#x0000060A ESTUN AUTOMATION TECHNOLOGY CO.,LTD 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Drive ESTUN SERVO Drives 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ESTUN ED3L 3000 10000 5000 200 1000 20000 true Drive 402 BOOL 1 UDINT 32 UINT 16 INT 16 SINT 8 USINT 8 DINT 32 LINT 64 ULINT 64 STRING(0) 0 STRING(7) 56 STRING(8) 64 STRING(20) 160 DT1003 272 0 Number of elements USINT 8 0 rw o 1 Standard error field1 UDINT 32 16 ro o 2 Standard error field2 UDINT 32 48 ro o 3 Standard error field3 UDINT 32 80 ro o 4 Standard error field4 UDINT 32 112 ro o 5 Standard error field5 UDINT 32 144 ro o 6 Standard error field6 UDINT 32 176 ro o 7 Standard error field7 UDINT 32 208 ro o 8 Standard error field8 UDINT 32 240 ro o DT1010 112 0 highest sub-index supported USINT 8 0 ro o 1 Save all parameters UDINT 32 16 rw m 2 Save communication parameters UDINT 32 48 rw o 3 Save application parameters UDINT 32 80 rw o DT1018 144 0 Number of elements USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro o 3 Revision number UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 336 0 Number of elements USINT 8 0 rw o 1 1st receive PDO Mapping UDINT 32 16 rw o 2 2nd receive PDO Mapping UDINT 32 48 rw o 3 3rd receive PDO Mapping UDINT 32 80 rw o 4 4th receive PDO Mapping UDINT 32 112 rw o 5 5th receive PDO Mapping UDINT 32 144 rw o 6 6th receive PDO Mapping UDINT 32 176 rw o 7 7th receive PDO Mapping UDINT 32 208 rw o 8 8th receive PDO Mapping UDINT 32 240 rw o 9 9th receive PDO Mapping UDINT 32 272 rw o 10 10th receive PDO Mapping UDINT 32 304 rw o DT1A00 336 0 Number of elements USINT 8 0 rw o 1 1st transmit PDO Mapping UDINT 32 16 rw o 2 2nd transmit PDO Mapping UDINT 32 48 rw o 3 3rd transmit PDO Mapping UDINT 32 80 rw o 4 4th transmit PDO Mapping UDINT 32 112 rw o 5 5th transmit PDO Mapping UDINT 32 144 rw o 6 6th transmit PDO Mapping UDINT 32 176 rw o 7 7th transmit PDO Mapping UDINT 32 208 rw o 8 8th transmit PDO Mapping UDINT 32 240 rw o 9 9th transmit PDO Mapping UDINT 32 272 rw o 10 10th transmit PDO Mapping UDINT 32 304 rw o DT1C10 16 0 Number of elements USINT 8 0 ro o DT1C12 80 0 Sync Manage 2 PDO Assignment USINT 8 0 rw o 1 1st PDO Mapping Object Index of assigned PDO UINT 16 16 rw o 2 2nd PDO Mapping Object Index of assigned PDO UINT 16 32 rw o 3 3rd PDO Mapping Object Index of assigned PDO UINT 16 48 rw o 4 4th PDO Mapping Object Index of assigned PDO UINT 16 64 rw o DT1C13 80 0 Sync Manage 3 PDO Assignment USINT 8 0 rw o 1 1st PDO Mapping Object Index of assigned PDO UINT 16 16 rw o 2 2nd PDO Mapping Object Index of assigned PDO UINT 16 32 rw o 3 3rd PDO Mapping Object Index of assigned PDO UINT 16 48 rw o 4 4th PDO Mapping Object Index of assigned PDO UINT 16 64 rw o DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw o 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw o 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT3685 48 0 Number of entries USINT 8 0 rw o 1 Clear all encoder errors UINT 16 16 rw o 2 Clear multi loop errors UINT 16 32 rw o DT607D 80 0 Number of entries USINT 8 0 1 Min position limit DINT 32 16 rw o 2 Max position limit DINT 32 48 rw o DT6091 80 0 Number of entries USINT 8 0 1 Motor revolutions UDINT 32 16 rw o RT 2 Shaft revolutions UDINT 32 48 rw o RT DT6093 80 0 Number of entries USINT 8 0 1 Position numerator UDINT 32 16 rw o 2 Position divisor UDINT 32 48 rw o DT6094 80 0 Number of entries USINT 8 0 1 Velocity numerator UDINT 32 16 rw o 2 Velocity divisor UDINT 32 48 rw o DT6097 80 0 Number of entries USINT 8 0 1 Acceleration numerator UDINT 32 16 rw o 2 Acceleration divisor UDINT 32 48 rw o DT6099 80 0 Number of entries USINT 8 0 1 Speed during search for switch UDINT 32 16 rw o RT 2 Speed during search for zero UDINT 32 48 rw o RT DT60c1 80 0 Number of entries USINT 8 0 ro o 1 1st set-point UDINT 32 16 rw o RT 2 2nd set-point UDINT 32 48 rw o RT DT60c2 32 0 Number of entries USINT 8 0 ro o 1 Interpolation time unit USINT 8 16 rw 2 Interpolation time index SINT 8 24 rw DT60fe 80 0 Number of entries USINT 8 0 ro o 1 Physical outputs UDINT 32 16 rw o RT 2 Bit mask UDINT 32 48 rw o RT DT60a4 48 0 Number of entries USINT 8 0 1 Profile jerk 1 UDINT 32 16 rw o #x1000 Device type UDINT 32 00000000 ro m #x1001 Error Register USINT 8 00 ro o #x1003 Pre-defined error field DT1003 272 rw o #x1008 Manufacturer Device Name STRING(0) 0 ro #x1009 Manufacturer Hardware Version STRING(0) 0 ro #x100A Manufacturer Software Version STRING(0) 0 ro #x1010 Store Parameters DT1010 112 rw o #x1018 Identity object DT1018 144 ro m #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1600 RxPDO 1 DT1600 336 rw o #x1601 RxPDO 2 DT1600 336 rw o #x1602 RxPDO 3 DT1600 336 rw o #x1603 RxPDO 4 DT1600 336 rw o #x1A00 TxPDO 1 DT1A00 336 rw o #x1A01 TxPDO 2 DT1A00 336 rw o #x1A02 TxPDO 3 DT1A00 336 rw o #x1A03 TxPDO 4 DT1A00 336 rw o #x1c12 Sync Man 2 Assignment DT1C12 80 rw o #x1c13 Sync Man 3 Assignment DT1C13 80 rw o #x1c32 Sync Man 2 Synchronization DT1C32 488 ro o #x1c33 Sync Man 3 Synchronization DT1C33 488 ro o #x2200 Reset Dsp UINT 16 rw o #x30A5 SinglePos DINT 32 ro o #x30A6 MultiPos UDINT 32 ro o #x30A9 Actual User Rotates DINT 32 ro o RT #x30AA Actual User Position DINT 32 ro o RT #x30B0 PSO Function UINT 16 rw o RT #x30B1 PSO Adjustment Position INT 16 rw o RT #x30C0 PSO State UINT 16 ro o RT #x30C1 PSO Current ComparePoint UINT 16 ro o RT #x30C2 PSO Current Position DINT 32 ro o RT #x3164 Pn000 Basic Function Selections 0 DINT 32 rw o #x3165 Pn001 Basic Function Selections 1 DINT 32 rw o #x3166 Pn002 Application Function Selections 2 DINT 32 rw o #x3167 Pn003 Application Function Selections 3 DINT 32 rw o #x3168 Pn004 Application Function Selections 4 DINT 32 rw o #x3169 Pn005 Application Function Selections 5 DINT 32 rw o #x316A Pn006 Application Function Selections 6 DINT 32 rw o #x316B Pn007 Application Function Selections 7 DINT 32 rw o #x316C Pn008 Application Function Selections 8 DINT 32 rw o #x316D Pn009 Application Function Selections 9 DINT 32 rw o #x317E Pn026 VelUnit Switch DINT 32 rw o #x31C8 Pn100 Tuning Function Selection DINT 32 rw o #x31C9 Pn101 Response Frequency Level DINT 32 rw o #x31CA Pn102 Speed Loop Gain DINT 32 rw o #x31CB Pn103 Speed Loop Integral Time DINT 32 rw o #x31CC Pn104 Position Loop Gain DINT 32 rw o #x31CD Pn105 Torque Reference Filter Time Constant DINT 32 rw o #x31CE Pn106 Load Inertia Percentage DINT 32 rw o #x31CF Pn107 Second Speed Loop Gain DINT 32 rw o #x31D0 Pn108 Second Speed Loop Integral Time DINT 32 rw o #x31D1 Pn109 Second Position Loop Gain DINT 32 rw o #x31D2 Pn110 Second Torque Reference Filter Time Constant DINT 32 rw o #x31D4 Pn112 Speed Feedforward DINT 32 rw o #x31D5 Pn113 Speed Feedforward Filter Time Constant DINT 32 rw o #x31D6 Pn114 Torque Feedforward DINT 32 rw o #x31D7 Pn115 Torque Feedforward Filter Time Constant DINT 32 rw o #x31D8 Pn116 P/PI Switching Conditions DINT 32 rw o #x31D9 Pn117 P/PI Switching Level for Torque Reference DINT 32 rw o #x31DA Pn118 P/PI Switching Level for Position Deviation DINT 32 rw o #x31DB Pn119 P/PI Switching Level for Acceleration DINT 32 rw o #x31DC Pn120 P/PI Switching Level for Speed Reference DINT 32 rw o #x31DD Pn121 Gain Switching Conditions DINT 32 rw o #x31DE Pn122 Gain Switching Waiting Time DINT 32 rw o #x31DF Pn123 Gain Switching Level DINT 32 rw o #x31E0 Pn124 Speed Level DINT 32 rw o #x31E1 Pn125 Position Gain Switching Time DINT 32 rw o #x31E2 Pn126 Gain Switching Hysteresis DINT 32 rw o #x31E3 Pn127 Speed Measurement Filter at Low Speed DINT 32 rw o #x31E4 Pn128 Rigid Grade DINT 32 rw o #x31E6 Pn130 Friction Compensation Gain DINT 32 rw o #x31E7 Pn131 Friction Compensation Speed Hysteresis DINT 32 rw o #x31E8 Pn132 Friction Damping Proportion DINT 32 rw o #x31EB Pn135 Speed Feedback Filter Time DINT 32 rw o #x31EC Pn136 Response Frequency Level IN Tuning-Less Mode DINT 32 rw o #x31ED Pn137 DOB Bandwidth IN Tuning-Less Mode DINT 32 rw o #x31EE Pn138 DOB Compensation Percentage IN Tuning-Less Mode DINT 32 rw o #x31EF Pn139 Load Inertia Percentage IN Tuning-Less Mode DINT 32 rw o #x31F0 Pn140 Torque Reference Filter Time Constant IN Tuning-Less Mode DINT 32 rw o #x31F1 Pn141 Gravity Compensation Value DINT 32 rw o #x31F3 Pn143 Delay Power Time DINT 32 rw o #x31F4 Pn144 Exter BK Enable DINT 32 rw o #x31FA Pn150 Control-Related Selections DINT 32 rw o #x31FB Pn151 Model Following Control Gain DINT 32 rw o #x31FC Pn152 Model Following Control Gain Correction DINT 32 rw o #x31FD Pn153 Model Following Control Speed Feedforward Coefficient DINT 32 rw o #x31FE Pn154 Model Following Control Torque Feedforward Coefficient DINT 32 rw o #x31FF Pn155 Anti-Resonance Frequency for Jitter Suppression DINT 32 rw o #x3200 Pn156 Filter Time Constant for Jitter Suppression DINT 32 rw o #x3201 Pn157 Low frequency jitter suppression speed feedforward compensation amount limiting DINT 32 rw o #x3204 Pn160 Load Disturbance Compensation DINT 32 rw o #x3205 Pn161 Load Disturbance Detection Gain DINT 32 rw o #x3206 Pn162 Feedback Speed Selection DINT 32 rw o #x3208 Pn164 PJOG0 Rotation Number DINT 32 rw o #x3209 Pn165 PJOG0 Rotation Speed DINT 32 rw o #x320A Pn166 PJOG0 Acceleration/Deceleration Time DINT 32 rw o #x320B Pn167 PJOG0 Stop Time DINT 32 rw o #x320C Pn168 PJOG1 Rotation Number DINT 32 rw o #x320D Pn169 PJOG1 Rotation Speed DINT 32 rw o #x320E Pn170 PJOG1 Acceleration/Deceleration Time DINT 32 rw o #x320F Pn171 PJOG1 Stop Time DINT 32 rw o #x3210 Pn172 Moment of Inertia Calculation Amount DINT 32 rw o #x3211 Pn173 Vibration Suppression Frequency at Intermediate-Frequency DINT 32 rw o #x3212 Pn174 Vibration Suppression Bandwidth Adjustment at Intermediate-Frequency DINT 32 rw o #x3213 Pn175 Vibration Suppression Damping Gain at Intermediate-Frequency DINT 32 rw o #x3214 Pn176 Vibration Suppression Lowpass Filter Time at Intermediate-Frequency DINT 32 rw o #x3215 Pn177 Vibration Suppression Highpass Filter Time at Intermediate-Frequency DINT 32 rw o #x3216 Pn178 Vibration Suppression Proportional Attenuation Gain at Intermediate-Frequency DINT 32 rw o #x3217 Pn179 Vibration Amplitude Detection Level DINT 32 rw o #x3218 Pn180 Vibration Frequency Detection Level DINT 32 rw o #x3219 Pn181 Notch Filter Frequency 1 DINT 32 rw o #x321A Pn182 Notch Filter Depth 1 DINT 32 rw o #x321B Pn183 Notch Filter Width 1 DINT 32 rw o #x321C Pn184 Notch Filter Frequency 2 DINT 32 rw o #x321D Pn185 Notch Filter Depth 2 DINT 32 rw o #x321E Pn186 Notch Filter Width 2 DINT 32 rw o #x321F Pn187 Notch Filter Frequency 3 DINT 32 rw o #x3220 Pn188 Notch Filter Depth 3 DINT 32 rw o #x3221 Pn189 Notch Filter Width 3 DINT 32 rw o #x3222 Pn190 Automatic Vibration Suppression State DINT 32 rw o #x3223 Pn191 Vibration Frequency Detection Level DINT 32 rw o #x322C Pn200 Pulse Numbers for PG Frequency Division DINT 32 rw o #x3230 Pn204 Position instruction filter time constant DINT 32 rw o #x3231 Pn205 Position instruction filter form selection DINT 32 rw o #x3233 Pn207 Stalling Torque In Home Mode DINT 32 rw o #x3234 Pn208 Stalling Time In Home Mode DINT 32 rw o #x323B Pn215 PG Invert DINT 32 rw o #x3248 Pn228 User Defined Multi-Resolution DINT 32 rw o #x324B Pn231 HomingMode35 DINT 32 rw o #x3294 Pn304 Parameter Reference Speed DINT 32 rw o #x3295 Pn305 JOG Speed DINT 32 rw o #x3296 Pn306 Soft Start Acceleration Time DINT 32 rw o #x3297 Pn307 Soft Start Deceleration Time DINT 32 rw o #x3298 Pn308 Speed Feedback Filter Time Constant DINT 32 rw o #x3299 Pn309 S-Curve Rise Time DINT 32 rw o #x329A Pn310 Speed Reference Curve Form DINT 32 rw o #x329B Pn311 S-Curve Selection DINT 32 rw o #x32A7 Pn323 Overspeed Detection Level DINT 32 rw o #x32AB Pn327 E-Stop Option Code DINT 32 rw o #x32AC Pn328 E-Stop Deceleration Time DINT 32 rw o #x32B0 Pn332 Touch Probe Signal Filter Time DINT 32 rw o #x32F5 Pn401 Forward Internal Torque Limit DINT 32 rw o #x32F6 Pn402 Reverse Internal Torque Limit DINT 32 rw o #x32F7 Pn403 Forward External Torque Limit DINT 32 rw o #x32F8 Pn404 Reverse External Torque Limit DINT 32 rw o #x32F9 Pn405 Reverse Brake Torque Limit DINT 32 rw o #x32FA Pn406 Torque Limit at Undervoltage DINT 32 rw o #x32FB Pn407 Release Time for Torque Limit at Undervoltage DINT 32 rw o #x32FC Pn408 Speed Limit during Torque Control DINT 32 rw o #x3358 Pn500 Positioning Completed Width DINT 32 rw o #x3359 Pn501 Speed Coincidence Signal Detection Width DINT 32 rw o #x335B Pn503 Rotation Detection Speed DINT 32 rw o #x335C Pn504 Deviation Counter Overflow Alarm DINT 32 rw o #x335D Pn505 Servo ON Waiting Time DINT 32 rw o #x335E Pn506 Brake Reference-Servo OFF Delay Time DINT 32 rw o #x335F Pn507 Brake Reference Waiting Speed DINT 32 rw o #x3360 Pn508 Brake Reference Waiting Time DINT 32 rw o #x3361 Pn509 Input Signal Allocations 1 DINT 32 rw o #x3362 Pn510 Input Signal Allocations 2 DINT 32 rw o #x3363 Pn511 Output Signal Allocations DINT 32 rw o #x3364 Pn512 Input Contact Data (Low Bits) at Bus Control DINT 32 rw o #x3365 Pn513 Input Contact Data (High Bit) at Bus Control DINT 32 rw o #x3366 Pn514 Input Signals Filter Time DINT 32 rw o #x3367 Pn515 Alarm Signals Filter Time DINT 32 rw o #x3368 Pn516 Input Singal Inverts 1 DINT 32 rw o #x3369 Pn517 Input Singal Inverts 2 DINT 32 rw o #x336A Pn518 Dynamic Brake Time DINT 32 rw o #x336B Pn519 Serial Encoder Error Allowed Time DINT 32 rw o #x336C Pn520 Positioning Completion Time DINT 32 rw o #x336D Pn521 Alarm Masks 1 DINT 32 rw o #x336E Pn522 Increase Overload Current Sampling Interval DINT 32 rw o #x336F Pn523 Pn525 Overload Alarm Level for Summma DINT 32 rw o #x3370 Pn524 Amplify Overload Protection Time DINT 32 rw o #x3371 Pn525 Overload Alarm Level DINT 32 rw o #x3374 Pn528 Ouput Signal Inverts DINT 32 rw o #x3375 Pn529 Torque Detection Signal Output Level DINT 32 rw o #x3376 Pn530 Torque Detection Signal Ouput Time DINT 32 rw o #x337B Pn535 Discharging Resistor Resistance DINT 32 rw o #x337C Pn536 Discharging Resistor Power DINT 32 rw o #x337D Pn537 Discharging Resistor Heat release coeffecient DINT 32 rw o #x337E Pn538 Momentary Power Interruption Hold Time DINT 32 rw o #x337F Pn539 Pumping Turn ON Delay Time DINT 32 rw o #x3380 Pn540 Pumping Turn OFF Delay Time DINT 32 rw o #x3381 Pn541 Current Check Level DINT 32 rw o #x3382 Pn542 Acceleration Check Level DINT 32 rw o #x3383 Pn543 pump voltage upper limit DINT 32 rw o #x3384 Pn544 pump voltage lower limit DINT 32 rw o #x3385 Pn545 Check Discharging Resistor Average Power DINT 32 rw o #x3386 Pn546 U-phase Current Gain DINT 32 rw o #x3387 Pn547 V-phase Current Gain DINT 32 rw o #x33BC Pn600 PSO Position Resolution Ratio DINT 32 rw o #x33BD Pn601 PSO mode of Comparision DINT 32 rw o #x33BE Pn602 PSO output polarity DINT 32 rw o #x33BF Pn603 PSO output type DINT 32 rw o #x33C0 Pn604 PSO Settings of output pluse width DINT 32 rw o #x33C1 Pn605 PSO compensation of output delay DINT 32 rw o #x33C2 Pn606 PSO origin offset DINT 32 rw o #x33C3 Pn607 PSO Start point of camparision DINT 32 rw o #x33C4 Pn608 PSO End point of camparision DINT 32 rw o #x33C5 Pn609 Properties of PSO comparison point 1 DINT 32 rw o #x33C6 Pn610 Target position of PSO comparison point 1 DINT 32 rw o #x33C7 Pn611 Properties of PSO comparison point 2 DINT 32 rw o #x33C8 Pn612 Target position of PSO comparison point 2 DINT 32 rw o #x33C9 Pn613 Properties of PSO comparison point 3 DINT 32 rw o #x33CA Pn614 Target position of PSO comparison point 3 DINT 32 rw o #x33CB Pn615 Properties of PSO comparison point 4 DINT 32 rw o #x33CC Pn616 Target position of PSO comparison point 4 DINT 32 rw o #x33CD Pn617 Properties of PSO comparison point 5 DINT 32 rw o #x33CE Pn618 Target position of PSO comparison point 5 DINT 32 rw o #x33CF Pn619 Properties of PSO comparison point 6 DINT 32 rw o #x33D0 Pn620 Target position of PSO comparison point 6 DINT 32 rw o #x33D1 Pn621 Properties of PSO comparison point 7 DINT 32 rw o #x33D2 Pn622 Target position of PSO comparison point 7 DINT 32 rw o #x33D3 Pn623 Properties of PSO comparison point 8 DINT 32 rw o #x33D4 Pn624 Target position of PSO comparison point8 DINT 32 rw o #x33D5 Pn625 Properties of PSO comparison point 9 DINT 32 rw o #x33D6 Pn626 Target position of PSO comparison point9 DINT 32 rw o #x33D7 Pn627 Properties of PSO comparison point 10 DINT 32 rw o #x33D8 Pn628 Target position of PSO comparison point10 DINT 32 rw o #x33D9 Pn629 Properties of PSO comparison point 11 DINT 32 rw o #x33DA Pn630 Target position of PSO comparison point11 DINT 32 rw o #x33DB Pn631 Properties of PSO comparison point 12 DINT 32 rw o #x33DC Pn632 Target position of PSO comparison point12 DINT 32 rw o #x33DD Pn633 Properties of PSO comparison point 13 DINT 32 rw o #x33DE Pn634 Target position of PSO comparison point13 DINT 32 rw o #x33DF Pn635 Properties of PSO comparison point 14 DINT 32 rw o #x33E0 Pn636 Target position of PSO comparison point14 DINT 32 rw o #x33E1 Pn637 Properties of PSO comparison point 15 DINT 32 rw o #x33E2 Pn638 Target position of PSO comparison point15 DINT 32 rw o #x33E3 Pn639 Properties of PSO comparison point 16 DINT 32 rw o #x33E4 Pn640 Target position of PSO comparison point16 DINT 32 rw o #x33E5 Pn641 Properties of PSO comparison point 17 DINT 32 rw o #x33E6 Pn642 Target position of PSO comparison point17 DINT 32 rw o #x33E7 Pn643 Properties of PSO comparison point 18 DINT 32 rw o #x33E8 Pn644 Target position of PSO comparison point18 DINT 32 rw o #x33E9 Pn645 Properties of PSO comparison point 19 DINT 32 rw o #x33EA Pn646 Target position of PSO comparison point19 DINT 32 rw o #x33EB Pn647 Properties of PSO comparison point 20 DINT 32 rw o #x33EC Pn648 Target position of PSO comparison point20 DINT 32 rw o #x3418 Pn692 PHY Output Voltage DINT 32 rw o #x3419 Pn693 PHY Rise Edge DINT 32 rw o #x341A Pn694 PHY Fall Edge DINT 32 rw o #x3421 Pn701 Address of the USB device DINT 32 rw o #x3423 Pn703 Detection Selection for Modbus connection DINT 32 rw o #x3424 Pn704 Device Node Number DINT 32 rw o #x3426 Pn706 DC max Time DINT 32 rw o #x3434 Pn720 Homing Mode DINT 32 rw o #x3435 Pn721 Research Reference Point Speed DINT 32 rw o #x3436 Pn722 Origin Research Speed DINT 32 rw o #x3437 Pn723 Origin Research Acceleration DINT 32 rw o #x3438 Pn724 Origin Return Offset Pulse DINT 32 rw o #x3439 Pn725 Electronic Gear Ratio (Numerator) DINT 32 rw o #x343A Pn726 Electronic Gear Ratio (Denominator) DINT 32 rw o #x343B Pn727 The threshold of the difference between the actual position and the target position DINT 32 rw o #x343C Pn728 Pulse error of homing mode DINT 32 rw o #x343D Pn729 home mode change DINT 32 rw o #x3484 Pn800 Motor Applied Settings 1 DINT 32 rw o #x3485 Pn801 Motor Applied Settings 2 DINT 32 rw o #x3486 Pn802 Encoder Initial Value DINT 32 rw o #x3488 Pn804 Motor Serials Selection DINT 32 rw o #x3489 Pn805 Motor Module Selection DINT 32 rw o #x348A Pn806 Motor Voltage Class DINT 32 rw o #x348B Pn807 Motor Power DINT 32 rw o #x348C Pn808 Motor Temperature Sensor Model DINT 32 rw o #x348D Pn809 Motor Derating Factor DINT 32 rw o #x348E Pn810 Motor Rated Torque DINT 32 rw o #x348F Pn811 Motor Maximum Torque DINT 32 rw o #x3490 Pn812 Motor Reated Current DINT 32 rw o #x3491 Pn813 Motor Maximum Curren DINT 32 rw o #x3492 Pn814 Motor Reated Speed DINT 32 rw o #x3493 Pn815 Motor Maximum Speed DINT 32 rw o #x3494 Pn816 Motor Ultimate Speed DINT 32 rw o #x3495 Pn817 a0*10000 DINT 32 rw o #x3496 Pn818 a1*10000 DINT 32 rw o #x3497 Pn819 a2*10000 DINT 32 rw o #x3498 Pn820 a3*10000 DINT 32 rw o #x3499 Pn821 a4*10000 DINT 32 rw o #x349A Pn822 b0*10000 DINT 32 rw o #x349B Pn823 b1*10000 DINT 32 rw o #x349C Pn824 b2*10000 DINT 32 rw o #x349D Pn825 b3*10000 DINT 32 rw o #x349E Pn826 b4*10000 DINT 32 rw o #x349F Pn827 Opposing EMF Factor (Ke) DINT 32 rw o #x34A0 Pn828 Phase Resistance (Rs) DINT 32 rw o #x34A1 Pn829 Ld DINT 32 rw o #x34A2 Pn830 Lq DINT 32 rw o #x34A3 Pn831 Moment of Inertia for Motor DINT 32 rw o #x34A4 Pn832 Pole Number DINT 32 rw o #x34A5 Pn833 Electrical Time Constant (te) DINT 32 rw o #x34A6 Pn834 Mechanical Time Constant (tm) DINT 32 rw o #x34A7 Pn835 Thermal Time Constant (th) DINT 32 rw o #x34A8 Pn836 Thermal Model Parameters Tp[0]*10000 DINT 32 rw o #x34A9 Pn837 Thermal Model Parameters Tp[1]*10000 DINT 32 rw o #x34AA Pn838 Thermal Model Parameters Tp[2]*10000 DINT 32 rw o #x34AB Pn839 Thermal Model Parameters Tp[3]*10000 DINT 32 rw o #x34AC Pn840 Thermal Model Parameters Tp[4]*10000 DINT 32 rw o #x34AD Pn841 Motor Stall Overload Curve Coefficient k[0]*10000 DINT 32 rw o #x34AE Pn842 Motor Stall Overload Curve Coefficient k[1]*10000 DINT 32 rw o #x34AF Pn843 Motor Stall Overload Curve Coefficient k[2]*10000 DINT 32 rw o #x34B0 Pn844 Motor Stall Overload Curve Coefficient k[3]*10000 DINT 32 rw o #x34B1 Pn845 Motor Stall Overload Curve Coefficient k[4]*10000 DINT 32 rw o #x34B2 Pn846 Motor Oil Seals DINT 32 rw o #x34B3 Pn847 Motor Ld Coefficient k0*10000 DINT 32 rw o #x34B4 Pn848 Motor Ld Coefficient k1*10000 DINT 32 rw o #x34B5 Pn849 Motor Ld Coefficient k2*10000 DINT 32 rw o #x34B6 Pn850 Motor Ld Coefficient kmin*10000 DINT 32 rw o #x34B7 Pn851 Motor Ld Coefficient kmax*10000 DINT 32 rw o #x34B8 Pn852 Motor Lq Coefficient k0*10000 DINT 32 rw o #x34B9 Pn853 Motor Lq Coefficient k1*10000 DINT 32 rw o #x34BA Pn854 Motor Lq Coefficient k2*10000 DINT 32 rw o #x34BB Pn855 Motor Lq Coefficient kmin*10000 DINT 32 rw o #x34BC Pn856 Motor Lq Coefficient kmax*10000 DINT 32 rw o #x34BD Pn857 Motor Nornal Overload Curve Coefficient k[0]*10000 DINT 32 rw o #x34BE Pn858 Motor Nornal Overload Curve Coefficient k[1]*10000 DINT 32 rw o #x34BF Pn859 Motor Nornal Overload Curve Coefficient k[2]*10000 DINT 32 rw o #x34C0 Pn860 Motor Nornal Overload Curve Coefficient k[3]*10000 DINT 32 rw o #x34C1 Pn861 Motor Nornal Overload Curve Coefficient k[4]*10000 DINT 32 rw o #x34C2 Pn862 Motor with BK DINT 32 rw o #x34CF Pn875 Application Function Select UDINT 32 rw o #x34D1 Pn877 Encoder Protocol Selection DINT 32 rw o #x34D2 Pn878 Encoder Type Selection DINT 32 rw o #x34D3 Pn879 Encoder Actual Resolution DINT 32 rw o #x34D4 Pn880 Encoder Resolution for Program Using DINT 32 rw o #x34D5 Pn881 Encoder Resolution for Multi-turn Data DINT 32 rw o #x34D7 Pn883 Encoder Rotat Direction DINT 32 rw o #x34D9 Pn885 Servodrive Applied Setting DINT 32 rw o #x34E3 Pn895 Alarm Masks 7 DINT 32 rw o #x34EE Pn906 Phase Setting DINT 32 rw o #x34EF Pn907 Duty of U DINT 32 rw o #x34F0 Pn908 Duty of V DINT 32 rw o #x34F1 Pn909 Duty of W DINT 32 rw o #x34F6 Pn914 Asynchronous Drive Amplitude (Uq) DINT 32 rw o #x34F7 Pn915 Asynchronous Drive Frequency DINT 32 rw o #x34F8 Pn916 Current Loop Bandwidth UDINT 32 rw o #x34F9 Pn917 Dead Zone Compensation Percentage DINT 32 rw o #x34FA Pn918 Current loop optimization options DINT 32 rw o #x34FB Pn919 DTC test DINT 32 rw o #x34FC Pn920 Function Selection for Test DINT 32 rw o #x34FD Pn921 Test Mode Settings DINT 32 rw o #x34FE Pn922 Current loop step test Id given percentage DINT 32 rw o #x34FF Pn923 Iq Given Percentage for Current Loop Step Test DINT 32 rw o #x3500 Pn924 Reserved DINT 32 rw o #x3501 Pn925 Current loop frequency response test Iq given offset percentage DINT 32 rw o #x3502 Pn926 Current loop frequency response test Iq given amplitude percentage DINT 32 rw o #x3504 Pn928 Speed loop frequency response test speed given offset DINT 32 rw o #x3505 Pn929 Speed loop frequency response test speed given amplitude DINT 32 rw o #x3507 Pn931 DA output voltage amplitude in frequency response test mode DINT 32 rw o #x3508 Pn932 Sweep frequency DINT 32 rw o #x350B Pn935 One Volt Corresponding Pulse Number DINT 32 rw o #x350C Pn936 Output Voltage Scale Factor in Position Loop Frequency Response Test DINT 32 rw o #x350E Pn938 Current Loop Bandwidth DINT 32 rw o #x350F Pn939 STO Function Selection DINT 32 rw o #x3510 Pn940 Interrupt Cycle Time DINT 32 rw o #x3511 Pn941 EM3A Motor Flux-weakening Selection DINT 32 rw o #x3512 Pn942 Flux-weakening PI Regulator (kp) DINT 32 rw o #x3513 Pn943 Flux-weakening PI Regulator (ki) DINT 32 rw o #x3514 Pn944 Mechanical Analyzer Order DINT 32 rw o #x3515 Pn945 Current Loop Control Mode DINT 32 rw o #x3516 Pn946 Encoder communicate frequency setting DINT 32 rw o #x3517 Pn947 electrical frequency lower limit for pwm adjustable DINT 32 rw o #x3518 Pn948 electrical frequency upper limit for pwm adjustable DINT 32 rw o #x3519 Pn949 Motor Torque Limitation Offset Percent DINT 32 rw o #x351A Pn950 Overmodulation Selection DINT 32 rw o #x351B Pn951 Tz Selection DINT 32 rw o #x351C Pn952 Amplifying Tmax, Pn401/Pn402 DINT 32 rw o #x351D Pn953 Motor Amplified (Imax) DINT 32 rw o #x351E Pn954 Alarm Self-test Selection DINT 32 rw o #x351F Pn955 Bus Voltage Correction DINT 32 rw o #x3520 Pn956 Esview Communication Timeout Threshold DINT 32 rw o #x3521 Pn957 ePWM forced synchronization enable bit in EC mode Validate After Restart DINT 32 rw o #x3522 Pn958 EM3G or EM3D DINT 32 rw o #x3523 Pn959 Encoder communicate frequency for current loop DINT 32 rw o #x3524 Pn960 Alarm Masks 1 DINT 32 rw o #x3525 Pn961 Alarm Masks 2 DINT 32 rw o #x3526 Pn962 Alarm Masks 3 DINT 32 rw o #x3527 Pn963 Alarm Masks 4 DINT 32 rw o #x3528 Pn964 Alarm Masks 5 DINT 32 rw o #x3529 Pn965 Alarm Masks 6 DINT 32 rw o #x352A Pn966 Alarm Masks 7 DINT 32 rw o #x352F Pn971 Lq form DINT 32 rw o #x3530 Pn972 Lq update type DINT 32 rw o #x3685 Clear Encoder Alarm DT3685 48 rw o #x4000 Torque Limit Value UINT 16 rw o #x4001 Control Command USINT 8 rw o #x603F Error Code UINT 16 ro o RT #x6040 Controlword UINT 16 rw m RT #x6041 Statusword UINT 16 ro m RT #x605a Quick Stop option code INT 16 rw o #x605b Shutdown option code INT 16 rw o #x605c Disable operation option code INT 16 rw o #x605d Halt option code INT 16 rw o #x605e Fault reaction option code INT 16 rw o #x6060 Modes of operation SINT 8 rw o RT #x6061 Modes of operation display SINT 8 ro o RT #x6062 Position demand value DINT 32 ro o RT #x6063 Position actual internal value DINT 32 ro o RT #x6064 Position actual value DINT 32 ro o RT #x6065 Following error window UDINT 32 rw o RT #x6066 Following error time out UINT 16 rw o RT #x6067 Position window UDINT 32 rw o RT #x6068 Position window time UINT 16 rw o RT #x6069 velocity sensor actual value DINT 32 ro o RT #x606B velocity demand value DINT 32 ro c RT #x606c Velocity actual value DINT 32 ro o RT #x606D Velocity window UINT 16 rw o RT #x606E Velocity window time UINT 16 rw o RT #x606F Velocity threshold UINT 16 rw o RT #x6070 Velocity threshold time UINT 16 rw o RT #x6071 Target Torque INT 16 rw m RT #x6072 Max Torque UINT 16 rw m RT #x6074 Torque demand INT 16 ro o RT #x6077 Torque actual value INT 16 ro o RT #x6078 Current actual value INT 16 ro o RT #x607a Target position DINT 32 rw o RT #x607c Home offset DINT 32 rw o RT #x607d Software Position Limit DT607D 80 Number of entries 02 ro c #x607e Polarity USINT 8 rw o RT #x607F Max Profile velocity UDINT 32 rw c RT #x6080 Max motor speed UDINT 32 rw c RT #x6081 Profile velocity UDINT 32 rw c RT #x6082 End velocity UDINT 32 rw o RT #x6083 Profile acceleraion UDINT 32 rw o RT #x6084 Profile deceleration UDINT 32 rw o RT #x6085 Quick stop deceleration UDINT 32 rw o RT #x6086 Motion profile type INT 16 rw o RT #x6087 Torque Slope UDINT 32 rw m RT #x6091 Gear ratio DT6091 80 Number of entries 02 ro o RT #x6093 Position Factor DT6093 80 Number of entries 02 ro o #x6094 Velocity encoder factor DT6094 80 Number of entries 02 ro o #x6097 Acceleration Factor DT6097 80 Number of entries 02 ro o #x6098 Homing method SINT 8 rw o RT #x6099 Homing speeds DT6099 80 Number of entries 02 ro o #x609a Homing acceleration UDINT 32 rw o RT #x60A4 Profile jerk DT60a4 48 ro o #x60B1 Velocity Offset DINT 32 rw o RT #x60B2 Torque Offset INT 16 rw o RT #x60B8 Touch Probe Function UINT 16 rw o RT #x60B9 Touch Probe Status UINT 16 ro o RT #x60BA Touch Probe Pos1 Pos Value DINT 32 ro o RT #x60BB Touch Probe Pos1 Neg Value DINT 32 ro o RT #x60BC Touch Probe Pos2 Pos Value DINT 32 ro o RT #x60BD Touch Probe Pos2 Neg Value DINT 32 ro o RT #x60C0 Interpolation sub mode select INT 16 rw c #x60C1 Interpolation data record DT60c1 80 Number of entries 02 ro c #x60C2 Interpolation time period DT60c2 32 Number of entries 02 ro c #x60C5 MaxAcceleration UDINT 32 rw o RT #x60C6 MaxDeceleration UDINT 32 rw o RT #x60E0 Positive torque limit value UINT 16 rw m RT #x60E1 Negative torque limit value UINT 16 rw m RT #x60E6 Actual Position Calucation Method UINT 16 rw m RT #x60f4 Following error actual value DINT 32 ro o T #x60fa Control effort DINT 32 ro o RT #x60fc Position demand internal value DINT 32 ro o RT #x60fd Digital inputs UDINT 32 ro o RT #x60fe Digital outputs DT60fe 80 Number of entries 02 ro c #x60ff Target velocity DINT 32 rw o RT #x6502 Supported drive modes UDINT 32 ro m RT Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CiA402 PV Mode (RX) #x6040 0 16 wControlword UINT #x60FF 0 32 dwTargetVelocity DINT #x1601 CiA402 PP Mode (RX) #x6040 0 16 Controlword UINT #x607A 0 32 Target Position DINT #x1602 CoE CSP Mode (RX) #x6040 0 16 Controlword UINT #x607A 0 32 Target Position DINT #x60B8 0 16 Touch Probe Function UINT #x60FE 1 32 Physical Output UDINT #x1603 HM (RX) #x6040 0 16 Controlword UINT #x1A00 CiA402 PV Mode (TX) #x6041 0 16 wStatusword UINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x1A01 CiA402 PP Mode (TX) #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x1A02 CoE CSP Mode (TX) #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 FollowingErrorActualValue DINT #x60b9 0 16 Touch Probe Status UINT #x60ba 0 32 Touch Probe Pos1 Pos Value DINT #x60bc 0 32 Touch Probe Pos2 Pos Value DINT #x60FD 0 32 Physical Inputs UDINT #x1A03 HM(TX) #x6041 0 16 Statusword UINT PS #x6060 0 08 Modes of operation PS #x60C2 1 02 Interpolation time period PS #x60C2 2 FD Interpolation time index DcSync DC for synchronization #x0300 0 0 2 0 0 2 0 0 DcOff DC unused #x0000 1 0 100 34 0 0 2048 080C02EEE8030000000000000000 0010800080108000 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