.

3460h

B

U8

RW

no

Selects the feedback source for the capture engine 0.

3460h

C

U8

RW

no

Selects the feedback source for the capture engine 1.

3470h

RECORD

3470h

0

U8

RO

no

highest sub-index

3470h

1

INT8

RW

no

Sets the analog output mode.

3470h

2

INT16

1000:1

RW

yes

Reads the analog output value.

3470h

3

INT16

1000:1

RW

yes

Reads and writes the analog output value.

3470h

4

INT16

1000:1

RO

yes

Reads the value of the analog input signal.

3470h

5

U32

1000:1

RW

no

Sets velocity scale factor for analog output

3471h

0

U32

1:1

RW

no

Sets the analog position scale factor

3472h

0

U32

1:1

RW

no

Sets analog pscale factor

3474h

ARRAY

DINx.PARAM

3474h

0

U8

RO

no

highest sub-index

3474h

1

U32

RW

no

Lower 32-bit part of input parameter 1

3474h

2

U32

RW

no

Lower 32-bit part of input parameter 2

3474h

3

U32

RW

no

Lower 32-bit part of input parameter 3

3474h

4

U32

RW

no

Lower 32-bit part of input parameter 4

3474h

5

U32

RW

no

Lower 32-bit part of input parameter 5

3474h

6

U32

RW

no

Lower 32-bit part of input parameter 6

3474h

7

U32

RW

no

Lower 32-bit part of input parameter 7

3474h

8

U32

RW

no

Higher 32-bit part of input parameter 1

3474h

9

U32

RW

no

Higher 32-bit part of input parameter 2

3474h

A

U32

RW

no

Higher 32-bit part of input parameter 3

3474h

4

U32

RW

no

Higher 32-bit part of input parameter 1

3474h

5

U32

RW

no

Higher 32-bit part of input parameter 2

3474h

6

U32

RW

no

Higher 32-bit part of input parameter 3

3474h

B

U32

RW

no

Higher 32-bit part of input parameter 4

3474h

C

U32

RW

no

Higher 32-bit part of input parameter 5

3474h

D

U32

RW

no

Higher 32-bit part of input parameter 6

3474h

E

U32

RW

no

Higher 32-bit part of input parameter 7

3475h

ARRAY

DOUTx.PARAM

3475h

0

U8

RO

no

highest sub-index

3475h

1

U32

RW

no

Lower 32-bit part of output parameter 1

3475h

2

U32

RW

no

Lower 32-bit part of output parameter 2

3475h

3

U32

RW

no

Higher 32-bit part of output parameter 1

3475h

2

U32

RW

no

Higher 32-bit part of output parameter 1

3475h

4

U32

RW

no

Hogher 32-bit part of output parameter 2

3480h

0

U32

1000:1

RW

no

Integral gain of position regulator PID"Proportional-Integral-Derivative" A PID controller is a generic control-loop feedback mechanism widely used in industrial control systems. An "error" occurs when an event or a disturbance triggers off a change in the process variable. A PID controller attempts to correct the error between a measured process variable and a desired setpoint by calculating and then outputting a corrective action that can adjust the process accordingly loop

3481h

ARRAY

PL.INTMAX

3481h

0

U8

RO

no

highest sub-index

3481h

1

U32

1:1

RW

no

Input saturation

3481h

2

U32

1:1

RW

no

Output saturation

3482h

0

INT32

1:1

RO

no

Maximum value of following error in homing

3483h

0

INT32

1:1

RW

no

Sets the position error warning level

3484h

0

INT32

1:1

RW

no

Specification of an additional movement after homing is completed.

3490h

0

INT32

1:1

RW

no

Position feedback offset

3491h

0

U32

RO

no

Location of index pulse on EEO

3492h

0

U32

RO

no

Motion status of the drive

3493h

0

U8

RO

no

Direction of EEO (emulated encoder output)

3494h

RECORD

WS parameters

3494h

0

U8

RO

no

highest sub-index

3494h

1

INT16

1000:1

RW

no

Sets maximum current used for wake and shake

3494h

2

INT32

1:1

RW

no

Sets the maximum movement required for wake and shake

3494h

3

U16

RW

no

Sets the delay for wake and shake between loops in mode 0

3494h

4

INT32

1:1

RW

no

Defines the maximum allowed velocity for Wake & Shake

3494h

5

U8

RO

no

Reads wake and shake status

3494h

6

U8

RW

no

Arm Wake and Shake to start

3495h

0

U16

1000:1

RW

no

Voltage level for undervoltage warning.

3496h

ARRAY

FBUS synchronization parameters

3496h

0

U8

RO

no

highest sub-index

3496h

1

U32

RW

no

expected time distance between clearing the PLL counter and calling the PLL function

3496h

2

U32

RW

no

actual time distance between clearing the PLL counter and calling the PLL function

3496h

3

U32

RW

no

Time window, which is used in order to consider the drive as being synchronized

3496h

4

U32

RW

no

Time, which is used for extending or lowering the sample rate of the internal 16[kHz] IRQ"Interrupt ReQuest" An interrupt request refers to the act of interrupting the bus lines used to signal an interrupt

3498h

0

U8

RW

no

Protection level of fieldbus against other communication channels (Telnet, ModbusModBus is a serial communications protocol and is now the most commonly available means of connecting industrial electronic devices. ModBus is often used to connect a supervisory computer with a remote terminal unit in supervisory control and data acquisition (SCADA) systems. Versions of the ModBus protocol exist for serial port and Ethernet (it is widely used with TCP/IP over Ethernet)..)

3499h

0

INT32

RW

yes

Set-point for stepper motor output through the emulated encoder output (EEO)

34A0h

ARRAY

PLS Position

34A0h

0

U8

RO

no

highest sub-index

34A0h

1

INT32

1:1

RW

no

Limit switch 1 compare value

34A0h

2

INT32

1:1

RW

no

Limit switch 2 compare value

34A0h

3

INT32

1:1

RW

no

Limit switch 3 compare value

34A0h

4

INT32

1:1

RW

no

Limit switch 4 compare value

34A0h

5

INT32

1:1

RW

no

Limit switch 5 compare value

34A0h

6

INT32

1:1

RW

no

Limit switch 6 compare value

34A0h

7

INT32

1:1

RW

no

Limit switch 7 compare value

34A0h

8

INT32

1:1

RW

no

Limit switch 8 compare value

34A1h

ARRAY

PLS Width

34A1h

0

U8

RO

no

highest sub-index

34A1h

1

INT32

1:1

RW

no

Sets Limit Switch1 Width

34A1h

2

INT32

1:1

RW

no

Sets Limit Switch 2 Width

34A1h

3

INT32

1:1

RW

no

Sets Limit Switch 3 Width

34A1h

4

INT32

1:1

RW

no

Sets Limit Switch 4 Width

34A1h

5

INT32

1:1

RW

no

Sets Limit Switch 5 Width

34A1h

6

INT32

1:1

RW

no

Sets Limit Switch 6 Width

34A1h

7

INT32

1:1

RW

no

Sets Limit Switch 7 Width

34A1h

8

INT32

1:1

RW

no

Sets Limit Switch 8 Width

34A2h

ARRAY

PLS Time

34A2h

0

U8

RO

no

highest sub-index

34A2h

1

U16

RW

no

Sets limit switch 1 time

34A2h

2

U16

RW

no

Sets limit switch 2 time

34A2h

3

U16

RW

no

Sets limit switch 3 time

34A2h

4

U16

RW

no

Sets limit switch 4 time

34A2h

5

U16

RW

no

Sets limit switch 5 time

34A2h

6

U16

RW

no

Sets limit switch 6 time

34A2h

7

U16

RW

no

Sets limit switch 7 time

34A2h

8

U16

RW

no

Sets limit switch 8 time

34A3h

ARRAY

PLS Configuration

34A3h

0

U8

RO

no

highest sub-index

34A3h

1

U16

RW

no

Enables the limit switches

34A3h

2

U16

RW

no

Resets limit switches

34A3h

3

U16

RW

no

Selects limit switch mode

34A3h

4

U16

RW

no

Reads the limit switch state

34A4h

0

U8

RW

no

Sets limit switch units

34A8h

0

INT32

RW

no

Sets the Compare 0 modulo value

34A9h

ARRAY

Compare0 modulo bounds

34A9h

0

U8

RO

no

highest sub-index

34A9h

1

U8

RW

no

Compare0 modulo bound 1

34A9h

2

U8

RW

no

Compare0 modulo bound 2

34AAh

ARRAY

CMP0 setpoints

34AAh

0

U8

RO

no

highest sub-index

34AAh

1

INT32

RW

no

Compare0 setpointSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach 0

34AAh

2

INT32

RW

no

Compare0 setpoint 1

34AAh

3

INT32

RW

no

Compare0 setpoint 2

34AAh

4

INT32

RW

no

Compare0 setpoint 3

34AAh

5

INT32

RW

no

Compare0 setpoint 4

34AAh

6

INT32

RW

no

Compare0 setpoint 5

34AAh

7

INT32

RW

no

Compare0 setpoint 6

34AAh

8

INT32

RW

no

Compare0 setpoint 7

34ABh

ARRAY

CMP0 widths

34ABh

0

U8

RO

no

highest sub-index

34ABh

1

INT32

RW

no

Compare0 width 0

34ABh

2

INT32

RW

no

Compare0 width 1

34ABh

3

INT32

RW

no

Compare0 width 2

34ABh

4

INT32

RW

no

Compare0 width 3

34ABh

5

INT32

RW

no

Compare0 width 4

34ABh

6

INT32

RW

no

Compare0 width 5

34ABh

7

INT32

RW

no

Compare0 width 6

34ABh

8

INT32

RW

no

Compare0 width 7

34ACh

ARRAY

CMP0 widthtype

34ACh

0

U8

RO

no

highest sub-index

34ACh

1

U8

RW

no

Compare0 widthtype 0

34ACh

2

U8

RW

no

Compare0 widthtype 1

34ACh

3

U8

RW

no

Compare0 widthtype 2

34ACh

4

U8

RW

no

Compare0 widthtype 3

34ACh

5

U8

RW

no

Compare0 widthtype 4

34ACh

6

U8

RW

no

Compare0 widthtype 5

34ACh

7

U8

RW

no

Compare0 widthtype 6

34ACh

8

U8

RW

no

Compare0 widthtype 7

34ADh

ARRAY

CMP0 modes

34ADh

0

U8

RO

no

highest sub-index

34ADh

1

U8

RW

no

Compare0 mode 0

34ADh

2

U8

RW

no

Compare0 mode 1

34ADh

3

U8

RW

no

Compare0 mode 2

34ADh

4

U8

RW

no

Compare0 mode 3

34ADh

5

U8

RW

no

Compare0 mode 4

34ADh

6

U8

RW

no

Compare0 mode 5

34ADh

7

U8

RW

no

Compare0 mode 6

34ADh

8

U8

RW

no

Compare0 mode 7

34B0h

ARRAY

USER.DWORDS for writing of feedback memory

34B0h

0

U8

RO

no

highest sub-index

34B0h

1

U32

RW

no

FB1.USERDWORD1

34B0h

2

U32

RW

no

FB1.USERDWORD2

34B1h

ARRAY

USER.WORDS for writing of feedback memory

34B1h

0

U8

RO

no

highest sub-index

34B1h

1

U16

RW

no

FB1.USERWORD1

34B1h

2

U16

RW

no

FB1.USERWORD2

34B1h

3

U16

RW

no

FB1.USERWORD3

34B1h

4

U16

RW

no

FB1.USERWORD4

34B2h

ARRAY

USER.BYTES for writing of feedback memory

34B2h

0

U8

RO

no

highest sub-index

34B2h

1

U8

RW

no

FB1.USERBYTE1

34B2h

2

U8

RW

no

FB1.USERBYTE2

34B2h

3

U8

RW

no

FB1.USERBYTE3

34B2h

4

U8

RW

no

FB1.USERBYTE4

34B2h

5

U8

RW

no

FB1.USERBYTE5

34B2h

6

U8

RW

no

FB1.USERBYTE6

34B2h

7

U8

RW

no

FB1.USERBYTE7

34B2h

8

U8

RW

no

FB1.USERBYTE8

34B8h

0

INT32

RW

no

Sets the Compare 1 modulo value

34B9h

ARRAY

Compare1 modulo bounds

34B9h

0

U8

RO

no

highest sub-index

34B9h

1

U8

RW

no

Compare1 modulo bound 1

34B9h

2

U8

RW

no

Compare1 modulo bound 2

34BAh

ARRAY

CMP1 setpoints

34BAh

0

U8

RO

no

highest sub-index

34BAh

1

INT32

RW

no

Compare1 setpoint 0

34BAh

2

INT32

RW

no

Compare1 setpoint 1

34BAh

3

INT32

RW

no

Compare1 setpoint 2

34BAh

4

INT32

RW

no

Compare1 setpoint 3

34BAh

5

INT32

RW

no

Compare1 setpoint 4

34BAh

6

INT32

RW

no

Compare1 setpoint 5

34BAh

7

INT32

RW

no

Compare1 setpoint 6

34BAh

8

INT32

RW

no

Compare1 setpoint 7

34BBh

ARRAY

CMP1 widths

34BBh

0

U8

RO

no

highest sub-index

34BBh

1

INT32

RW

no

Compare1 width 0

34BBh

2

INT32

RW

no

Compare1 width 1

34BBh

3

INT32

RW

no

Compare1 width 2

34BBh

4

INT32

RW

no

Compare1 width 3

34BBh

5

INT32

RW

no

Compare1 width 4

34BBh

6

INT32

RW

no

Compare1 width 5

34BBh

7

INT32

RW

no

Compare1 width 6

34BBh

8

INT32

RW

no

Compare1 width 7

34BCh

ARRAY

CMP1 widthtype

34BCh

0

U8

RO

no

highest sub-index

34BCh

1

U8

RW

no

Compare1 widthtype 0

34BCh

2

U8

RW

no

Compare1 widthtype 1

34BCh

3

U8

RW

no

Compare1 widthtype 2

34BCh

4

U8

RW

no

Compare1 widthtype 3

34BCh

5

U8

RW

no

Compare1 widthtype 4

34BCh

6

U8

RW

no

Compare1 widthtype 5

34BCh

7

U8

RW

no

Compare1 widthtype 6

34BCh

8

U8

RW

no

Compare1 widthtype 7

34BDh

ARRAY

CMP1 modes

34BDh

0

U8

RO

no

highest sub-index

34BDh

1

U8

RW

no

Compare1 mode 0

34BDh

2

U8

RW

no

Compare1 mode 1

34BDh

3

U8

RW

no

Compare1 mode 2

34BDh

4

U8

RW

no

Compare1 mode 3

34BDh

5

U8

RW

no

Compare1 mode 4

34BDh

6

U8

RW

no

Compare1 mode 5

34BDh

7

U8

RW

no

Compare1 mode 6

34BDh

8

U8

RW

no

Compare1 mode 7

34C0h

ARRAY

Compare0 handling

34C0h

0

U8

RO

no

highest sub-index

34C0h

1

U16

RW

no

Compare0 arm setpoints

34C0h

2

U16

RW

no

Compare0 states

34C1h

ARRAY

Compare1 handling

34C1h

0

U8

RO

no

highest sub-index

34C1h

1

U16

RW

no

Compare1 arm setpoints

34C1h

2

U16

RW

no

Compare1 states

3501h

0

INT32

1:1

RW

no

Acceleration ramp

3502h

0

INT32

1:1

RW

no

Acceleration ramp for homing/jog modes

3506h

0

INT32

no

Action that hardware enable digital input will perform.

3509h

0

INT32

1000:1

RO

no

Analog input voltage

3522h

0

INT32

1:1

RW

no

Deceleration rate

3524h

0

INT32

1:1

RW

no

Deceleration ramp for homing/jog modes

352Ah

0

INT32

RW

no

Direction of movements

3533h

0

U32

RO

no

Resolution of motor encoder

3534h

0

U32

RO

no

Mode of EEO connector

3535h

0

U32

RO

no

Resolution of EEO

3537h

0

U32

RO

no

Location of EEO index pulse

353Bh

0

INT32

RO

no

Selection of the feedback type

3542h

0

U32

1000:1

RW

no

Position Control Loop: Proportional Gain

3548h

0

U32

1000:1

RW

no

Velocity Control Loop: Proportional Gain

354Bh

0

INT32

1000:1

RW

no

Sets the velocity loop velocity feedforward gain value

354Dh

0

INT32

1000:1

RW

no

Velocity Control Loop: I-Integration Time

3558h

0

INT32

1000:1

RO

no

Current Monitor

3559h

0

INT32

1000:1

RO

no

Drive Ifold

355Ah

0

INT32

1000:1

RW

no

I2T Warning

3562h

0

INT32

RW

no

FunctionA function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. of Digital Input 1

3565h

0

INT32

RW

no

Function of Digital Input 2

3568h

0

INT32

RW

no

Function of Digital Input 3

356Bh

0

INT32

RW

no

Function of Digital Input 4

356Eh

0

INT32

1000:1

RW

no

Application Peak Current, positive direction

356Fh

0

INT32

1000:1

RW

no

Application Peak Current, negative direction

3586h

0

U32

RW

no

Sets the motor temperature fault level

3587h

0

INT32

RW

no

Select Motor Holding Brake

358Eh

0

U32

1000:1

RW

no

Motor Continuous Current Rating

358Fh

0

U32

1000:1

RW

no

Motor Peak Current Rating

3593h

0

U32

1000:1

RW

no

Sets the torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist constant of the motor

3596h

0

U32

1000:1

RO

no

Sets the proportional gain of the d-component current PI-regulator as a percentage of IL.KP

3598h

0

INT32

1000:1

RW

no

Absolute Gain of Current Control loop

359Ch

0

U32

RW