#x4C4E5449 NTI AG 424d76000000000000003e00000028000000100000000e000000010001000000000038000000c40e0000c40e0000000000000000000000000000ffffff00000000000000000000000000444400004c4400004c4400005c44000054440000744400006444000065f40000000000000000000000000000 CiA402 Drives CiA402 Drives 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FFFF00FFC0C0C0FF0000FF0000FF0000808080FF00FF000000000000000000000000000000000000000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF0000000000000000000000000000000000000000000000FF0000FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF000000000000000000000000000000000000000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FF000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF000000000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FF C1250-MIDS-XC-1S http://www.linmot.com CiA402 Drives 402 1 BIT2 2 BIT3 3 BOOL 1 DINT 32 INT 16 WORD 16 UDINT 32 UINT 16 USINT 8 SINT 8 STRING(11) 88 STRING(2) 16 STRING(4) 32 STRING(32) 256 DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1600 272 0 Number of elements USINT 8 0 ro o 1 Output Object 1 UDINT 32 16 ro o 2 Output Object 2 UDINT 32 48 ro o 3 Output Object 3 UDINT 32 80 ro o 4 Output Object 4 UDINT 32 112 ro o 5 Output Object 5 UDINT 32 144 ro o 6 Output Object 6 UDINT 32 176 ro o 7 Output Object 7 UDINT 32 208 ro o 8 Output Object 8 UDINT 32 240 ro o DT1602 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Target position UDINT 32 48 ro o 3 Modes of Operation UDINT 32 80 ro o 4 Padding Byte UDINT 32 112 ro o DT1603 176 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Modes of Operation UDINT 32 112 rw o 5 Padding Byte UDINT 32 144 rw o DT1604 208 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Target torque UDINT 32 112 rw o 5 Modes of Operation UDINT 32 144 rw o 6 Padding Byte UDINT 32 176 rw o DT1606 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target torque UDINT 32 48 rw o 3 Modes of Operation UDINT 32 80 rw o 4 Padding Byte UDINT 32 112 rw o DT1613 112 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o DT1614 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Target torque UDINT 32 112 rw o DT1700 240 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 MotionCommandHeader UDINT 32 48 ro o 3 Motion Command Par 1 UDINT 32 80 ro o 4 Motion Command Par 2 UDINT 32 112 ro o 5 Motion Command Par 3 UDINT 32 144 ro o 6 Motion Command Par 4 UDINT 32 176 ro o 7 Motion Command Par 5 UDINT 32 208 ro o DT1701 144 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 SetpointPosition UDINT 32 48 ro o 3 Setpoint Velocity UDINT 32 80 ro o 4 Setpoint Acceleration UDINT 32 112 ro o DT1708 112 0 SubIndex 000 USINT 8 0 ro o 1 Config ControlWord UDINT 32 16 ro o 2 Config Index Out UDINT 32 48 ro o 3 Config Value Out UDINT 32 80 ro o DT1711 80 0 SubIndex 000 USINT 8 0 ro o 1 Positive torque/force limit UDINT 32 16 ro o 2 Negative torque/force limit UDINT 32 48 ro o DT172x 48 0 SubIndex 000 USINT 8 0 ro o 1 Par Channel UDINT 32 16 ro o DT1A00 272 0 Number of elements USINT 8 0 ro o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o DT1A02 208 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 DemandPosition UDINT 32 80 ro o 4 DemandCurrent UDINT 32 112 ro o 5 Modes of Operation display UDINT 32 144 ro o 6 Padding Byte UDINT 32 176 ro o DT1A03 208 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 Position demand value UDINT 32 80 ro o 4 Torque actual value UDINT 32 112 ro o 5 Modes of Operation display UDINT 32 144 ro o 6 Padding Byte UDINT 32 176 ro o DT1A12 144 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 DemandPosition UDINT 32 80 ro o 4 DemandCurrent UDINT 32 112 ro o DT1A21 528 0 Number of elements USINT 8 0 ro o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o 9 Input Object 9 UDINT 32 272 rw o 10 Input Object 10 UDINT 32 304 rw o 11 Input Object 11 UDINT 32 336 rw o 12 Input Object 12 UDINT 32 368 rw o 13 Input Object 13 UDINT 32 400 rw o 14 Input Object 14 UDINT 32 432 rw o 15 Input Object 15 UDINT 32 464 rw o 16 Input Object 16 UDINT 32 496 rw o DT1B00 208 0 SubIndex 000 USINT 8 0 ro o 1 StateVar UDINT 32 16 ro o 2 StatusWord UDINT 32 48 ro o 3 WarnWord UDINT 32 80 ro o 4 DemandPosition UDINT 32 112 ro o 5 ActualPosition UDINT 32 144 ro o 6 DemandCurrent UDINT 32 176 ro o DT1B03 48 0 SubIndex 000 USINT 8 0 ro o 1 StateVar UDINT 32 16 ro o DT1B08 112 0 SubIndex 000 USINT 8 0 ro o 1 Config Status Word UDINT 32 16 ro o 2 Config Index In UDINT 32 48 ro o 3 Config Value In UDINT 32 80 ro o DT1B10 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Dem Vel UDINT 32 16 ro o DT1B11 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Act Vel UDINT 32 16 ro o DT1B12 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Act Vel Filt UDINT 32 16 ro o DT1B2x 48 0 SubIndex 000 USINT 8 0 ro o 1 Mon Channel UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of elements USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C1XARR UINT 128 1 8 DT1C1X 144 0 SubIndex 000 USINT 8 0 rw o Elements DT1C1XARR 128 16 rw o DT1C3X 209 0 SubIndex 000 USINT 8 0 ro 1 Sync mode UINT 16 16 rw 2 Cycle Time UDINT 32 32 rw 4 Synchronization Types supported UINT 16 64 ro 5 Minimum Cycle Time UDINT 32 80 ro 6 Calc and Copy Time UDINT 32 112 ro 9 Delay Time UDINT 32 144 ro 11 SM event missed counter UINT 16 176 ro 12 Cycle exceeded counter UINT 16 192 ro 32 Sync Error BOOL 1 208 ro DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min position limit DINT 32 16 rw 1 2 Max position limit DINT 32 48 rw 1 DT6099 80 0 Number of entries USINT 8 0 1 Speed during search for switch UDINT 32 16 rw m 2 Speed during search for zero UDINT 32 48 rw m DT60A4 48 0 Number of entries USINT 8 0 ro m 1 Profile jerk 1 UDINT 32 16 rw m #x1000 Device type UDINT 32 92010200 ro m #x1001 Error Register USINT 8 ro m #x1008 Device name STRING(11) 88 3030303030303030303030 ro m #x1009 Hardware version STRING(4) 32 30303030 ro o #x100A Software version STRING(32) 256 3030303030303030303030303030303030303030303030303030303030303030 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 49544E4C Product code 540B9600 Revision 09000100 Serial number 00000000 ro o #x1602 Cyclic Position Mode DT1602 144 ro o #x1603 Cyclic Position Velocity Mode DT1603 176 ro o #x1604 Cyclic Position Velocity Torque Mode DT1604 208 ro o #x1606 Cyclic Torque Mode DT1606 144 ro o #x1613 Cyclic Position Velocity DT1613 112 ro o #x1614 Cyclic Position Velocity Torque DT1614 144 ro o #x1620 User Defined Outputs DT1600 272 ro o #x1708 Config Module DT1708 112 ro o #x1711 Torque/force limits DT1711 80 ro o #x1728 Par Channel 1 DT172x 48 ro o #x1729 Par Channel 2 DT172x 48 ro o #x172A Par Channel 3 DT172x 48 ro o #x172B Par Channel 4 DT172x 48 ro o #x1A02 Cyclic Mode Inputs DT1A02 208 ro o #x1A03 Cyclic Mode Inputs 2 DT1A03 208 ro o #x1A12 Cyclic Inputs DT1A12 144 ro o #x1A20 User Defined Inputs DT1A00 272 rw o #x1A21 User Defined Inputs_2 DT1A21 528 rw o #x1B00 Default Inputs DT1B00 208 ro o #x1B01 NC Inputs DT1B00 208 ro o #x1B03 StateVar DT1B03 48 ro o #x1b08 Config Module DT1B08 112 ro o #x1b10 Input DemVel DT1B10 48 ro o #x1b11 Input ActVel DT1B11 48 ro o #x1b12 Input ActVelFilt DT1B12 48 ro o #x1b28 Mon Channel 1 DT1B2x 48 ro o #x1b29 Mon Channel 2 DT1B2x 48 ro o #x1b2A Mon Channel 3 DT1B2x 48 ro o #x1b2B Mon Channel 4 DT1B2x 48 ro o #x1c00 Sync manager type DT1C00 48 ro o #x1C12 Sync Manager 2 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1603 rw #x1C13 Sync Manager 3 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1A02 rw #x1c32 SM output parameter DT1C3X 209 SubIndex 000 20 ro #x1c33 SM input parameter DT1C3X 209 SubIndex 000 20 ro #x6007 Abort connection option code INT 16 0000 rw o #x603F Error code UINT 16 ro o T #x6040 Controlword UINT 16 rw o R #x6041 Statusword UINT 16 ro o T #x6060 Modes of operation SINT 8 rw o R #x6061 Modes of operation display SINT 8 ro o T #x6062 Position demand value DINT 32 ro o T #x6064 Position actual value ( units ) DINT 32 ro o T #x606B Velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x6071 Target torque INT 16 rw o R #x6072 Max Torque UINT 16 rw o R #x6077 Torque actual value INT 16 ro o T #x607a Target position DINT 32 rw o R #x607c Home offset DINT 32 rw o R #x607D Software position limit DT607D 80 SubIndex 000 02 ro o #x607F Max profile velocity UDINT 32 rw o R #x6081 Profile velocity UDINT 32 rw o R #x6083 Profile acceleration UDINT 32 rw o R #x6084 Profile deceleration UDINT 32 rw o R #x6085 Quick stop deceleration UDINT 32 rw o R #x6086 Motion profile type INT 16 rw o R #x6098 Homing method SINT 8 rw o #x6099 Homing speeds DT6099 80 Number of entries 02 ro o #x609a Homing acceleration UDINT 32 rw o #x60A3 Profile jerk use USINT 8 rw o #x60A4 Profile jerk DT60A4 48 Number of entries 01 rw o #x60e0 Positive torque limit value UINT 16 rw o R #x60e1 Negative torque limit value UINT 16 rw o R #x60F4 Following error actual value DINT 32 ro o T #x60FC Position demand internal value DINT 32 ro o #x60FD Digital Inputs UDINT 32 ro o T #x60FF Target velocity Command speed for the csv mode DINT 32 rw R #x6502 Supported Drive Modes UDINT 32 ro o T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1602 Cylic Position Mode #x1603 #x1604 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1603 Cylic Position Velocity Mode #x1602 #x1604 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1604 Cylic Position Velocity Torque Mode #x1602 #x1603 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1606 Cylic Torque Mode #x1602 #x1603 #x1604 #x1613 #x1614 #x6040 0 16 Controlword UINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1613 Cylic Position Velocity #x1602 #x1603 #x1604 #x1606 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x1614 Cylic Position Velocity Torque #x1602 #x1603 #x1604 #x1606 #x1613 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x1620 User Defined Outputs #x1700 Default Outputs #x1602 #x1603 #x1604 #x1613 #x1614 #x1D52 0 16 Control Word UINT #x1DB0 0 16 Motion Command Header UINT #x1E40 0 32 Motion Command Par 1 DINT #x1E41 0 32 Motion Command Par 2 DINT #x1E42 0 32 Motion Command Par 3 DINT #x1E43 0 32 Motion Command Par 4 DINT #x1E44 0 32 Motion Command Par 5 DINT #x1708 Config Module #x1709 0 16 Config Control Word UINT #x170A 0 16 Config Index Out UINT #x170B 0 32 Config Value Out DINT #x1710 Max Current Set A #x13A6 0 32 Max Current Set A UDINT #x1711 Torque/force limits #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x1728 Par Channel 1 #x20B0 0 32 Par Channel 1 DINT #x1729 Par Channel 2 #x20B1 0 32 Par Channel 2 DINT #x172A Par Channel 3 #x20B2 0 32 Par Channel 3 DINT #x172B Par Channel 4 #x20B3 0 32 Par Channel 4 DINT #x1A02 Cylic Mode Inputs #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x1B8A 0 32 DemandPosition DINT #x1B93 0 32 DemandCurrent DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 Byte Padding USINT #x1A03 Cylic Mode Inputs 2 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x6062 0 32 Position demand value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x0000 0 8 Byte Padding USINT #x1A12 Cylic Inputs #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x1B8A 0 32 DemandPosition DINT #x1B93 0 32 DemandCurrent DINT #x1A20 User Defined Inputs #x1A21 User Defined Inputs_2 #x1b03 StateVar #x1b62 0 16 StateVar UINT #x1b00 Default Inputs #x1A02 #x1A03 #x1B62 0 16 StateVar UINT #x1D51 0 16 StatusWord UINT #x1D8E 0 16 WarnWord UINT #x1B8A 0 32 DemandPosition DINT #x1B8D 0 32 ActualPosition DINT #x1B93 0 32 DemandCurrent DINT #x1b08 Config Module #x1B09 0 16 Config Status Word UINT #x1B0A 0 16 Config Index In UINT #x1B0B 0 32 Config Value In DINT #x1b10 Input DemVel #x1B8B 0 32 DemandVelocity DINT #x1b11 Input ActVel #x1B8E 0 32 ActualVelocity DINT #x1b12 Input ActVelFilt #x1BAF 0 32 ActualVelocityFilt DINT #x1b28 Mon Channel 1 #x20A8 0 32 Mon Channel 1 DINT #x1b29 Mon Channel 2 #x20A9 0 32 Mon Channel 2 DINT #x1b2A Mon Channel 3 #x20AA 0 32 Mon Channel 3 DINT #x1b2B Mon Channel 4 #x20AB 0 32 Mon Channel 4 DINT #x1b16 Input DemCurrFilt #x1B98 0 32 DemandCurrentFilt DINT DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 65536 060000CCE8030000 0010800080108000 424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff C1250-MIDS-XC-0S http://www.linmot.com CiA402 Drives 402 1 BIT2 2 BIT3 3 BOOL 1 DINT 32 INT 16 WORD 16 UDINT 32 UINT 16 USINT 8 SINT 8 STRING(11) 88 STRING(2) 16 STRING(4) 32 STRING(32) 256 DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1600 272 0 Number of elements USINT 8 0 ro o 1 Output Object 1 UDINT 32 16 ro o 2 Output Object 2 UDINT 32 48 ro o 3 Output Object 3 UDINT 32 80 ro o 4 Output Object 4 UDINT 32 112 ro o 5 Output Object 5 UDINT 32 144 ro o 6 Output Object 6 UDINT 32 176 ro o 7 Output Object 7 UDINT 32 208 ro o 8 Output Object 8 UDINT 32 240 ro o DT1602 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Target position UDINT 32 48 ro o 3 Modes of Operation UDINT 32 80 ro o 4 Padding Byte UDINT 32 112 ro o DT1603 176 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Modes of Operation UDINT 32 112 rw o 5 Padding Byte UDINT 32 144 rw o DT1604 208 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Target torque UDINT 32 112 rw o 5 Modes of Operation UDINT 32 144 rw o 6 Padding Byte UDINT 32 176 rw o DT1606 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target torque UDINT 32 48 rw o 3 Modes of Operation UDINT 32 80 rw o 4 Padding Byte UDINT 32 112 rw o DT1613 112 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o DT1614 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Target torque UDINT 32 112 rw o DT1700 240 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 MotionCommandHeader UDINT 32 48 ro o 3 Motion Command Par 1 UDINT 32 80 ro o 4 Motion Command Par 2 UDINT 32 112 ro o 5 Motion Command Par 3 UDINT 32 144 ro o 6 Motion Command Par 4 UDINT 32 176 ro o 7 Motion Command Par 5 UDINT 32 208 ro o DT1701 144 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 SetpointPosition UDINT 32 48 ro o 3 Setpoint Velocity UDINT 32 80 ro o 4 Setpoint Acceleration UDINT 32 112 ro o DT1708 112 0 SubIndex 000 USINT 8 0 ro o 1 Config ControlWord UDINT 32 16 ro o 2 Config Index Out UDINT 32 48 ro o 3 Config Value Out UDINT 32 80 ro o DT1711 80 0 SubIndex 000 USINT 8 0 ro o 1 Positive torque/force limit UDINT 32 16 ro o 2 Negative torque/force limit UDINT 32 48 ro o DT172x 48 0 SubIndex 000 USINT 8 0 ro o 1 Par Channel UDINT 32 16 ro o DT1A00 272 0 Number of elements USINT 8 0 ro o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o DT1A02 208 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 DemandPosition UDINT 32 80 ro o 4 DemandCurrent UDINT 32 112 ro o 5 Modes of Operation display UDINT 32 144 ro o 6 Padding Byte UDINT 32 176 ro o DT1A03 208 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 Position demand value UDINT 32 80 ro o 4 Torque actual value UDINT 32 112 ro o 5 Modes of Operation display UDINT 32 144 ro o 6 Padding Byte UDINT 32 176 ro o DT1A12 144 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 DemandPosition UDINT 32 80 ro o 4 DemandCurrent UDINT 32 112 ro o DT1A21 528 0 Number of elements USINT 8 0 ro o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o 9 Input Object 9 UDINT 32 272 rw o 10 Input Object 10 UDINT 32 304 rw o 11 Input Object 11 UDINT 32 336 rw o 12 Input Object 12 UDINT 32 368 rw o 13 Input Object 13 UDINT 32 400 rw o 14 Input Object 14 UDINT 32 432 rw o 15 Input Object 15 UDINT 32 464 rw o 16 Input Object 16 UDINT 32 496 rw o DT1B00 208 0 SubIndex 000 USINT 8 0 ro o 1 StateVar UDINT 32 16 ro o 2 StatusWord UDINT 32 48 ro o 3 WarnWord UDINT 32 80 ro o 4 DemandPosition UDINT 32 112 ro o 5 ActualPosition UDINT 32 144 ro o 6 DemandCurrent UDINT 32 176 ro o DT1B03 48 0 SubIndex 000 USINT 8 0 ro o 1 StateVar UDINT 32 16 ro o DT1B08 112 0 SubIndex 000 USINT 8 0 ro o 1 Config Status Word UDINT 32 16 ro o 2 Config Index In UDINT 32 48 ro o 3 Config Value In UDINT 32 80 ro o DT1B10 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Dem Vel UDINT 32 16 ro o DT1B11 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Act Vel UDINT 32 16 ro o DT1B12 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Act Vel Filt UDINT 32 16 ro o DT1B2x 48 0 SubIndex 000 USINT 8 0 ro o 1 Mon Channel UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of elements USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C1XARR UINT 128 1 8 DT1C1X 144 0 SubIndex 000 USINT 8 0 rw o Elements DT1C1XARR 128 16 rw o DT1C3X 209 0 SubIndex 000 USINT 8 0 ro 1 Sync mode UINT 16 16 rw 2 Cycle Time UDINT 32 32 rw 4 Synchronization Types supported UINT 16 64 ro 5 Minimum Cycle Time UDINT 32 80 ro 6 Calc and Copy Time UDINT 32 112 ro 9 Delay Time UDINT 32 144 ro 11 SM event missed counter UINT 16 176 ro 12 Cycle exceeded counter UINT 16 192 ro 32 Sync Error BOOL 1 208 ro DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min position limit DINT 32 16 rw 1 2 Max position limit DINT 32 48 rw 1 DT6099 80 0 Number of entries USINT 8 0 1 Speed during search for switch UDINT 32 16 rw m 2 Speed during search for zero UDINT 32 48 rw m DT60A4 48 0 Number of entries USINT 8 0 ro m 1 Profile jerk 1 UDINT 32 16 rw m #x1000 Device type UDINT 32 92010200 ro m #x1001 Error Register USINT 8 ro m #x1008 Device name STRING(11) 88 3030303030303030303030 ro m #x1009 Hardware version STRING(4) 32 30303030 ro o #x100A Software version STRING(32) 256 3030303030303030303030303030303030303030303030303030303030303030 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 49544E4C Product code 540B9600 Revision 09000100 Serial number 00000000 ro o #x1602 Cyclic Position Mode DT1602 144 ro o #x1603 Cyclic Position Velocity Mode DT1603 176 ro o #x1604 Cyclic Position Velocity Torque Mode DT1604 208 ro o #x1606 Cyclic Torque Mode DT1606 144 ro o #x1613 Cyclic Position Velocity DT1613 112 ro o #x1614 Cyclic Position Velocity Torque DT1614 144 ro o #x1620 User Defined Outputs DT1600 272 ro o #x1708 Config Module DT1708 112 ro o #x1711 Torque/force limits DT1711 80 ro o #x1728 Par Channel 1 DT172x 48 ro o #x1729 Par Channel 2 DT172x 48 ro o #x172A Par Channel 3 DT172x 48 ro o #x172B Par Channel 4 DT172x 48 ro o #x1A02 Cyclic Mode Inputs DT1A02 208 ro o #x1A03 Cyclic Mode Inputs 2 DT1A03 208 ro o #x1A12 Cyclic Inputs DT1A12 144 ro o #x1A20 User Defined Inputs DT1A00 272 rw o #x1A21 User Defined Inputs_2 DT1A21 528 rw o #x1B00 Default Inputs DT1B00 208 ro o #x1B01 NC Inputs DT1B00 208 ro o #x1B03 StateVar DT1B03 48 ro o #x1b08 Config Module DT1B08 112 ro o #x1b10 Input DemVel DT1B10 48 ro o #x1b11 Input ActVel DT1B11 48 ro o #x1b12 Input ActVelFilt DT1B12 48 ro o #x1b28 Mon Channel 1 DT1B2x 48 ro o #x1b29 Mon Channel 2 DT1B2x 48 ro o #x1b2A Mon Channel 3 DT1B2x 48 ro o #x1b2B Mon Channel 4 DT1B2x 48 ro o #x1c00 Sync manager type DT1C00 48 ro o #x1C12 Sync Manager 2 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1603 rw #x1C13 Sync Manager 3 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1A02 rw #x1c32 SM output parameter DT1C3X 209 SubIndex 000 20 ro #x1c33 SM input parameter DT1C3X 209 SubIndex 000 20 ro #x6007 Abort connection option code INT 16 0000 rw o #x603F Error code UINT 16 ro o T #x6040 Controlword UINT 16 rw o R #x6041 Statusword UINT 16 ro o T #x6060 Modes of operation SINT 8 rw o R #x6061 Modes of operation display SINT 8 ro o T #x6062 Position demand value DINT 32 ro o T #x6064 Position actual value ( units ) DINT 32 ro o T #x606B Velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x6071 Target torque INT 16 rw o R #x6072 Max Torque UINT 16 rw o R #x6077 Torque actual value INT 16 ro o T #x607a Target position DINT 32 rw o R #x607c Home offset DINT 32 rw o R #x607D Software position limit DT607D 80 SubIndex 000 02 ro o #x607F Max profile velocity UDINT 32 rw o R #x6081 Profile velocity UDINT 32 rw o R #x6083 Profile acceleration UDINT 32 rw o R #x6084 Profile deceleration UDINT 32 rw o R #x6085 Quick stop deceleration UDINT 32 rw o R #x6086 Motion profile type INT 16 rw o R #x6098 Homing method SINT 8 rw o #x6099 Homing speeds DT6099 80 Number of entries 02 ro o #x609a Homing acceleration UDINT 32 rw o #x60A3 Profile jerk use USINT 8 rw o #x60A4 Profile jerk DT60A4 48 Number of entries 01 rw o #x60e0 Positive torque limit value UINT 16 rw o R #x60e1 Negative torque limit value UINT 16 rw o R #x60F4 Following error actual value DINT 32 ro o T #x60FC Position demand internal value DINT 32 ro o #x60FD Digital Inputs UDINT 32 ro o T #x60FF Target velocity Command speed for the csv mode DINT 32 rw R #x6502 Supported Drive Modes UDINT 32 ro o T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1602 Cylic Position Mode #x1603 #x1604 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1603 Cylic Position Velocity Mode #x1602 #x1604 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1604 Cylic Position Velocity Torque Mode #x1602 #x1603 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1606 Cylic Torque Mode #x1602 #x1603 #x1604 #x1613 #x1614 #x6040 0 16 Controlword UINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1613 Cylic Position Velocity #x1602 #x1603 #x1604 #x1606 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x1614 Cylic Position Velocity Torque #x1602 #x1603 #x1604 #x1606 #x1613 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x1620 User Defined Outputs #x1700 Default Outputs #x1602 #x1603 #x1604 #x1613 #x1614 #x1D52 0 16 Control Word UINT #x1DB0 0 16 Motion Command Header UINT #x1E40 0 32 Motion Command Par 1 DINT #x1E41 0 32 Motion Command Par 2 DINT #x1E42 0 32 Motion Command Par 3 DINT #x1E43 0 32 Motion Command Par 4 DINT #x1E44 0 32 Motion Command Par 5 DINT #x1708 Config Module #x1709 0 16 Config Control Word UINT #x170A 0 16 Config Index Out UINT #x170B 0 32 Config Value Out DINT #x1710 Max Current Set A #x13A6 0 32 Max Current Set A UDINT #x1711 Torque/force limits #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x1728 Par Channel 1 #x20B0 0 32 Par Channel 1 DINT #x1729 Par Channel 2 #x20B1 0 32 Par Channel 2 DINT #x172A Par Channel 3 #x20B2 0 32 Par Channel 3 DINT #x172B Par Channel 4 #x20B3 0 32 Par Channel 4 DINT #x1A02 Cylic Mode Inputs #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x1B8A 0 32 DemandPosition DINT #x1B93 0 32 DemandCurrent DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 Byte Padding USINT #x1A03 Cylic Mode Inputs 2 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x6062 0 32 Position demand value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x0000 0 8 Byte Padding USINT #x1A12 Cylic Inputs #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x1B8A 0 32 DemandPosition DINT #x1B93 0 32 DemandCurrent DINT #x1A20 User Defined Inputs #x1A21 User Defined Inputs_2 #x1b03 StateVar #x1b62 0 16 StateVar UINT #x1b00 Default Inputs #x1A02 #x1A03 #x1B62 0 16 StateVar UINT #x1D51 0 16 StatusWord UINT #x1D8E 0 16 WarnWord UINT #x1B8A 0 32 DemandPosition DINT #x1B8D 0 32 ActualPosition DINT #x1B93 0 32 DemandCurrent DINT #x1b08 Config Module #x1B09 0 16 Config Status Word UINT #x1B0A 0 16 Config Index In UINT #x1B0B 0 32 Config Value In DINT #x1b10 Input DemVel #x1B8B 0 32 DemandVelocity DINT #x1b11 Input ActVel #x1B8E 0 32 ActualVelocity DINT #x1b12 Input ActVelFilt #x1BAF 0 32 ActualVelocityFilt DINT #x1b28 Mon Channel 1 #x20A8 0 32 Mon Channel 1 DINT #x1b29 Mon Channel 2 #x20A9 0 32 Mon Channel 2 DINT #x1b2A Mon Channel 3 #x20AA 0 32 Mon Channel 3 DINT #x1b2B Mon Channel 4 #x20AB 0 32 Mon Channel 4 DINT #x1b16 Input DemCurrFilt #x1B98 0 32 DemandCurrentFilt DINT DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 65536 060000CCE8030000 0010800080108000 424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff E1450-MIDS-QN-1S http://www.linmot.com CiA402 Drives 402 1 BIT2 2 BIT3 3 BOOL 1 DINT 32 INT 16 WORD 16 UDINT 32 UINT 16 USINT 8 SINT 8 STRING(11) 88 STRING(2) 16 STRING(4) 32 STRING(32) 256 DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1600 272 0 Number of elements USINT 8 0 ro o 1 Output Object 1 UDINT 32 16 ro o 2 Output Object 2 UDINT 32 48 ro o 3 Output Object 3 UDINT 32 80 ro o 4 Output Object 4 UDINT 32 112 ro o 5 Output Object 5 UDINT 32 144 ro o 6 Output Object 6 UDINT 32 176 ro o 7 Output Object 7 UDINT 32 208 ro o 8 Output Object 8 UDINT 32 240 ro o DT1602 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Target position UDINT 32 48 ro o 3 Modes of Operation UDINT 32 80 ro o 4 Padding Byte UDINT 32 112 ro o DT1603 176 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Modes of Operation UDINT 32 112 rw o 5 Padding Byte UDINT 32 144 rw o DT1604 208 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Target torque UDINT 32 112 rw o 5 Modes of Operation UDINT 32 144 rw o 6 Padding Byte UDINT 32 176 rw o DT1606 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target torque UDINT 32 48 rw o 3 Modes of Operation UDINT 32 80 rw o 4 Padding Byte UDINT 32 112 rw o DT1613 112 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o DT1614 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Target torque UDINT 32 112 rw o DT1700 240 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 MotionCommandHeader UDINT 32 48 ro o 3 Motion Command Par 1 UDINT 32 80 ro o 4 Motion Command Par 2 UDINT 32 112 ro o 5 Motion Command Par 3 UDINT 32 144 ro o 6 Motion Command Par 4 UDINT 32 176 ro o 7 Motion Command Par 5 UDINT 32 208 ro o DT1701 144 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 SetpointPosition UDINT 32 48 ro o 3 Setpoint Velocity UDINT 32 80 ro o 4 Setpoint Acceleration UDINT 32 112 ro o DT1708 112 0 SubIndex 000 USINT 8 0 ro o 1 Config ControlWord UDINT 32 16 ro o 2 Config Index Out UDINT 32 48 ro o 3 Config Value Out UDINT 32 80 ro o DT1711 80 0 SubIndex 000 USINT 8 0 ro o 1 Positive torque/force limit UDINT 32 16 ro o 2 Negative torque/force limit UDINT 32 48 ro o DT172x 48 0 SubIndex 000 USINT 8 0 ro o 1 Par Channel UDINT 32 16 ro o DT1A00 272 0 Number of elements USINT 8 0 ro o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o DT1A02 208 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 DemandPosition UDINT 32 80 ro o 4 DemandCurrent UDINT 32 112 ro o 5 Modes of Operation display UDINT 32 144 ro o 6 Padding Byte UDINT 32 176 ro o DT1A03 208 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 Position demand value UDINT 32 80 ro o 4 Torque actual value UDINT 32 112 ro o 5 Modes of Operation display UDINT 32 144 ro o 6 Padding Byte UDINT 32 176 ro o DT1A12 144 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 DemandPosition UDINT 32 80 ro o 4 DemandCurrent UDINT 32 112 ro o DT1A21 528 0 Number of elements USINT 8 0 ro o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o 9 Input Object 9 UDINT 32 272 rw o 10 Input Object 10 UDINT 32 304 rw o 11 Input Object 11 UDINT 32 336 rw o 12 Input Object 12 UDINT 32 368 rw o 13 Input Object 13 UDINT 32 400 rw o 14 Input Object 14 UDINT 32 432 rw o 15 Input Object 15 UDINT 32 464 rw o 16 Input Object 16 UDINT 32 496 rw o DT1B00 208 0 SubIndex 000 USINT 8 0 ro o 1 StateVar UDINT 32 16 ro o 2 StatusWord UDINT 32 48 ro o 3 WarnWord UDINT 32 80 ro o 4 DemandPosition UDINT 32 112 ro o 5 ActualPosition UDINT 32 144 ro o 6 DemandCurrent UDINT 32 176 ro o DT1B03 48 0 SubIndex 000 USINT 8 0 ro o 1 StateVar UDINT 32 16 ro o DT1B08 112 0 SubIndex 000 USINT 8 0 ro o 1 Config Status Word UDINT 32 16 ro o 2 Config Index In UDINT 32 48 ro o 3 Config Value In UDINT 32 80 ro o DT1B10 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Dem Vel UDINT 32 16 ro o DT1B11 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Act Vel UDINT 32 16 ro o DT1B12 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Act Vel Filt UDINT 32 16 ro o DT1B2x 48 0 SubIndex 000 USINT 8 0 ro o 1 Mon Channel UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of elements USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C1XARR UINT 128 1 8 DT1C1X 144 0 SubIndex 000 USINT 8 0 rw o Elements DT1C1XARR 128 16 rw o DT1C3X 209 0 SubIndex 000 USINT 8 0 ro 1 Sync mode UINT 16 16 rw 2 Cycle Time UDINT 32 32 rw 4 Synchronization Types supported UINT 16 64 ro 5 Minimum Cycle Time UDINT 32 80 ro 6 Calc and Copy Time UDINT 32 112 ro 9 Delay Time UDINT 32 144 ro 11 SM event missed counter UINT 16 176 ro 12 Cycle exceeded counter UINT 16 192 ro 32 Sync Error BOOL 1 208 ro DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min position limit DINT 32 16 rw 1 2 Max position limit DINT 32 48 rw 1 DT6099 80 0 Number of entries USINT 8 0 1 Speed during search for switch UDINT 32 16 rw m 2 Speed during search for zero UDINT 32 48 rw m DT60A4 48 0 Number of entries USINT 8 0 ro m 1 Profile jerk 1 UDINT 32 16 rw m #x1000 Device type UDINT 32 92010200 ro m #x1001 Error Register USINT 8 ro m #x1008 Device name STRING(11) 88 3030303030303030303030 ro m #x1009 Hardware version STRING(4) 32 30303030 ro o #x100A Software version STRING(32) 256 3030303030303030303030303030303030303030303030303030303030303030 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 49544E4C Product code 540B9600 Revision 09000100 Serial number 00000000 ro o #x1602 Cyclic Position Mode DT1602 144 ro o #x1603 Cyclic Position Velocity Mode DT1603 176 ro o #x1604 Cyclic Position Velocity Torque Mode DT1604 208 ro o #x1606 Cyclic Torque Mode DT1606 144 ro o #x1613 Cyclic Position Velocity DT1613 112 ro o #x1614 Cyclic Position Velocity Torque DT1614 144 ro o #x1620 User Defined Outputs DT1600 272 ro o #x1708 Config Module DT1708 112 ro o #x1711 Torque/force limits DT1711 80 ro o #x1728 Par Channel 1 DT172x 48 ro o #x1729 Par Channel 2 DT172x 48 ro o #x172A Par Channel 3 DT172x 48 ro o #x172B Par Channel 4 DT172x 48 ro o #x1A02 Cyclic Mode Inputs DT1A02 208 ro o #x1A03 Cyclic Mode Inputs 2 DT1A03 208 ro o #x1A12 Cyclic Inputs DT1A12 144 ro o #x1A20 User Defined Inputs DT1A00 272 rw o #x1A21 User Defined Inputs_2 DT1A21 528 rw o #x1B00 Default Inputs DT1B00 208 ro o #x1B01 NC Inputs DT1B00 208 ro o #x1B03 StateVar DT1B03 48 ro o #x1b08 Config Module DT1B08 112 ro o #x1b10 Input DemVel DT1B10 48 ro o #x1b11 Input ActVel DT1B11 48 ro o #x1b12 Input ActVelFilt DT1B12 48 ro o #x1b28 Mon Channel 1 DT1B2x 48 ro o #x1b29 Mon Channel 2 DT1B2x 48 ro o #x1b2A Mon Channel 3 DT1B2x 48 ro o #x1b2B Mon Channel 4 DT1B2x 48 ro o #x1c00 Sync manager type DT1C00 48 ro o #x1C12 Sync Manager 2 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1603 rw #x1C13 Sync Manager 3 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1A02 rw #x1c32 SM output parameter DT1C3X 209 SubIndex 000 20 ro #x1c33 SM input parameter DT1C3X 209 SubIndex 000 20 ro #x6007 Abort connection option code INT 16 0000 rw o #x603F Error code UINT 16 ro o T #x6040 Controlword UINT 16 rw o R #x6041 Statusword UINT 16 ro o T #x6060 Modes of operation SINT 8 rw o R #x6061 Modes of operation display SINT 8 ro o T #x6062 Position demand value DINT 32 ro o T #x6064 Position actual value ( units ) DINT 32 ro o T #x606B Velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x6071 Target torque INT 16 rw o R #x6072 Max Torque UINT 16 rw o R #x6077 Torque actual value INT 16 ro o T #x607a Target position DINT 32 rw o R #x607c Home offset DINT 32 rw o R #x607D Software position limit DT607D 80 SubIndex 000 02 ro o #x607F Max profile velocity UDINT 32 rw o R #x6081 Profile velocity UDINT 32 rw o R #x6083 Profile acceleration UDINT 32 rw o R #x6084 Profile deceleration UDINT 32 rw o R #x6085 Quick stop deceleration UDINT 32 rw o R #x6086 Motion profile type INT 16 rw o R #x6098 Homing method SINT 8 rw o #x6099 Homing speeds DT6099 80 Number of entries 02 ro o #x609a Homing acceleration UDINT 32 rw o #x60A3 Profile jerk use USINT 8 rw o #x60A4 Profile jerk DT60A4 48 Number of entries 01 rw o #x60e0 Positive torque limit value UINT 16 rw o R #x60e1 Negative torque limit value UINT 16 rw o R #x60F4 Following error actual value DINT 32 ro o T #x60FC Position demand internal value DINT 32 ro o #x60FD Digital Inputs UDINT 32 ro o T #x60FF Target velocity Command speed for the csv mode DINT 32 rw R #x6502 Supported Drive Modes UDINT 32 ro o T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1602 Cylic Position Mode #x1603 #x1604 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1603 Cylic Position Velocity Mode #x1602 #x1604 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1604 Cylic Position Velocity Torque Mode #x1602 #x1603 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1606 Cylic Torque Mode #x1602 #x1603 #x1604 #x1613 #x1614 #x6040 0 16 Controlword UINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1613 Cylic Position Velocity #x1602 #x1603 #x1604 #x1606 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x1614 Cylic Position Velocity Torque #x1602 #x1603 #x1604 #x1606 #x1613 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x1620 User Defined Outputs #x1700 Default Outputs #x1602 #x1603 #x1604 #x1613 #x1614 #x1D52 0 16 Control Word UINT #x1DB0 0 16 Motion Command Header UINT #x1E40 0 32 Motion Command Par 1 DINT #x1E41 0 32 Motion Command Par 2 DINT #x1E42 0 32 Motion Command Par 3 DINT #x1E43 0 32 Motion Command Par 4 DINT #x1E44 0 32 Motion Command Par 5 DINT #x1708 Config Module #x1709 0 16 Config Control Word UINT #x170A 0 16 Config Index Out UINT #x170B 0 32 Config Value Out DINT #x1710 Max Current Set A #x13A6 0 32 Max Current Set A UDINT #x1711 Torque/force limits #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x1728 Par Channel 1 #x20B0 0 32 Par Channel 1 DINT #x1729 Par Channel 2 #x20B1 0 32 Par Channel 2 DINT #x172A Par Channel 3 #x20B2 0 32 Par Channel 3 DINT #x172B Par Channel 4 #x20B3 0 32 Par Channel 4 DINT #x1A02 Cylic Mode Inputs #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x1B8A 0 32 DemandPosition DINT #x1B93 0 32 DemandCurrent DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 Byte Padding USINT #x1A03 Cylic Mode Inputs 2 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x6062 0 32 Position demand value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x0000 0 8 Byte Padding USINT #x1A12 Cylic Inputs #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x1B8A 0 32 DemandPosition DINT #x1B93 0 32 DemandCurrent DINT #x1A20 User Defined Inputs #x1A21 User Defined Inputs_2 #x1b03 StateVar #x1b62 0 16 StateVar UINT #x1b00 Default Inputs #x1A02 #x1A03 #x1B62 0 16 StateVar UINT #x1D51 0 16 StatusWord UINT #x1D8E 0 16 WarnWord UINT #x1B8A 0 32 DemandPosition DINT #x1B8D 0 32 ActualPosition DINT #x1B93 0 32 DemandCurrent DINT #x1b08 Config Module #x1B09 0 16 Config Status Word UINT #x1B0A 0 16 Config Index In UINT #x1B0B 0 32 Config Value In DINT #x1b10 Input DemVel #x1B8B 0 32 DemandVelocity DINT #x1b11 Input ActVel #x1B8E 0 32 ActualVelocity DINT #x1b12 Input ActVelFilt #x1BAF 0 32 ActualVelocityFilt DINT #x1b28 Mon Channel 1 #x20A8 0 32 Mon Channel 1 DINT #x1b29 Mon Channel 2 #x20A9 0 32 Mon Channel 2 DINT #x1b2A Mon Channel 3 #x20AA 0 32 Mon Channel 3 DINT #x1b2B Mon Channel 4 #x20AB 0 32 Mon Channel 4 DINT #x1b16 Input DemCurrFilt #x1B98 0 32 DemandCurrentFilt DINT DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 65536 060000CCE8030000 0010800080108000 424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff E1450-MIDS-QN-0S http://www.linmot.com CiA402 Drives 402 1 BIT2 2 BIT3 3 BOOL 1 DINT 32 INT 16 WORD 16 UDINT 32 UINT 16 USINT 8 SINT 8 STRING(11) 88 STRING(2) 16 STRING(4) 32 STRING(32) 256 DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1600 272 0 Number of elements USINT 8 0 ro o 1 Output Object 1 UDINT 32 16 ro o 2 Output Object 2 UDINT 32 48 ro o 3 Output Object 3 UDINT 32 80 ro o 4 Output Object 4 UDINT 32 112 ro o 5 Output Object 5 UDINT 32 144 ro o 6 Output Object 6 UDINT 32 176 ro o 7 Output Object 7 UDINT 32 208 ro o 8 Output Object 8 UDINT 32 240 ro o DT1602 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Target position UDINT 32 48 ro o 3 Modes of Operation UDINT 32 80 ro o 4 Padding Byte UDINT 32 112 ro o DT1603 176 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Modes of Operation UDINT 32 112 rw o 5 Padding Byte UDINT 32 144 rw o DT1604 208 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Target torque UDINT 32 112 rw o 5 Modes of Operation UDINT 32 144 rw o 6 Padding Byte UDINT 32 176 rw o DT1606 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target torque UDINT 32 48 rw o 3 Modes of Operation UDINT 32 80 rw o 4 Padding Byte UDINT 32 112 rw o DT1613 112 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o DT1614 144 0 Number of elements USINT 8 0 ro o 1 Controlword UDINT 32 16 rw o 2 Target position UDINT 32 48 rw o 3 Target velocity UDINT 32 80 rw o 4 Target torque UDINT 32 112 rw o DT1700 240 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 MotionCommandHeader UDINT 32 48 ro o 3 Motion Command Par 1 UDINT 32 80 ro o 4 Motion Command Par 2 UDINT 32 112 ro o 5 Motion Command Par 3 UDINT 32 144 ro o 6 Motion Command Par 4 UDINT 32 176 ro o 7 Motion Command Par 5 UDINT 32 208 ro o DT1701 144 0 SubIndex 000 USINT 8 0 ro o 1 ControlWord UDINT 32 16 ro o 2 SetpointPosition UDINT 32 48 ro o 3 Setpoint Velocity UDINT 32 80 ro o 4 Setpoint Acceleration UDINT 32 112 ro o DT1708 112 0 SubIndex 000 USINT 8 0 ro o 1 Config ControlWord UDINT 32 16 ro o 2 Config Index Out UDINT 32 48 ro o 3 Config Value Out UDINT 32 80 ro o DT1711 80 0 SubIndex 000 USINT 8 0 ro o 1 Positive torque/force limit UDINT 32 16 ro o 2 Negative torque/force limit UDINT 32 48 ro o DT172x 48 0 SubIndex 000 USINT 8 0 ro o 1 Par Channel UDINT 32 16 ro o DT1A00 272 0 Number of elements USINT 8 0 ro o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o DT1A02 208 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 DemandPosition UDINT 32 80 ro o 4 DemandCurrent UDINT 32 112 ro o 5 Modes of Operation display UDINT 32 144 ro o 6 Padding Byte UDINT 32 176 ro o DT1A03 208 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 Position demand value UDINT 32 80 ro o 4 Torque actual value UDINT 32 112 ro o 5 Modes of Operation display UDINT 32 144 ro o 6 Padding Byte UDINT 32 176 ro o DT1A12 144 0 Number of elements USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Position actual value UDINT 32 48 ro o 3 DemandPosition UDINT 32 80 ro o 4 DemandCurrent UDINT 32 112 ro o DT1A21 528 0 Number of elements USINT 8 0 ro o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o 9 Input Object 9 UDINT 32 272 rw o 10 Input Object 10 UDINT 32 304 rw o 11 Input Object 11 UDINT 32 336 rw o 12 Input Object 12 UDINT 32 368 rw o 13 Input Object 13 UDINT 32 400 rw o 14 Input Object 14 UDINT 32 432 rw o 15 Input Object 15 UDINT 32 464 rw o 16 Input Object 16 UDINT 32 496 rw o DT1B00 208 0 SubIndex 000 USINT 8 0 ro o 1 StateVar UDINT 32 16 ro o 2 StatusWord UDINT 32 48 ro o 3 WarnWord UDINT 32 80 ro o 4 DemandPosition UDINT 32 112 ro o 5 ActualPosition UDINT 32 144 ro o 6 DemandCurrent UDINT 32 176 ro o DT1B03 48 0 SubIndex 000 USINT 8 0 ro o 1 StateVar UDINT 32 16 ro o DT1B08 112 0 SubIndex 000 USINT 8 0 ro o 1 Config Status Word UDINT 32 16 ro o 2 Config Index In UDINT 32 48 ro o 3 Config Value In UDINT 32 80 ro o DT1B10 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Dem Vel UDINT 32 16 ro o DT1B11 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Act Vel UDINT 32 16 ro o DT1B12 48 0 SubIndex 000 USINT 8 0 ro o 1 Input Act Vel Filt UDINT 32 16 ro o DT1B2x 48 0 SubIndex 000 USINT 8 0 ro o 1 Mon Channel UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of elements USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C1XARR UINT 128 1 8 DT1C1X 144 0 SubIndex 000 USINT 8 0 rw o Elements DT1C1XARR 128 16 rw o DT1C3X 209 0 SubIndex 000 USINT 8 0 ro 1 Sync mode UINT 16 16 rw 2 Cycle Time UDINT 32 32 rw 4 Synchronization Types supported UINT 16 64 ro 5 Minimum Cycle Time UDINT 32 80 ro 6 Calc and Copy Time UDINT 32 112 ro 9 Delay Time UDINT 32 144 ro 11 SM event missed counter UINT 16 176 ro 12 Cycle exceeded counter UINT 16 192 ro 32 Sync Error BOOL 1 208 ro DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min position limit DINT 32 16 rw 1 2 Max position limit DINT 32 48 rw 1 DT6099 80 0 Number of entries USINT 8 0 1 Speed during search for switch UDINT 32 16 rw m 2 Speed during search for zero UDINT 32 48 rw m DT60A4 48 0 Number of entries USINT 8 0 ro m 1 Profile jerk 1 UDINT 32 16 rw m #x1000 Device type UDINT 32 92010200 ro m #x1001 Error Register USINT 8 ro m #x1008 Device name STRING(11) 88 3030303030303030303030 ro m #x1009 Hardware version STRING(4) 32 30303030 ro o #x100A Software version STRING(32) 256 3030303030303030303030303030303030303030303030303030303030303030 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 49544E4C Product code 540B9600 Revision 09000100 Serial number 00000000 ro o #x1602 Cyclic Position Mode DT1602 144 ro o #x1603 Cyclic Position Velocity Mode DT1603 176 ro o #x1604 Cyclic Position Velocity Torque Mode DT1604 208 ro o #x1606 Cyclic Torque Mode DT1606 144 ro o #x1613 Cyclic Position Velocity DT1613 112 ro o #x1614 Cyclic Position Velocity Torque DT1614 144 ro o #x1620 User Defined Outputs DT1600 272 ro o #x1708 Config Module DT1708 112 ro o #x1711 Torque/force limits DT1711 80 ro o #x1728 Par Channel 1 DT172x 48 ro o #x1729 Par Channel 2 DT172x 48 ro o #x172A Par Channel 3 DT172x 48 ro o #x172B Par Channel 4 DT172x 48 ro o #x1A02 Cyclic Mode Inputs DT1A02 208 ro o #x1A03 Cyclic Mode Inputs 2 DT1A03 208 ro o #x1A12 Cyclic Inputs DT1A12 144 ro o #x1A20 User Defined Inputs DT1A00 272 rw o #x1A21 User Defined Inputs_2 DT1A21 528 rw o #x1B00 Default Inputs DT1B00 208 ro o #x1B01 NC Inputs DT1B00 208 ro o #x1B03 StateVar DT1B03 48 ro o #x1b08 Config Module DT1B08 112 ro o #x1b10 Input DemVel DT1B10 48 ro o #x1b11 Input ActVel DT1B11 48 ro o #x1b12 Input ActVelFilt DT1B12 48 ro o #x1b28 Mon Channel 1 DT1B2x 48 ro o #x1b29 Mon Channel 2 DT1B2x 48 ro o #x1b2A Mon Channel 3 DT1B2x 48 ro o #x1b2B Mon Channel 4 DT1B2x 48 ro o #x1c00 Sync manager type DT1C00 48 ro o #x1C12 Sync Manager 2 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1603 rw #x1C13 Sync Manager 3 PDO Assignment DT1C1X 144 SubIndex 000 01 SubIndex 001 #x1A02 rw #x1c32 SM output parameter DT1C3X 209 SubIndex 000 20 ro #x1c33 SM input parameter DT1C3X 209 SubIndex 000 20 ro #x6007 Abort connection option code INT 16 0000 rw o #x603F Error code UINT 16 ro o T #x6040 Controlword UINT 16 rw o R #x6041 Statusword UINT 16 ro o T #x6060 Modes of operation SINT 8 rw o R #x6061 Modes of operation display SINT 8 ro o T #x6062 Position demand value DINT 32 ro o T #x6064 Position actual value ( units ) DINT 32 ro o T #x606B Velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x6071 Target torque INT 16 rw o R #x6072 Max Torque UINT 16 rw o R #x6077 Torque actual value INT 16 ro o T #x607a Target position DINT 32 rw o R #x607c Home offset DINT 32 rw o R #x607D Software position limit DT607D 80 SubIndex 000 02 ro o #x607F Max profile velocity UDINT 32 rw o R #x6081 Profile velocity UDINT 32 rw o R #x6083 Profile acceleration UDINT 32 rw o R #x6084 Profile deceleration UDINT 32 rw o R #x6085 Quick stop deceleration UDINT 32 rw o R #x6086 Motion profile type INT 16 rw o R #x6098 Homing method SINT 8 rw o #x6099 Homing speeds DT6099 80 Number of entries 02 ro o #x609a Homing acceleration UDINT 32 rw o #x60A3 Profile jerk use USINT 8 rw o #x60A4 Profile jerk DT60A4 48 Number of entries 01 rw o #x60e0 Positive torque limit value UINT 16 rw o R #x60e1 Negative torque limit value UINT 16 rw o R #x60F4 Following error actual value DINT 32 ro o T #x60FC Position demand internal value DINT 32 ro o #x60FD Digital Inputs UDINT 32 ro o T #x60FF Target velocity Command speed for the csv mode DINT 32 rw R #x6502 Supported Drive Modes UDINT 32 ro o T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1602 Cylic Position Mode #x1603 #x1604 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1603 Cylic Position Velocity Mode #x1602 #x1604 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1604 Cylic Position Velocity Torque Mode #x1602 #x1603 #x1606 #x1613 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1606 Cylic Torque Mode #x1602 #x1603 #x1604 #x1613 #x1614 #x6040 0 16 Controlword UINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x0000 0 8 Byte Padding USINT #x1613 Cylic Position Velocity #x1602 #x1603 #x1604 #x1606 #x1614 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x1614 Cylic Position Velocity Torque #x1602 #x1603 #x1604 #x1606 #x1613 #x6040 0 16 Controlword UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x1620 User Defined Outputs #x1700 Default Outputs #x1602 #x1603 #x1604 #x1613 #x1614 #x1D52 0 16 Control Word UINT #x1DB0 0 16 Motion Command Header UINT #x1E40 0 32 Motion Command Par 1 DINT #x1E41 0 32 Motion Command Par 2 DINT #x1E42 0 32 Motion Command Par 3 DINT #x1E43 0 32 Motion Command Par 4 DINT #x1E44 0 32 Motion Command Par 5 DINT #x1708 Config Module #x1709 0 16 Config Control Word UINT #x170A 0 16 Config Index Out UINT #x170B 0 32 Config Value Out DINT #x1710 Max Current Set A #x13A6 0 32 Max Current Set A UDINT #x1711 Torque/force limits #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x1728 Par Channel 1 #x20B0 0 32 Par Channel 1 DINT #x1729 Par Channel 2 #x20B1 0 32 Par Channel 2 DINT #x172A Par Channel 3 #x20B2 0 32 Par Channel 3 DINT #x172B Par Channel 4 #x20B3 0 32 Par Channel 4 DINT #x1A02 Cylic Mode Inputs #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x1B8A 0 32 DemandPosition DINT #x1B93 0 32 DemandCurrent DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 Byte Padding USINT #x1A03 Cylic Mode Inputs 2 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x6062 0 32 Position demand value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x0000 0 8 Byte Padding USINT #x1A12 Cylic Inputs #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value (units) DINT #x1B8A 0 32 DemandPosition DINT #x1B93 0 32 DemandCurrent DINT #x1A20 User Defined Inputs #x1A21 User Defined Inputs_2 #x1b03 StateVar #x1b62 0 16 StateVar UINT #x1b00 Default Inputs #x1A02 #x1A03 #x1B62 0 16 StateVar UINT #x1D51 0 16 StatusWord UINT #x1D8E 0 16 WarnWord UINT #x1B8A 0 32 DemandPosition DINT #x1B8D 0 32 ActualPosition DINT #x1B93 0 32 DemandCurrent DINT #x1b08 Config Module #x1B09 0 16 Config Status Word UINT #x1B0A 0 16 Config Index In UINT #x1B0B 0 32 Config Value In DINT #x1b10 Input DemVel #x1B8B 0 32 DemandVelocity DINT #x1b11 Input ActVel #x1B8E 0 32 ActualVelocity DINT #x1b12 Input ActVelFilt #x1BAF 0 32 ActualVelocityFilt DINT #x1b28 Mon Channel 1 #x20A8 0 32 Mon Channel 1 DINT #x1b29 Mon Channel 2 #x20A9 0 32 Mon Channel 2 DINT #x1b2A Mon Channel 3 #x20AA 0 32 Mon Channel 3 DINT #x1b2B Mon Channel 4 #x20AB 0 32 Mon Channel 4 DINT #x1b16 Input DemCurrFilt #x1B98 0 32 DemandCurrentFilt DINT DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 65536 060000CCE8030000 0010800080108000 424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff