17185 Leadshine Technology Co.,Ltd. 深圳市雷赛智能控制股份有限公司 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Servo Drive Servo Drives 伺服驱动器 T7-EC 220V/400W Servo Drive 220V/400W 伺服驱动器 http://www.leadshine.com http://www.leisai.com 2000 9000 5000 200 100 5000 false Servo Drive 402 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 STRING(25) 200 STRING(7) 56 STRING(5) 40 STRING(20) 160 STRING(40) 320 STRING(136) 1088 ARRAY [0..4] OF UINT UINT 80 0 5 ARRAY [0..13] OF UINT UINT 224 0 14 ARRAY [0..15] OF UINT UINT 256 0 16 ARRAY [0..2] OF UINT UINT 48 0 3 ARRAY [0..23] OF UINT UINT 384 0 24 ARRAY [0..16383] OF UINT UINT 262144 0 16384 DT1010 136 0 Number of Entries USINT 8 0 ro o 1 Save all parameters UDINT 32 8 rw o 2 Save communication parameters UDINT 32 40 rw o 3 Save application parameters UDINT 32 72 rw o 4 Save manufacturer parameters UDINT 32 104 rw o DT1011 136 0 Number of Entries USINT 8 0 ro o 1 Restore all default parameters UDINT 32 8 rw o 2 Restore communication default parameters UDINT 32 40 rw o 3 Restore application default parameters UDINT 32 72 rw o 4 Restore manufacturer default parameters UDINT 32 104 rw o DT1018 144 0 Number of Entries USINT 8 0 ro 1 CANopen Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT1600 336 0 Number of mapped objects RPDO 1 USINT 8 0 rw 1 RPDO 1 mapping information 1 UDINT 32 16 rw 2 RPDO 1 mapping information 2 UDINT 32 48 rw 3 RPDO 1 mapping information 3 UDINT 32 80 rw 4 RPDO 1 mapping information 4 UDINT 32 112 rw 5 RPDO 1 mapping information 5 UDINT 32 144 rw 6 RPDO 1 mapping information 6 UDINT 32 176 rw 7 RPDO 1 mapping information 7 UDINT 32 208 rw 8 RPDO 1 mapping information 8 UDINT 32 240 rw 9 RPDO 1 mapping information 9 UDINT 32 272 rw 10 RPDO 1 mapping information 10 UDINT 32 304 rw DT1601 336 0 Number of mapped objects RPDO 2 USINT 8 0 rw 1 RPDO 2 mapping information 1 UDINT 32 16 rw 2 RPDO 2 mapping information 2 UDINT 32 48 rw 3 RPDO 2 mapping information 3 UDINT 32 80 rw 4 RPDO 2 mapping information 4 UDINT 32 112 rw 5 RPDO 2 mapping information 5 UDINT 32 144 rw 6 RPDO 2 mapping information 6 UDINT 32 176 rw 7 RPDO 2 mapping information 7 UDINT 32 208 rw 8 RPDO 2 mapping information 8 UDINT 32 240 rw 9 RPDO 2 mapping information 9 UDINT 32 272 rw 10 RPDO 2 mapping information 10 UDINT 32 304 rw DT1602 336 0 Number of mapped objects RPDO3 USINT 8 0 rw 1 RPDO 3 mapping information 1 UDINT 32 16 rw 2 RPDO 3 mapping information 2 UDINT 32 48 rw 3 RPDO 3 mapping information 3 UDINT 32 80 rw 4 RPDO 3 mapping information 4 UDINT 32 112 rw 5 RPDO 3 mapping information 5 UDINT 32 144 rw 6 RPDO 3 mapping information 6 UDINT 32 176 rw 7 RPDO 3 mapping information 7 UDINT 32 208 rw 8 RPDO 3 mapping information 8 UDINT 32 240 rw 9 RPDO 3 mapping information 9 UDINT 32 272 rw 10 RPDO 3 mapping information 10 UDINT 32 304 rw DT1603 336 0 Number of mapped objects RPDO4 USINT 8 0 rw 1 RPDO 4 mapping information 1 UDINT 32 16 rw 2 RPDO 4 mapping information 2 UDINT 32 48 rw 3 RPDO 4 mapping information 3 UDINT 32 80 rw 4 RPDO 4 mapping information 4 UDINT 32 112 rw 5 RPDO 4 mapping information 5 UDINT 32 144 rw 6 RPDO 4 mapping information 6 UDINT 32 176 rw 7 RPDO 4 mapping information 7 UDINT 32 208 rw 8 RPDO 4 mapping information 8 UDINT 32 240 rw 9 RPDO 4 mapping information 9 UDINT 32 272 rw 10 RPDO 4 mapping information 10 UDINT 32 304 rw DT1A00 336 0 Number of mapped objects TPDO 1 USINT 8 0 rw 1 TPDO 1 mapping information 1 UDINT 32 16 rw 2 TPDO 1 mapping information 2 UDINT 32 48 rw 3 TPDO 1 mapping information 3 UDINT 32 80 rw 4 TPDO 1 mapping information 4 UDINT 32 112 rw 5 TPDO 1 mapping information 5 UDINT 32 144 rw 6 TPDO 1 mapping information 6 UDINT 32 176 rw 7 TPDO 1 mapping information 7 UDINT 32 208 rw 8 TPDO 1 mapping information 8 UDINT 32 240 rw 9 TPDO 1 mapping information 9 UDINT 32 272 rw 10 TPDO 1 mapping information 10 UDINT 32 304 rw DT1A01 336 0 Number of mapped objects TPDO 2 USINT 8 0 rw 1 TPDO 2 mapping information 1 UDINT 32 16 rw 2 TPDO 2 mapping information 2 UDINT 32 48 rw 3 TPDO 2 mapping information 3 UDINT 32 80 rw 4 TPDO 2 mapping information 4 UDINT 32 112 rw 5 TPDO 2 mapping information 5 UDINT 32 144 rw 6 TPDO 2 mapping information 6 UDINT 32 176 rw 7 TPDO 2 mapping information 7 UDINT 32 208 rw 8 TPDO 2 mapping information 8 UDINT 32 240 rw 9 TPDO 2 mapping information 9 UDINT 32 272 rw 10 TPDO 2 mapping information 10 UDINT 32 304 rw DT1C00 48 0 Number of Entries USINT 8 0 ro 1 Comm. type, Sync Manager 0 USINT 8 16 rw 2 Comm. type, Sync Manager 1 USINT 8 24 rw 3 Comm. type, Sync Manager 2 USINT 8 32 rw 4 Comm. type, Sync Manager 3 USINT 8 40 rw DT1C12 80 0 Sync Manager 2, Number of mapped PDOs USINT 8 0 rw 1 Sync Manager 2, PDO mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO mapping 3 UINT 16 64 rw DT1C13 48 0 Sync Manager 3, Number of mapped PDOs USINT 8 0 rw 1 Sync Manager 3, PDO mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO mapping 1 UINT 16 32 rw DT1C32 480 0 Number of Entries USINT 8 0 ro 1 Sync Manager 2, Synchronization type UINT 16 16 ro 2 Sync Manager 2, Cycle time UDINT 32 32 ro 3 Sync Manager 2, Shift time UDINT 32 64 ro 4 Sync Manager 2, Sync types supported UINT 16 96 ro 5 Sync Manager 2, Minimum cycle time UDINT 32 112 ro 6 Sync Manager 2, Calc and copy time UDINT 32 144 ro 7 Sync Manager 2, Minimum hardware delay UDINT 32 176 ro 8 Sync Manager 2,Get Cycle Time UINT 16 208 ro 9 Sync Manager 2, Hardware delay time UDINT 32 224 ro 10 Sync Manager 2, Sync0 cycle time UDINT 32 256 ro 11 Sync Manager 2, SM-Event missed Counter UINT 16 288 ro 12 Sync Manager 2, Cycle Time Too Small Counter UINT 16 304 ro 13 Sync Manager 2, Shift Time Too Short Counter UINT 16 320 ro 14 Sync Manager 2, RxPDO Toggle Failed Count UINT 16 336 ro 15 Sync Manager 2, Minimum cycle distance UDINT 32 352 ro 16 Sync Manager 2, Maximum cycle distance UDINT 32 384 ro 17 Sync Manager 2, Minimum SM SYNC distance UDINT 32 416 ro 18 Sync Manager 2, Maximum SM SYNC distance UDINT 32 448 ro DT1C33 320 0 Number of Entries USINT 8 0 ro 1 Sync Manager 3, Synchronization type UINT 16 16 ro 2 Sync Manager 3, Cycle time UDINT 32 32 ro 3 Sync Manager 3, Shift time UDINT 32 64 ro 4 Sync Manager 3, Sync types supported UINT 16 96 ro 5 Sync Manager 3, Minimum cycle time UDINT 32 112 ro 6 Sync Manager 3, Calc and copy time UDINT 32 144 ro 7 Sync Manager 3, Minimum hardware delay UDINT 32 176 ro 8 Sync Manager 3,Get Cycle Time UINT 16 208 ro 9 Sync Manager 3, Hardware delay time UDINT 32 224 ro 10 Sync Manager 3, Sync0 cycle time UDINT 32 256 ro 11 Sync Manager 3, SM-Event missed Counter UINT 16 288 ro 12 Sync Manager 3, Cycle Time Too Small Counter UINT 16 304 ro DT3100 48 0 Number of Entries USINT 8 0 ro 1 Drive DSP Version INT 16 16 ro T 2 FPGA Version INT 16 32 ro T 3 Communication DSP Version INT 16 48 ro T DT5000 96 0 Number of Entries USINT 8 0 ro 1 Trajectory Generator Status UINT 16 16 ro T 2 Motion State Machine UINT 16 32 ro T 3 Interior Enable Status UINT 16 48 ro T 4 Target Reached Status UINT 16 64 ro T 5 Internal Response Status UINT 16 80 ro T DT5002 48 0 Number of Entries USINT 8 0 ro 1 Register Address UINT 16 16 rw TR 2 Register Data UINT 16 32 ro T DT5004 272 0 Number of Entries USINT 8 0 ro 1 Outputs Size UINT 16 16 ro T 2 Inputs Size UINT 16 32 ro T 3 RPDO Count UINT 16 48 ro T 4 TPDO Count UINT 16 64 ro T 5 Sync0 Watch Dog Counter UINT 16 80 ro T 6 Sync0 Watch Dog Counter Internal UINT 16 96 ro T 7 Sync0 Watch Value UINT 16 112 ro T 8 Sync0 Drift Counter UINT 16 128 ro T 9 Sync0 Drift Value UINT 16 144 ro T 10 SM Watch Dog Counter Internal UINT 16 160 ro T 11 SM Watch Dog Value Internal UINT 16 176 ro T 12 SM Sync0 Watch Dog Counter UINT 16 144 ro T 13 SM Sync0 Watch Dog Value UINT 16 192 ro T 14 Sync0 Ratio UINT 16 208 ro T 15 Sync0 Interval UDINT 32 240 ro T DT5012 112 0 Number of Entries USINT 8 0 ro 1 Home Reached Position DINT 32 16 ro T 2 Home Triggered Position DINT 32 48 ro T 3 Home IO Simulator UDINT 32 80 rw TR 4 Home Setting UINT 16 96 rw T DT5400 48 0 Number of Entries USINT 8 0 ro 1 DC Period Minimux Value UINT 16 16 rw T 2 DC Period Maximux Value UINT 16 32 rw T DT5500 336 0 Number of Entries USINT 8 0 ro 1 Number of Turns of Absolute Encoder UDINT 32 16 ro T 2 Single Turn Position of Absolute Encoder DINT 32 48 ro T 3 Low Position of Absolute Encoder UDINT 32 80 ro T 4 High Position of Absolute Encoder DINT 32 112 ro T 5 Low Mechanical Position UDINT 32 144 ro T 6 High Mechanical Position DINT 32 176 ro T 7 Encoder Communication Error Counter UDINT 32 208 ro T 8 Manufacture Reserve High DINT 32 240 ro T 9 Manufacture Use Low UDINT 32 272 ro T 10 Manufacture Use High DINT 32 304 ro T DT5501 288 0 Number of Entries USINT 8 0 ro 1 Actual Motor Speed INT 16 16 ro T 2 Command Speed INT 16 32 ro T 3 Speed Command INT 16 48 ro T 4 Actual Torque INT 16 64 ro T 5 Command Torque INT 16 80 ro T 6 Relative Position Error DINT 32 96 ro T 7 Internal Position Command DINT 32 128 ro T 8 Overload Rate INT 16 160 ro T 9 Regenrative Resistance Load Ratio INT 16 176 ro T 10 Inertia Ratio UINT 16 192 ro T 11 Positive Actual Torque Limit INT 16 208 ro T 12 Negative Actual Torque Limit INT 16 224 ro T 13 U Phase Actual Current INT 16 240 ro T 14 V Phase Actual Current INT 16 256 ro T 15 Average Overload Rate INT 16 272 ro T DT5502 144 0 Number of Entries USINT 8 0 ro 1 Digital Input Level UINT 16 16 ro 2 Digital Output Level UINT 16 32 ro 3 Analog Input 1 Level INT 16 48 ro 4 Analog Input 2 Level INT 16 64 ro 5 DC Link Circuit Voltage UINT 16 80 ro 6 IPM Temperature UINT 16 96 ro 7 Operation Time UDINT 32 116 ro DT5FB8 48 0 Number of Entries USINT 8 0 ro 1 Touch Probe 3 4 Function UINT 16 16 rw R 2 Touch Probe 5 6 Function UINT 16 32 rw R DT5FB9 48 0 Number of Entries USINT 8 0 ro 1 Touch Probe 3 4 Status UINT 16 16 ro T 2 Touch Probe 5 6 Status UINT 16 32 ro T DT5FBA 144 0 Number of Entries USINT 8 0 ro 1 Touch Probe 3 Positive Value DINT 32 16 ro T 2 Touch Probe 4 Positive Value DINT 32 48 ro T 3 Touch Probe 5 Positive Value DINT 32 80 ro T 4 Touch Probe 6 Positive Value DINT 32 112 ro T DT5FBB 144 0 Number of Entries USINT 8 0 ro 1 Touch Probe 3 Negative Value DINT 32 16 ro T 2 Touch Probe 4 Negative Value DINT 32 48 ro T 3 Touch Probe 5 Negative Value DINT 32 80 ro T 4 Touch Probe 6 Negative Value DINT 32 112 ro T DT5FD5 80 0 Number of Entries USINT 8 0 ro 1 Touch Probe 3 Positive Counter UINT 16 16 ro T 2 Touch Probe 4 Positive Counter UINT 16 32 ro T 3 Touch Probe 5 Positive Counter UINT 16 48 ro T 4 Touch Probe 6 Positive Counter UINT 16 64 ro T DT5FD6 80 0 Number of Entries USINT 8 0 ro 1 Touch Probe 3 Negative Counter UINT 16 16 ro T 2 Touch Probe 4 Negative Counter UINT 16 32 ro T 3 Touch Probe 5 Negative Counter UINT 16 48 ro T 4 Touch Probe 6 Negative Counter UINT 16 64 ro T DT607D 80 0 Number of Entries USINT 8 0 ro 1 Negative software limit position DINT 32 16 rw 2 Positive software limit position DINT 32 48 rw DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro 2 Motor revolutions UDINT 32 48 ro DT6091 80 0 Number of Entries USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6092 80 0 Number of Entries USINT 8 0 ro 1 Feed increments UDINT 32 16 rw T 2 Shaft revolutions UDINT 32 48 ro DT6099 80 0 Number of Entries USINT 8 0 ro 1 Homing velocity (fast) UDINT 32 16 rw R 2 Homing velocity (slow) UDINT 32 48 rw R DT60A4 80 0 Number of Entries USINT 8 0 ro 1 Profile Jerk 1 UDINT 32 16 rw TR 2 Profile Jerk 2 UDINT 32 48 rw TR DT60C1 88 0 Number of Entries USINT 8 0 ro 1 Interpolated position value DINT 32 16 rw R 2 Interpolated time value USINT 8 48 rw R 3 Interpolated velocity value DINT 32 56 rw R DT60C2 32 0 Number of Entries USINT 8 0 ro 1 Interpolation time value USINT 8 16 rw 2 Interpolation time units SINT 8 24 rw DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw R 2 Bit mask UDINT 32 48 rw R #x1000 Device type UDINT 32 ro #x1001 Error Register USINT 8 ro T #x1008 Device name STRING(7) 56 ro #x1009 Hardware version STRING(5) 40 ro #x100a Software version STRING(5) 40 ro #x1010 Store Parameters DT1010 136 rw #x1011 Restore Parameters DT1011 136 rw #x1018 Identity Object DT1018 136 rw #x1600 Receive PDO 1 mapping parameter DT1600 336 rw #x1601 Receive PDO 2 mapping parameter DT1601 336 rw #x1602 Receive PDO 3 mapping parameter DT1602 336 rw #x1603 Receive PDO 4 mapping parameter DT1603 336 rw #x1a00 Transmit PDO 1 mapping parameter DT1A00 336 rw #x1a01 Transmit PDO 2 mapping parameter DT1A01 336 rw #x1c00 Number of used Sync Manager channels DT1C00 48 ro #x1c12 Sync Manager 2 PDO Assignment DT1C12 80 rw #x1c13 Sync Manager 3 PDO Assignment DT1C13 48 rw #x1C32 Output Sync Manager Parameter DT1C32 480 ro #x1C33 Input Sync Manager Parameter DT1C33 320 ro #x2000 MFC P00.00 DINT 32 rw #x2001 Control Mode P00.01 DINT 32 rw #x2002 Auto Tune Mode Set P00.02 DINT 32 rw #x2003 Auto Tune Stiffness P00.03 DINT 32 rw #x2004 Inertia Ratio P00.04 DINT 32 rw #x2006 User Polarity P00.06 DINT 32 rw #x2007 Pulse Mode Select P00.07 DINT 32 rw #x2008 User Feed increments P00.08 DINT 32 rw #x2013 First Torque Limit P00.13 DINT 32 rw #x2014 Position OverRange P00.14 DINT 32 rw #x2015 Absolute Encoder Set P00.15 DINT 32 rw #x2016 Discharge Resistance Set P00.16 DINT 32 rw #x2017 Discharge Resistance Load Ratio P00.17 DINT 32 rw #x2019 Friction Compensation Setting P00.19 DINT 32 rw #x2023 Slave alias P00.23 DINT 32 rw #x2024 Slave alias Validity P00.24 DINT 32 rw #x2025 Sync0 Compensate threshold value 1 P00.25 DINT 32 rw #x2026 Sync0 Compensate threshold value 2 P00.26 DINT 32 rw #x2027 Sync Lag Settings P00.27 DINT 32 rw #x2028 CSP Safe Run Settings P00.28 DINT 32 rw #x2100 First Position Loop Gain P01.00 DINT 32 rw #x2101 First Speed Loop Gain P01.01 DINT 32 rw #x2102 First Speed Loop Integration P01.02 DINT 32 rw #x2103 First Speed Detect Filter P01.03 DINT 32 rw #x2104 First Torque Detect Filter P01.04 DINT 32 rw #x2105 Second Position Loop Gain P01.05 DINT 32 rw #x2106 Second Speed Loop Gain P01.06 DINT 32 rw #x2107 Second Speed Loop Integration P01.07 DINT 32 rw #x2108 Second Speed Detect Filter P01.08 DINT 32 rw #x2109 Second Torque Detect Filter P01.09 DINT 32 rw #x2110 Speed Feedforward Gain P01.10 DINT 32 rw #x2111 Speed Feedforward Filter Time P01.11 DINT 32 rw #x2112 Torque Feedforward Gain P01.12 DINT 32 rw #x2113 Torque Feedforward Filter Time P01.13 DINT 32 rw #x2115 Position Mode Parameter Select P01.15 DINT 32 rw #x2117 Position Mode Parameter Level P01.17 DINT 32 rw #x2118 Position Mode Parameter Magnetic Lag P01.18 DINT 32 rw #x2119 Position Mode Parameter Switch Time P01.19 DINT 32 rw #x2120 Speeed Mode Parameter Select P01.20 DINT 32 rw #x2121 Speeed Mode Parameter Delay P01.21 DINT 32 rw #x2123 Speed Mode Parameter Magnetic Lag P01.23 DINT 32 rw #x2124 Torque Mode Parameter Select P01.24 DINT 32 rw #x2125 Torque Mode Parameter Delay P01.25 DINT 32 rw #x2126 Torque Mode Parameter Level P01.26 DINT 32 rw #x2128 First Position Loop Integration P01.28 DINT 32 rw #x2130 Second Position Loop Integration P01.30 DINT 32 rw #x2134 Actual Speed Filter Windows P01.34 DINT 32 rw #x2137 Special Register P01.37 DINT 32 rw #x2138 Special Register 1 P01.38 DINT 32 rw #x2200 Adaptive Notch Filter Mode P02.00 DINT 32 rw #x2201 First Notch Filter Frequency P02.01 DINT 32 rw #x2202 First Notch Filter Width P02.02 DINT 32 rw #x2203 First Notch Filter Depth P02.03 DINT 32 rw #x2204 Second Notch Filter Frequency P02.04 DINT 32 rw #x2205 Second Notch Filter Width P02.05 DINT 32 rw #x2206 Second Notch Filter Depth P02.06 DINT 32 rw #x2207 Third Notch Filter Frequency P02.07 DINT 32 rw #x2208 Third Notch Filter Width P02.08 DINT 32 rw #x2209 Third Notch Filter Depth P02.09 DINT 32 rw #x2214 First Anti-Vibration Frequency P02.14 DINT 32 rw #x2216 Second Anti-Vibration Frequency P02.16 DINT 32 rw #x2222 Position Command LowPass Filter P02.22 DINT 32 rw #x2223 Position Command FIR Filter P02.23 DINT 32 rw #x2231 Fifth Resonant Frequency P02.31 DINT 32 rw #x2232 Fifth Resonant Q Value P02.32 DINT 32 rw #x2233 Fifth Anti-Resonant Frequency P02.33 DINT 32 rw #x2234 Fifth Anti-Resonant Q Value P02.34 DINT 32 rw #x2235 Sixth Resonant Frequency P02.35 DINT 32 rw #x2236 Sixth Resonant Q Value P02.36 DINT 32 rw #x2237 Sixth Anti-Resonant Frequency P02.37 DINT 32 rw #x2238 Sixth Anti-Resonant Q Value P02.38 DINT 32 rw #x2312 Interior Acceleration P03.12 DINT 32 rw #x2313 Interior Deceleration P03.13 DINT 32 rw #x2314 S Curve Switch P03.14 DINT 32 rw #x2316 Zero Speed Clamp Level P03.16 DINT 32 rw #x2317 Torque Switch P03.17 DINT 32 rw #x2323 Zero Speed Hold Setting P03.23 DINT 32 rw #x2400 SI1 Select P04.00 DINT 32 rw #x2401 SI2 Select P04.01 DINT 32 rw #x2402 SI3 Select P04.02 DINT 32 rw #x2403 SI4 Select P04.03 DINT 32 rw #x2410 SO1 Select P04.10 DINT 32 rw #x2411 SO2 Select P04.11 DINT 32 rw #x2412 SO3 Select P04.12 DINT 32 rw #x2431 Reach Range P04.31 DINT 32 rw #x2432 Reach Output Set P04.32 DINT 32 rw #x2433 INP Hold Time P04.33 DINT 32 rw #x2434 Zero Speed Set P04.34 DINT 32 rw #x2435 Speed Accordance Amplitude P04.35 DINT 32 rw #x2436 Reach Speed Set P04.36 DINT 32 rw #x2437 Brake Action When Stop P04.37 DINT 32 rw #x2438 Brake Action When Act P04.38 DINT 32 rw #x2439 Brake Release Speed P04.39 DINT 32 rw #x2443 E-stop enable P04.43 DINT 32 rw #x2504 Inhibit Input Set P05.04 DINT 32 rw #x2506 Servo Off Timing P05.06 DINT 32 rw #x2508 Power Off LV Trigger Set P05.08 DINT 32 rw #x2509 Power Off Detect Delay P05.09 DINT 32 rw #x2510 Driver Alarm Timing P05.10 DINT 32 rw #x2511 E-Stop Torque P05.11 DINT 32 rw #x2512 Over Load Level Set P05.12 DINT 32 rw #x2513 Over Speed Level Set P05.13 DINT 32 rw #x2515 IF Filter P05.15 DINT 32 rw #x2520 Position Uint Select P05.20 DINT 32 rw #x2521 Torque Limit Select P05.21 DINT 32 rw #x2522 Second Torque Limit P05.22 DINT 32 rw #x2528 LED Default Display Select P05.28 DINT 32 rw #x2535 HMI Lock Set P05.35 DINT 32 rw #x2537 Torque saturation Detect Time P05.37 DINT 32 rw #x2539 Third Torque Limit P05.39 DINT 32 rw #x2540 D41 Setting P05.40 DINT 32 rw #x2601 Encoder Zero Position Compens P06.01 DINT 32 rw #x2604 Jog Command Speed P06.04 DINT 32 rw #x2605 Third Positive Gain Valid Time P06.05 DINT 32 rw #x2606 Third Positive Gain Factor P06.06 DINT 32 rw #x2607 Torque Command Attached P06.07 DINT 32 rw #x2608 Positive Torque Compensate P06.08 DINT 32 rw #x2609 Negative Torque Compensate P06.09 DINT 32 rw #x2611 Current Response Set P06.11 DINT 32 rw #x2613 Second Inertia Ratio P06.13 DINT 32 rw #x2614 Stop Delay When Alarm P06.14 DINT 32 rw #x2621 Test Run Interval P06.21 DINT 32 rw #x2622 Test Run Cycle P06.22 DINT 32 rw #x2625 Test Run Acc/Dec Time P06.25 DINT 32 rw #x2628 Speed Observer Gain P06.28 DINT 32 rw #x2629 Speed Observer Bandwidth P06.29 DINT 32 rw #x2633 Advanced Functional Settings P06.33 DINT 32 rw #x2634 Frame Error Window Time P06.34 DINT 32 rw #x2635 Frame Error Window P06.35 DINT 32 rw #x2656 Stall Alarm Torque Threshold P06.56 DINT 32 rw #x2657 Stall Alarm Window Time P06.57 DINT 32 rw #x2659 Home Reached Threshold P06.59 DINT 32 rw #x2660 Stall Overload Ratio P06.60 DINT 32 rw #x2661 Z Pulse Hold Time P06.61 DINT 32 rw #x2663 Absolute Encoder Mult. Limit P06.63 DINT 32 rw #x2700 Current Loop Gain P07.00 DINT 32 ro #x2701 Current Loop Integration Time P07.01 DINT 32 ro #x2702 Rotor Initial Angle Compensation P07.02 DINT 32 ro #x2703 Current Differential Coefficient P07.03 DINT 32 ro #x2704 Dead Zone Compensation Coefficient P07.04 DINT 32 ro #x2705 Pole Pairs P07.05 DINT 32 ro #x2706 Phase Resistance P07.06 DINT 32 ro #x2707 D Q Inductance P07.07 DINT 32 ro #x2708 Back EMF Coefficient P07.08 DINT 32 ro #x2709 Torque Coefficient P07.09 DINT 32 ro #x2710 Rated Speed P07.10 DINT 32 ro #x2711 Peak Speed P07.11 DINT 32 ro #x2712 Rated Current P07.12 DINT 32 ro #x2713 Rotor Inertia P07.13 DINT 32 ro #x2714 Power Set P07.14 DINT 32 ro #x2715 Motor Code P07.15 DINT 32 ro #x2716 Encoder Select P07.16 DINT 32 ro #x2717 Peak Current P07.17 DINT 32 ro #x2718 Encoder Index Phase Compensate P07.18 DINT 32 ro #x2722 Voltage Detect Gate When Power Up P07.22 DINT 32 ro #x2724 Fan Control Set P07.24 DINT 32 ro #x2725 Fan Auto Run Temperature P07.25 DINT 32 ro #x2726 Fan Control Magnetic Lag P07.26 DINT 32 ro #x2727 Over Hal tAlarm Gate P07.27 DINT 32 ro #x2729 VDC Detect Filter P07.29 DINT 32 ro #x2730 Under Voltage AlarmSet P07.30 DINT 32 ro #x2731 Discharge Control Set P07.31 DINT 32 ro #x2732 Discharge Run Gate P07.32 DINT 32 ro #x2733 Discharge Control Magnetic Lag P07.33 DINT 32 ro #x2734 Overvoltage Alarm Set P07.34 DINT 32 ro #x2735 Relay Control Set P07.35 DINT 32 ro #x2736 Relay Run Gate P07.36 DINT 32 ro #x3100 Firmware Version DT3100 48 ro #x4500 Current Error ID UINT 16 ro T #x5000 Internal States DT5000 96 #x5002 ESC Register Interface DT5002 48 #x5004 Sync Interface Parameters DT5004 272 #x5005 DC Compensate Base Value UINT 16 rw T #x5006 Sync Error Detect Setting UINT 16 rw #x5010 Valid Outputs/Inputs Watch Dog Time UINT 16 rw TR #x5011 Internal Actual Position DINT 32 ro T #x5012 Home Interface DT5012 112 #x5013 Motor Not Work Code UINT 16 ro T #x5400 DC Period Setting DT5400 80 #x5500 Absolute Encoder Monitors DT5500 336 #x5501 Motion Monitors DT5501 288 #x5fb8 Touch Probe 3-6 Function DT5FB8 48 #x5fb9 Touch Probe 3-6 Status DT5FB9 48 #x5fba Touch Probe Pos 3-6 Pos Value DT5FBA 144 #x5fbb Touch Probe Pos 3-6 Neg Value DT5FBB 144 #x5fd5 Touch Probe 3-6 Pos Counter DT5FD5 80 #x5fd6 Touch Probe 3-6 Neg Counter DT5FD6 80 #x603f Last error code UINT 16 ro T #x6040 Control word UINT 16 rw R #x6041 Status word UINT 16 ro T #x605a Quick stop option code INT 16 rw #x605b Shutdown option code INT 16 rw #x605c Disable operation option code INT 16 rw #x605d Halt option code INT 16 rw #x605e Fault reaction option code INT 16 rw #x6060 Modes of operation USINT 8 rw R #x6061 Modes of operation display USINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Actual motor position DINT 32 ro T #x6065 Following error window UDINT 32 rw R #x6066 Following error time out UINT 16 rw R #x6067 Position window UDINT 32 rw R #x6068 Position window time UINT 16 rw R #x6069 Velocity sensor actual value DINT 32 ro T #x606b Commanded velocity DINT 32 ro T #x606c Actual motor velocity DINT 32 ro T #x606d Velocity window UINT 16 rw R #x606e Velocity window time UINT 16 rw R #x6071 Target Torque INT 16 rw R #x6072 Max Torque UINT 16 rw R #x6073 Max Current UINT 16 rw R #x6074 Commanded Torque INT 16 ro T #x6075 Motor rated current UDINT 32 rw R #x6077 Actual motor torque INT 16 ro T #x6079 DC link circuit voltage UDINT 32 ro T #x607a Profile target position DINT 32 rw R #x607c Homing offset DINT 32 rw R #x607d Software position limits DT607D 72 Number of Entries Negative software limit position Positive software limit position rw #x607e Polarity USINT 8 rw R #x607f Max Profile velocity UDINT 32 rw R #x6080 Max motor speed UDINT 32 rw R #x6081 Profile target velocity UDINT 32 rw R #x6083 Profile target acceleration UDINT 32 rw R #x6084 Profile target deceleration UDINT 32 rw R #x6085 Quick stop deceleration UDINT 32 rw R #x6087 Torque slope UDINT 32 rw R #x608F Position encoder resolution DT608F 80 Number of Entries Encoder increments Motor revolutions #x6091 Gear ratio DT6091 80 Number of Entries Motor revolutions Shaft revolutions #x6092 Feed constant DT6092 80 Number of Entries Negative software limit position Positive software limit position #x6098 Homing method SINT 8 rw R #x6099 Homing speeds DT6099 80 Number of Entries Homing velocity (fast) Homing velocity (slow) #x609a Homing acceleration UDINT 32 rw R #x60b0 Position offset DINT 32 rw R #x60b1 Velocity offset DINT 32 rw R #x60b2 Torque offset INT 16 rw R #x60b8 Touch Probe Function UINT 16 rw R #x60b9 Touch Probe Status UINT 16 ro T #x60ba Touch Probe Pos1 Pos Value DINT 32 ro T #x60bb Touch Probe Pos1 Neg Value DINT 32 ro T #x60bc Touch Probe Pos2 Pos Value DINT 32 ro T #x60bd Touch Probe Pos2 Neg Value DINT 32 ro T #x60c2 Interpolation time period DT60C2 48 ro #x60c5 Max acceleration UDINT 32 rw R #x60c6 Max deceleration UDINT 32 rw R #x60d5 Touch probe 1 positive edge counter UINT 16 0 ro o T #x60d6 Touch probe 1 negative edge counter UINT 16 0 ro o T #x60d7 Touch probe 2 positive edge counter UINT 16 0 ro o T #x60d8 Touch probe 2 negative edge counter UINT 16 0 ro o T #x60e0 Positive torque limit value UINT 16 rw R #x60e1 Negative torque limit value UINT 16 rw R #x60F4 Position loop error DINT 32 ro T #x60fa Control effort DINT 32 ro T #x60fc Commanded internal position DINT 32 ro T #x60fd Digital inputs UDINT 32 ro T #x60fe Digital outputs DT60FE 72 Number of Entries Physical outputs Bit mask #x60ff Target velocity DINT 32 rw R #x6502 Supported drive modes UDINT 32 ro T MBoxState Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Receive PDO 1 #x6040 0 16 Control word UINT #x607a 0 32 Profile target position DINT #x60b8 0 16 Touch Probe Function UINT #x1601 Receive PDO 2 #x1602 #x1603 #x6040 0 16 Control word UINT #x60ff 0 32 Target velocity DINT #x60b2 0 16 Torque offset INT #x6060 0 8 Modes of operation USINT #x1602 Receive PDO 3 #x1601 #x1603 #x6040 0 16 Control word UINT #x6071 0 16 Target Torque INT #x6087 0 32 Torque slope UDINT #x6060 0 8 Modes of operation USINT #x1603 Receive PDO 4 #x1601 #x1602 #x6040 0 16 Control word UINT #x6098 0 8 Homing method SINT #x6099 1 32 Homing velocity (fast) UDINT #x6099 2 32 Homing velocity (slow) UDINT #x609a 0 32 Homing acceleration UDINT #x607c 0 32 Homing offset DINT #x6060 0 8 Modes of operation USINT #x1a00 Transmit PDO 1 #x603F #x00 16 Last error code UINT #x6041 0 16 Status word UINT #x6061 #x00 8 Modes of operation display SINT #x60F4 0 32 Position loop error DINT #x6077 0 16 Actual motor torque INT #x6064 0 32 Actual motor position DINT #x60B9 #x00 16 Touch Probe Status UINT #x60BA #x00 32 Touch probe pos1 pos value DINT #x60FD #x00 32 Digital inputs UDINT #x1a01 Transmit PDO 2 PS #x6060 0 08 Modes of Operation DC DC-Synchron #x0300 0 0 Free Run Free-Run #x0000 2048 080E02EE409C0000000000000000 00107C0000118000 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