Profile specific SDOs

Index

Sub-index

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 RPMClosed"Revolutions per minute" Is a unit of frequency of rotation: the number of full rotations completed in one minute around a fixed axis. It is used as a measure of rotational speed of a mechanical component)

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 torqueClosedTorque 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

—

6072h

0

U16

 

RW

yes*

Max torque

—

6073h

0

U16

 

RW

no

Max current

 

6077h

0

INT16

 

RO

yes

TorqueClosedTorque 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 actual value

DRV.ICONT see "DRV.ICONT "

607Ah

0

INT32

1:1

RW

yes

Target position

MT.P (see "MT.P")

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

HomingClosedThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position 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

ILClosed"Instruction list" This is a low-level language and resembles assembly.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

 

RW

no

1st additional position actual value

—

60E4h

2

INT32

 

RW

no

reserved

—

60E4h

3

INT32

 

RW

no

3rd additional position actual value

—

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.
1ADDPOSFCFEEDsee "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.
3ADDPOSFCFEEDsee "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 DIN1.MODE TO DIN3.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

—