#x0000060A ESTUN AUTOMATION TECHNOLOGY CO.,LTD 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Drive ESTUN SERVO Drives 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ED3L 2 Axes 3000 10000 5000 200 1000 20000 true Drive 402 BOOL 1 UDINT 32 UINT 16 INT 16 SINT 8 USINT 8 DINT 32 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 field 1 UDINT 32 16 ro o 2 Standard error field 2 UDINT 32 48 ro o 3 Standard error field 3 UDINT 32 80 ro o 4 Standard error field 4 UDINT 32 112 ro o 5 Standard error field 5 UDINT 32 144 ro o 6 Standard error field 6 UDINT 32 176 ro o 7 Standard error field 7 UDINT 32 208 ro o 8 Standard error field 8 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 272 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 272 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 DT1C12ARR UINT 32 1 2 DT1C12 48 0 Sync manage 2 PDO assignment USINT 8 0 rw o Elements DT1C12ARR 32 16 rw o DT1C13ARR UINT 32 1 2 DT1C13 48 0 Sync manage 3 PDO assignment USINT 8 0 rw o Elements DT1C13ARR 32 16 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 DT30AA 80 0 Number of entries USINT 8 0 1 UserPosL32 UDINT 32 16 ro o RT 2 UserPosH32 UDINT 32 48 ro o RT 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 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 ro t #x1600 RxPDO 1 DT1600 272 rw o #x1601 RxPDO 2 DT1600 272 rw o #x1602 RxPDO 3 DT1600 272 rw o #x1603 RxPDO 4 DT1600 272 rw o #x1610 RxPDO 5 DT1600 272 rw o #x1611 RxPDO 6 DT1600 272 rw o #x1612 RxPDO 7 DT1600 272 rw o #x1613 RxPDO 8 DT1600 272 rw o #x1A00 TxPDO 1 DT1A00 272 rw o #x1A01 TxPDO 2 DT1A00 272 rw o #x1A02 TxPDO 3 DT1A00 272 rw o #x1A03 TxPDO 4 DT1A00 272 rw o #x1A10 TxPDO 5 DT1A00 272 rw o #x1A11 TxPDO 6 DT1A00 272 rw o #x1A12 TxPDO 7 DT1A00 272 rw o #x1A13 TxPDO 8 DT1A00 272 rw o #x1C12 Sync manager 2 assignment DT1C12 48 rw o #x1C13 Sync manager 3 assignment DT1C13 48 rw o #x1C32 Sync manager 2 synchronization DT1C32 488 ro o #x1C33 Sync manager 3 synchronization DT1C33 488 ro o #x30A5 Axis0 SinglePos DINT 32 ro o #x30A6 Axis0 MultiPos UDINT 32 ro o #x30A9 Axis0 Actual User Rotates DINT 32 ro o #x30AA Axis0 Actual User Position DT30AA 80 ro o #x30B0 Axis0 PSO Function UINT 16 rw o RT #x30B1 Axis0 PSO Adjustment Position INT 16 rw o RT #x30C0 Axis0 PSO State UINT 16 ro o RT #x30C1 Axis0 PSO Current ComparePoint UINT 16 ro o RT #x30C2 Axis0 PSO Current Position DINT 32 ro o RT #x3164 Axis0 Pn000 Basic Function Selections 0 DINT 32 rw o #x3165 Axis0 Pn001 Basic Function Selections 1 DINT 32 rw o #x3166 Axis0 Pn002 Application Function Selections 2 DINT 32 rw o #x3167 Axis0 Pn003 Application Function Selections 3 DINT 32 rw o #x3168 Axis0 Pn004 Application Function Selections 4 DINT 32 rw o #x3169 Axis0 Pn005 Application Function Selections 5 DINT 32 rw o #x316A Axis0 Pn006 Application Function Selections 6 DINT 32 rw o #x316B Axis0 Pn007 Application Function Selections 7 DINT 32 rw o #x316C Axis0 Pn008 Power On Options DINT 32 rw o #x31C8 Axis0 Pn100 Tuning Function Selection DINT 32 rw o #x31C9 Axis0 Pn101 Response Frequency Level DINT 32 rw o #x31CA Axis0 Pn102 Speed Loop Gain DINT 32 rw o #x31CB Axis0 Pn103 Speed Loop Integral Time DINT 32 rw o #x31CC Axis0 Pn104 Position Loop Gain DINT 32 rw o #x31CD Axis0 Pn105 Torque Reference Filter Time Constant DINT 32 rw o #x31CE Axis0 Pn106 Load Inertia Percentage DINT 32 rw o #x31CF Axis0 Pn107 Second Speed Loop Gain DINT 32 rw o #x31D0 Axis0 Pn108 Second Speed Loop Integral Time DINT 32 rw o #x31D1 Axis0 Pn109 Second Position Loop Gain DINT 32 rw o #x31D2 Axis0 Pn110 Second Torque Reference Filter Time Constant DINT 32 rw o #x31D4 Axis0 Pn112 Speed Feedforward DINT 32 rw o #x31D5 Axis0 Pn113 Speed Feedforward Filter Time Constant DINT 32 rw o #x31D6 Axis0 Pn114 Torque Feedforward DINT 32 rw o #x31D7 Axis0 Pn115 Torque Feedforward Filter Time Constant DINT 32 rw o #x31D8 Axis0 Pn116 P/PI Switching Conditions DINT 32 rw o #x31D9 Axis0 Pn117 P/PI Switching Level for Torque Reference DINT 32 rw o #x31DA Axis0 Pn118 P/PI Switching Level for Position Deviation DINT 32 rw o #x31DB Axis0 Pn119 P/PI Switching Level for Acceleration DINT 32 rw o #x31DC Axis0 Pn120 P/PI Switching Level for Speed Reference DINT 32 rw o #x31DD Axis0 Pn121 Gain Switching Conditions DINT 32 rw o #x31DE Axis0 Pn122 Gain Switching Waiting Time DINT 32 rw o #x31DF Axis0 Pn123 Gain Switching Level DINT 32 rw o #x31E0 Axis0 Pn124 Speed Level DINT 32 rw o #x31E1 Axis0 Pn125 Position Gain Switching Time DINT 32 rw o #x31E2 Axis0 Pn126 Gain Switching Hysteresis DINT 32 rw o #x31E3 Axis0 Pn127 Speed Measurement Filter at Low Speed DINT 32 rw o #x31E6 Axis0 Pn130 Friction Compensation Gain DINT 32 rw o #x31E7 Axis0 Pn131 Friction Compensation Speed Hysteresis DINT 32 rw o #x31E8 Axis0 Pn132 Friction Damping Proportion DINT 32 rw o #x31EB Axis0 Pn135 Speed Feedback Filter Time DINT 32 rw o #x31FA Axis0 Pn150 Control-Related Selections DINT 32 rw o #x31FB Axis0 Pn151 Model Following Control Gain DINT 32 rw o #x31FC Axis0 Pn152 Model Following Control Gain Correction DINT 32 rw o #x31FD Axis0 Pn153 Model Following Control Speed Feedforward Coefficient DINT 32 rw o #x31FE Axis0 Pn154 Model Following Control Torque Feedforward Coefficient DINT 32 rw o #x31FF Axis0 Pn155 Anti-Resonance Frequency for Jitter Suppression DINT 32 rw o #x3200 Axis0 Pn156 Filter Time Constant for Jitter Suppression DINT 32 rw o #x3201 Axis0 Pn157 Low frequency jitter suppression speed feedforward compensation amount limiting DINT 32 rw o #x3204 Axis0 Pn160 Load Disturbance Compensation DINT 32 rw o #x3205 Axis0 Pn161 Load Disturbance Detection Gain DINT 32 rw o #x3208 Axis0 Pn164 PJOG0 Rotation Number DINT 32 rw o #x3209 Axis0 Pn165 PJOG0 Rotation Speed DINT 32 rw o #x320A Axis0 Pn166 PJOG0 Acceleration/Deceleration Time DINT 32 rw o #x320B Axis0 Pn167 PJOG0 Stop Time DINT 32 rw o #x320C Axis0 Pn168 PJOG1 Rotation Number DINT 32 rw o #x320D Axis0 Pn169 PJOG1 Rotation Speed DINT 32 rw o #x320E Axis0 Pn170 PJOG1 Acceleration/Deceleration Time DINT 32 rw o #x320F Axis0 Pn171 PJOG1 Stop Time DINT 32 rw o #x3210 Axis0 Pn172 Moment of Inertia Calculation Amount DINT 32 rw o #x3211 Axis0 Pn173 Vibration Suppression Frequency at Intermediate-Frequency DINT 32 rw o #x3212 Axis0 Pn174 Vibration Suppression Bandwidth Adjustment at Intermediate-Frequency DINT 32 rw o #x3213 Axis0 Pn175 Vibration Suppression Damping Gain at Intermediate-Frequency DINT 32 rw o #x3214 Axis0 Pn176 Vibration Suppression Lowpass Filter Time at Intermediate-Frequency DINT 32 rw o #x3215 Axis0 Pn177 Vibration Suppression Highpass Filter Time at Intermediate-Frequency DINT 32 rw o #x3216 Axis0 Pn178 Vibration Suppression Proportional Attenuation Gain at Intermediate-Frequency DINT 32 rw o #x3217 Axis0 Pn179 Vibration Amplitude Detection Level DINT 32 rw o #x3218 Axis0 Pn180 Vibration Frequency Detection Level DINT 32 rw o #x3219 Axis0 Pn181 Notch Filter Frequency 1 DINT 32 rw o #x321A Axis0 Pn182 Notch Filter Depth 1 DINT 32 rw o #x321B Axis0 Pn183 Notch Filter Width 1 DINT 32 rw o #x321C Axis0 Pn184 Notch Filter Frequency 2 DINT 32 rw o #x321D Axis0 Pn185 Notch Filter Depth 2 DINT 32 rw o #x321E Axis0 Pn186 Notch Filter Width 2 DINT 32 rw o #x321F Axis0 Pn187 Notch Filter Frequency 3 DINT 32 rw o #x3220 Axis0 Pn188 Notch Filter Depth 3 DINT 32 rw o #x3221 Axis0 Pn189 Notch Filter Width 3 DINT 32 rw o #x3222 Axis0 Pn190 Automatic Vibration Suppression State DINT 32 rw o #x3223 Axis0 Pn191 Vibration Frequency Detection Level DINT 32 rw o #x322C Axis0 Pn200 Pulse Numbers for PG Frequency Division DINT 32 rw o #x3236 Axis0 Pn210 2nd Encoder Functions 1 DINT 32 rw o #x3237 Axis0 Pn211 2nd Encoder Functions 2 DINT 32 rw o #x3238 Axis0 Pn212 2nd Encoder Resolution DINT 32 rw o #x3239 Axis0 Pn213 Position Deviation Overflow Warning Level at Fully Closed-loop Control DINT 32 rw o #x323A Axis0 Pn214 Position Deviation Reset Level at Fully Closed-loop Control DINT 32 rw o #x3245 Axis0 Pn225 Encoder delay compensation mode DINT 32 rw o #x3246 Axis0 Pn226 Encoder delay manual compensation value DINT 32 rw o #x3247 Axis0 Pn227 User Define Multi-rotate Function Switch DINT 32 rw o #x3248 Axis0 Pn228 User Defined Multi-Resolution DINT 32 rw o #x3294 Axis0 Pn304 Parameter Reference Speed DINT 32 rw o #x3295 Axis0 Pn305 JOG Speed DINT 32 rw o #x3296 Axis0 Pn306 Soft Start Acceleration Time DINT 32 rw o #x3297 Axis0 Pn307 Soft Start Deceleration Time DINT 32 rw o #x3298 Axis0 Pn308 Speed Feedback Filter Time Constant DINT 32 rw o #x3299 Axis0 Pn309 S-Curve Rise Time DINT 32 rw o #x329A Axis0 Pn310 Speed Reference Curve Form DINT 32 rw o #x329B Axis0 Pn311 S-Curve Selection DINT 32 rw o #x32A7 Axis0 Pn323 Overspeed Detection Level DINT 32 rw o #x32AF Axis0 Pn331 Touch Probe Signal Allocation DINT 32 rw o #x32F5 Axis0 Pn401 Forward Internal Torque Limit DINT 32 rw o #x32F6 Axis0 Pn402 Reverse Internal Torque Limit DINT 32 rw o #x32F7 Axis0 Pn403 Forward External Torque Limit DINT 32 rw o #x32F8 Axis0 Pn404 Reverse External Torque Limit DINT 32 rw o #x32F9 Axis0 Pn405 Reverse Brake Torque Limit DINT 32 rw o #x32FA Axis0 Pn406 Torque Limit at Undervoltage DINT 32 rw o #x32FB Axis0 Pn407 Release Time for Torque Limit at Undervoltage DINT 32 rw o #x32FC Axis0 Pn408 Speed Limit during Torque Control DINT 32 rw o #x3358 Axis0 Pn500 Positioning Completed Width DINT 32 rw o #x3359 Axis0 Pn501 Speed Coincidence Signal Detection Width DINT 32 rw o #x335B Axis0 Pn503 Rotation Detection Speed DINT 32 rw o #x335C Axis0 Pn504 Deviation Counter Overflow Alarm DINT 32 rw o #x335D Axis0 Pn505 Servo ON Waiting Time DINT 32 rw o #x335E Axis0 Pn506 Brake Reference-Servo OFF Delay Time DINT 32 rw o #x335F Axis0 Pn507 Brake Reference Waiting Speed DINT 32 rw o #x3360 Axis0 Pn508 Brake Reference Waiting Time DINT 32 rw o #x3361 Axis0 Pn509 Input Signal Allocations 1 DINT 32 rw o #x3362 Axis0 Pn510 Input Signal Allocations 2 DINT 32 rw o #x3363 Axis0 Pn511 Output Signal Allocations DINT 32 rw o #x3364 Axis0 Pn512 Input Contact Data (Low Bits) at Bus Control DINT 32 rw o #x3365 Axis0 Pn513 Input Contact Data (High Bit) at Bus Control DINT 32 rw o #x3366 Axis0 Pn514 Input Signals Filter Time DINT 32 rw o #x3367 Axis0 Pn515 Alarm Signals Filter Time DINT 32 rw o #x3368 Axis0 Pn516 Input Singal Inverts 1 DINT 32 rw o #x3369 Axis0 Pn517 Input Singal Inverts 2 DINT 32 rw o #x336A Axis0 Pn518 Dynamic Brake Time DINT 32 rw o #x336B Axis0 Pn519 Serial Encoder Error Allowed Time DINT 32 rw o #x336C Axis0 Pn520 Positioning Completion Time DINT 32 rw o #x336D Axis0 Pn521 Alarm Masks 1 DINT 32 rw o #x3371 Axis0 Pn525 Overload Alarm Level DINT 32 rw o #x3374 Axis0 Pn528 Ouput Signal Inverts DINT 32 rw o #x3375 Axis0 Pn529 Torque Detection Signal Output Level DINT 32 rw o #x3376 Axis0 Pn530 Torque Detection Signal Ouput Time DINT 32 rw o #x3379 Axis0 Pn533 Dynamic Brake Current Detection Level DINT 32 rw o #x337A Axis0 Pn534 IPM Junction Temperature Detection Level DINT 32 rw o #x337B Axis0 Pn535 Discharging Resistor Resistance DINT 32 rw o #x337C Axis0 Pn536 Discharging Resistor Power DINT 32 rw o #x337E Axis0 Pn538 Momentary Power Interruption Hold Time DINT 32 rw o #x337F Axis0 Pn539 Pumping Turn ON Delay Time DINT 32 rw o #x3380 Axis0 Pn540 Pumping Turn OFF Delay Time DINT 32 rw o #x33BC Axis0 Pn600 PSO Position Resolution Ratio DINT 32 rw o #x33BD Axis0 Pn601 PSO mode of Comparision DINT 32 rw o #x33BE Axis0 Pn602 PSO output polarity DINT 32 rw o #x33BF Axis0 Pn603 PSO output type DINT 32 rw o #x33C0 Axis0 Pn604 PSO Settings of output pluse width DINT 32 rw o #x33C1 Axis0 Pn605 PSO compensation of output delay DINT 32 rw o #x33C2 Axis0 Pn606 PSO origin offset DINT 32 rw o #x33C3 Axis0 Pn607 PSO Start point of camparision DINT 32 rw o #x33C4 Axis0 Pn608 PSO End point of camparision DINT 32 rw o #x33C5 Axis0 Pn609 Properties of PSO comparison point 1 DINT 32 rw o #x33C6 Axis0 Pn610 Target position of PSO comparison point 1 DINT 32 rw o #x33C7 Axis0 Pn611 Properties of PSO comparison point 2 DINT 32 rw o #x33C8 Axis0 Pn612 Target position of PSO comparison point 2 DINT 32 rw o #x33C9 Axis0 Pn613 Properties of PSO comparison point 3 DINT 32 rw o #x33CA Axis0 Pn614 Target position of PSO comparison point 3 DINT 32 rw o #x33CB Axis0 Pn615 Properties of PSO comparison point 4 DINT 32 rw o #x33CC Axis0 Pn616 Target position of PSO comparison point 4 DINT 32 rw o #x33CD Axis0 Pn617 Properties of PSO comparison point 5 DINT 32 rw o #x33CE Axis0 Pn618 Target position of PSO comparison point 5 DINT 32 rw o #x33CF Axis0 Pn619 Properties of PSO comparison point 6 DINT 32 rw o #x33D0 Axis0 Pn620 Target position of PSO comparison point 6 DINT 32 rw o #x33D1 Axis0 Pn621 Properties of PSO comparison point 7 DINT 32 rw o #x33D2 Axis0 Pn622 Target position of PSO comparison point 7 DINT 32 rw o #x33D3 Axis0 Pn623 Properties of PSO comparison point 8 DINT 32 rw o #x33D4 Axis0 Pn624 Target position of PSO comparison point8 DINT 32 rw o #x3424 Axis0 Pn704 Device Node Number DINT 32 rw o #x3434 Axis0 Pn720 Homing Mode DINT 32 rw o #x3435 Axis0 Pn721 Research Reference Point Speed DINT 32 rw o #x3436 Axis0 Pn722 Origin Research Speed DINT 32 rw o #x3437 Axis0 Pn723 Origin Research Acceleration DINT 32 rw o #x3438 Axis0 Pn724 Origin Return Offset Pulse DINT 32 rw o #x3439 Axis0 Pn725 Electronic Gear Ratio (Numerator) DINT 32 rw o #x343A Axis0 Pn726 Electronic Gear Ratio (Denominator) DINT 32 rw o #x3484 Axis0 Pn800 Motor Applied Settings 1 DINT 32 rw o #x3485 Axis0 Pn801 Motor Applied Settings 2 DINT 32 rw o #x3486 Axis0 Pn802 Encoder Initial Value DINT 32 rw o #x3488 Axis0 Pn804 Motor Serials Selection DINT 32 rw o #x3489 Axis0 Pn805 Motor Module Selection DINT 32 rw o #x348A Axis0 Pn806 Motor Voltage Class DINT 32 rw o #x348B Axis0 Pn807 Motor Power DINT 32 rw o #x348C Axis0 Pn808 Motor Temperature Sensor Model DINT 32 rw o #x348D Axis0 Pn809 Motor Derating Factor DINT 32 rw o #x348E Axis0 Pn810 Motor Rated Torque DINT 32 rw o #x348F Axis0 Pn811 Motor Maximum Torque DINT 32 rw o #x3490 Axis0 Pn812 Motor Reated Current DINT 32 rw o #x3491 Axis0 Pn813 Motor Maximum Curren DINT 32 rw o #x3492 Axis0 Pn814 Motor Reated Speed DINT 32 rw o #x3493 Axis0 Pn815 Motor Maximum Speed DINT 32 rw o #x3494 Axis0 Pn816 Motor Ultimate Speed DINT 32 rw o #x3495 Axis0 Pn817 a0*10000 DINT 32 rw o #x3496 Axis0 Pn818 a1*10000 DINT 32 rw o #x3497 Axis0 Pn819 a2*10000 DINT 32 rw o #x3498 Axis0 Pn820 a3*10000 DINT 32 rw o #x3499 Axis0 Pn821 a4*10000 DINT 32 rw o #x349A Axis0 Pn822 b0*10000 DINT 32 rw o #x349B Axis0 Pn823 b1*10000 DINT 32 rw o #x349C Axis0 Pn824 b2*10000 DINT 32 rw o #x349D Axis0 Pn825 b3*10000 DINT 32 rw o #x349E Axis0 Pn826 b4*10000 DINT 32 rw o #x349F Axis0 Pn827 Opposing EMF Factor (Ke) DINT 32 rw o #x34A0 Axis0 Pn828 Phase Resistance (Rs) DINT 32 rw o #x34A1 Axis0 Pn829 Ld DINT 32 rw o #x34A2 Axis0 Pn830 Lq DINT 32 rw o #x34A3 Axis0 Pn831 Moment of Inertia for Motor DINT 32 rw o #x34A4 Axis0 Pn832 Pole Number DINT 32 rw o #x34A5 Axis0 Pn833 Electrical Time Constant (te) DINT 32 rw o #x34A6 Axis0 Pn834 Mechanical Time Constant (tm) DINT 32 rw o #x34A7 Axis0 Pn835 Thermal Time Constant (th) DINT 32 rw o #x34A8 Axis0 Pn836 Thermal Model Parameters Tp[0]*10000 DINT 32 rw o #x34A9 Axis0 Pn837 Thermal Model Parameters Tp[1]*10000 DINT 32 rw o #x34AA Axis0 Pn838 Thermal Model Parameters Tp[2]*10000 DINT 32 rw o #x34AB Axis0 Pn839 Thermal Model Parameters Tp[3]*10000 DINT 32 rw o #x34AC Axis0 Pn840 Thermal Model Parameters Tp[4]*10000 DINT 32 rw o #x34AD Axis0 Pn841 Motor Overload Curve Coefficient k[0]*10000 DINT 32 rw o #x34AE Axis0 Pn842 Motor Overload Curve Coefficient k[1]*10000 DINT 32 rw o #x34AF Axis0 Pn843 Motor Overload Curve Coefficient k[2]*10000 DINT 32 rw o #x34B0 Axis0 Pn844 Motor Overload Curve Coefficient k[3]*10000 DINT 32 rw o #x34B1 Axis0 Pn845 Motor Overload Curve Coefficient k[4]*10000 DINT 32 rw o #x34CF Axis0 Pn875 Application Function Select UDINT 32 rw o #x34D1 Axis0 Pn877 Encoder Protocol Selection DINT 32 rw o #x34D2 Axis0 Pn878 Encoder Type Selection DINT 32 rw o #x34D3 Axis0 Pn879 Encoder Actual Resolution DINT 32 rw o #x34D4 Axis0 Pn880 Encoder Resolution for Program Using DINT 32 rw o #x34D5 Axis0 Pn881 Encoder Resolution for Multi-turn Data DINT 32 rw o #x34D9 Axis0 Pn885 Servodrive Applied Setting DINT 32 rw o #x34E3 Axis0 Pn895 Alarm Masks 7 DINT 32 rw o #x34F6 Axis0 Pn914 Asynchronous Drive Amplitude (Uq) DINT 32 rw o #x34F7 Axis0 Pn915 Asynchronous Drive Frequency DINT 32 rw o #x34F8 Axis0 Pn916 Current Loop Bandwidth UDINT 32 rw o #x34F9 Axis0 Pn917 Dead Zone Compensation Percentage DINT 32 rw o #x34FC Axis0 Pn920 Function Selection for Test DINT 32 rw o #x34FD Axis0 Pn921 Test Mode Settings DINT 32 rw o #x34FE Axis0 Pn922 Current loop step test Id given percentage DINT 32 rw o #x34FF Axis0 Pn923 Iq Given Percentage for Current Loop Step Test DINT 32 rw o #x3500 Axis0 Pn924 Reserved DINT 32 rw o #x3501 Axis0 Pn925 Current loop frequency response test Iq given offset percentage DINT 32 rw o #x3502 Axis0 Pn926 Current loop frequency response test Iq given amplitude percentage DINT 32 rw o #x3503 Axis0 Pn927 Reserved DINT 32 rw o #x3504 Axis0 Pn928 Speed loop frequency response test speed given offset DINT 32 rw o #x3505 Axis0 Pn929 Speed loop frequency response test speed given amplitude DINT 32 rw o #x3506 Axis0 Pn930 Reserved DINT 32 rw o #x3507 Axis0 Pn931 DA output voltage amplitude in frequency response test mode DINT 32 rw o #x3508 Axis0 Pn932 Sweep frequency DINT 32 rw o #x3509 Axis0 Pn933 Reserved DINT 32 rw o #x350B Axis0 Pn935 One Volt Corresponding Pulse Number DINT 32 rw o #x350C Axis0 Pn936 Output Voltage Scale Factor in Position Loop Frequency Response Test DINT 32 rw o #x350D Axis0 Pn937 Output Voltage Offset in Position Loop Frequency Response Test DINT 32 rw o #x350F Axis0 Pn939 STO Function Selection DINT 32 rw o #x3510 Axis0 Pn940 Interrupt Cycle Time DINT 32 rw o #x3511 Axis0 Pn941 EM3A Motor Flux-weakening Selection DINT 32 rw o #x3512 Axis0 Pn942 Flux-weakening PI Regulator (kp) DINT 32 rw o #x3513 Axis0 Pn943 Flux-weakening PI Regulator (ki) DINT 32 rw o #x3514 Axis0 Pn944 Mechanical Analyzer Order DINT 32 rw o #x351A Axis0 Pn950 Overmodulation Selection DINT 32 rw o #x351B Axis0 Pn951 Tz Selection DINT 32 rw o #x351C Axis0 Pn952 Amplifying Tmax, Pn401/Pn402 DINT 32 rw o #x351D Axis0 Pn953 Motor Amplified (Imax) DINT 32 rw o #x351E Axis0 Pn954 Alarm Self-test Selection DINT 32 rw o #x351F Axis0 Pn955 Bus Voltage Correction DINT 32 rw o #x3521 Axis0 Pn957 ePWM forced synchronization enable bit in EC mode Validate After Restart DINT 32 rw o #x3524 Axis0 Pn960 Alarm Masks 1 DINT 32 rw o #x3525 Axis0 Pn961 Alarm Masks 2 DINT 32 rw o #x3526 Axis0 Pn962 Alarm Masks 3 DINT 32 rw o #x3527 Axis0 Pn963 Alarm Masks 4 DINT 32 rw o #x3528 Axis0 Pn964 Alarm Masks 5 DINT 32 rw o #x3529 Axis0 Pn965 Alarm Masks 6 DINT 32 rw o #x38A5 Axis1 SinglePos DINT 32 ro o #x38A6 Axis1 MultiPos UDINT 32 ro o #x38A9 Axis1 Actual User Rotates DINT 32 ro o RT #x38AA Axis1 Actual User Position DT30AA 80 ro o #x38B0 Axis1 PSO Function UINT 16 rw o RT #x38B1 Axis1 PSO Adjustment Position INT 16 rw o RT #x38C0 Axis1 PSO State UINT 16 ro o RT #x38C1 Axis1 PSO Current ComparePoint UINT 16 ro o RT #x38C2 Axis1 PSO Current Position DINT 32 ro o RT #x3964 Axis1 Pn000 Basic Function Selections 0 DINT 32 rw o #x3965 Axis1 Pn001 Basic Function Selections 1 DINT 32 rw o #x3966 Axis1 Pn002 Application Function Selections 2 DINT 32 rw o #x3967 Axis1 Pn003 Application Function Selections 3 DINT 32 rw o #x3968 Axis1 Pn004 Application Function Selections 4 DINT 32 rw o #x3969 Axis1 Pn005 Application Function Selections 5 DINT 32 rw o #x396A Axis1 Pn006 Application Function Selections 6 DINT 32 rw o #x396B Axis1 Pn007 Application Function Selections 7 DINT 32 rw o #x396C Axis1 Pn008 Power On Options DINT 32 rw o #x39C8 Axis1 Pn100 Tuning Function Selection DINT 32 rw o #x39C9 Axis1 Pn101 Response Frequency Level DINT 32 rw o #x39CA Axis1 Pn102 Speed Loop Gain DINT 32 rw o #x39CB Axis1 Pn103 Speed Loop Integral Time DINT 32 rw o #x39CC Axis1 Pn104 Position Loop Gain DINT 32 rw o #x39CD Axis1 Pn105 Torque Reference Filter Time Constant DINT 32 rw o #x39CE Axis1 Pn106 Load Inertia Percentage DINT 32 rw o #x39CF Axis1 Pn107 Second Speed Loop Gain DINT 32 rw o #x39D0 Axis1 Pn108 Second Speed Loop Integral Time DINT 32 rw o #x39D1 Axis1 Pn109 Second Position Loop Gain DINT 32 rw o #x39D2 Axis1 Pn110 Second Torque Reference Filter Time Constant DINT 32 rw o #x39D4 Axis1 Pn112 Speed Feedforward DINT 32 rw o #x39D5 Axis1 Pn113 Speed Feedforward Filter Time Constant DINT 32 rw o #x39D6 Axis1 Pn114 Torque Feedforward DINT 32 rw o #x39D7 Axis1 Pn115 Torque Feedforward Filter Time Constant DINT 32 rw o #x39D8 Axis1 Pn116 P/PI Switching Conditions DINT 32 rw o #x39D9 Axis1 Pn117 P/PI Switching Level for Torque Reference DINT 32 rw o #x39DA Axis1 Pn118 P/PI Switching Level for Position Deviation DINT 32 rw o #x39DB Axis1 Pn119 P/PI Switching Level for Acceleration DINT 32 rw o #x39DC Axis1 Pn120 P/PI Switching Level for Speed Reference DINT 32 rw o #x39DD Axis1 Pn121 Gain Switching Conditions DINT 32 rw o #x39DE Axis1 Pn122 Gain Switching Waiting Time DINT 32 rw o #x39DF Axis1 Pn123 Gain Switching Level DINT 32 rw o #x39E0 Axis1 Pn124 Speed Level DINT 32 rw o #x39E1 Axis1 Pn125 Position Gain Switching Time DINT 32 rw o #x39E2 Axis1 Pn126 Gain Switching Hysteresis DINT 32 rw o #x39E3 Axis1 Pn127 Speed Measurement Filter at Low Speed DINT 32 rw o #x39E6 Axis1 Pn130 Friction Compensation Gain DINT 32 rw o #x39E7 Axis1 Pn131 Friction Compensation Speed Hysteresis DINT 32 rw o #x39E8 Axis1 Pn132 Friction Damping Proportion DINT 32 rw o #x39EB Axis1 Pn135 Speed Feedback Filter Time DINT 32 rw o #x39FA Axis1 Pn150 Control-Related Selections DINT 32 rw o #x39FB Axis1 Pn151 Model Following Control Gain DINT 32 rw o #x39FC Axis1 Pn152 Model Following Control Gain Correction DINT 32 rw o #x39FD Axis1 Pn153 Model Following Control Speed Feedforward Coefficient DINT 32 rw o #x39FE Axis1 Pn154 Model Following Control Torque Feedforward Coefficient DINT 32 rw o #x39FF Axis1 Pn155 Anti-Resonance Frequency for Jitter Suppression DINT 32 rw o #x3A00 Axis1 Pn156 Filter Time Constant for Jitter Suppression DINT 32 rw o #x3A01 Axis1 Pn157 Low frequency jitter suppression speed feedforward compensation amount limiting DINT 32 rw o #x3A04 Axis1 Pn160 Load Disturbance Compensation DINT 32 rw o #x3A05 Axis1 Pn161 Load Disturbance Detection Gain DINT 32 rw o #x3A08 Axis1 Pn164 PJOG0 Rotation Number DINT 32 rw o #x3A09 Axis1 Pn165 PJOG0 Rotation Speed DINT 32 rw o #x3A0A Axis1 Pn166 PJOG0 Acceleration/Deceleration Time DINT 32 rw o #x3A0B Axis1 Pn167 PJOG0 Stop Time DINT 32 rw o #x3A0C Axis1 Pn168 PJOG1 Rotation Number DINT 32 rw o #x3A0D Axis1 Pn169 PJOG1 Rotation Speed DINT 32 rw o #x3A0E Axis1 Pn170 PJOG1 Acceleration/Deceleration Time DINT 32 rw o #x3A0F Axis1 Pn171 PJOG1 Stop Time DINT 32 rw o #x3A10 Axis1 Pn172 Moment of Inertia Calculation Amount DINT 32 rw o #x3A11 Axis1 Pn173 Vibration Suppression Frequency at Intermediate-Frequency DINT 32 rw o #x3A12 Axis1 Pn174 Vibration Suppression Bandwidth Adjustment at Intermediate-Frequency DINT 32 rw o #x3A13 Axis1 Pn175 Vibration Suppression Damping Gain at Intermediate-Frequency DINT 32 rw o #x3A14 Axis1 Pn176 Vibration Suppression Lowpass Filter Time at Intermediate-Frequency DINT 32 rw o #x3A15 Axis1 Pn177 Vibration Suppression Highpass Filter Time at Intermediate-Frequency DINT 32 rw o #x3A16 Axis1 Pn178 Vibration Suppression Proportional Attenuation Gain at Intermediate-Frequency DINT 32 rw o #x3A17 Axis1 Pn179 Vibration Amplitude Detection Level DINT 32 rw o #x3A18 Axis1 Pn180 Vibration Frequency Detection Level DINT 32 rw o #x3A19 Axis1 Pn181 Notch Filter Frequency 1 DINT 32 rw o #x3A1A Axis1 Pn182 Notch Filter Depth 1 DINT 32 rw o #x3A1B Axis1 Pn183 Notch Filter Width 1 DINT 32 rw o #x3A1C Axis1 Pn184 Notch Filter Frequency 2 DINT 32 rw o #x3A1D Axis1 Pn185 Notch Filter Depth 2 DINT 32 rw o #x3A1E Axis1 Pn186 Notch Filter Width 2 DINT 32 rw o #x3A1F Axis1 Pn187 Notch Filter Frequency 3 DINT 32 rw o #x3A20 Axis1 Pn188 Notch Filter Depth 3 DINT 32 rw o #x3A21 Axis1 Pn189 Notch Filter Width 3 DINT 32 rw o #x3A22 Axis1 Pn190 Automatic Vibration Suppression State DINT 32 rw o #x3A23 Axis1 Pn191 Vibration Frequency Detection Level DINT 32 rw o #x3A2C Axis1 Pn200 Pulse Numbers for PG Frequency Division DINT 32 rw o #x3A36 Axis1 Pn210 2nd Encoder Functions 1 DINT 32 rw o #x3A37 Axis1 Pn211 2nd Encoder Functions 2 DINT 32 rw o #x3A38 Axis1 Pn212 2nd Encoder Resolution DINT 32 rw o #x3A39 Axis1 Pn213 Position Deviation Overflow Warning Level at Fully Closed-loop Control DINT 32 rw o #x3A3A Axis1 Pn214 Position Deviation Reset Level at Fully Closed-loop Control DINT 32 rw o #x3A45 Axis1 Pn225 Encoder delay compensation mode DINT 32 rw o #x3A46 Axis1 Pn226 Encoder delay manual compensation value DINT 32 rw o #x3A47 Axis1 Pn227 User Define Multi-rotate Function Switch DINT 32 rw o #x3A48 Axis1 Pn228 User Defined Multi-Resolution DINT 32 rw o #x3A94 Axis1 Pn304 Parameter Reference Speed DINT 32 rw o #x3A95 Axis1 Pn305 JOG Speed DINT 32 rw o #x3A96 Axis1 Pn306 Soft Start Acceleration Time DINT 32 rw o #x3A97 Axis1 Pn307 Soft Start Deceleration Time DINT 32 rw o #x3A98 Axis1 Pn308 Speed Feedback Filter Time Constant DINT 32 rw o #x3A99 Axis1 Pn309 S-Curve Rise Time DINT 32 rw o #x3A9A Axis1 Pn310 Speed Reference Curve Form DINT 32 rw o #x3A9B Axis1 Pn311 S-Curve Selection DINT 32 rw o #x3AA7 Axis1 Pn323 Overspeed Detection Level DINT 32 rw o #x3AAF Axis1 Pn331 Touch Probe Signal Allocation DINT 32 rw o #x3AF5 Axis1 Pn401 Forward Internal Torque Limit DINT 32 rw o #x3AF6 Axis1 Pn402 Reverse Internal Torque Limit DINT 32 rw o #x3AF7 Axis1 Pn403 Forward External Torque Limit DINT 32 rw o #x3AF8 Axis1 Pn404 Reverse External Torque Limit DINT 32 rw o #x3AF9 Axis1 Pn405 Reverse Brake Torque Limit DINT 32 rw o #x3AFA Axis1 Pn406 Torque Limit at Undervoltage DINT 32 rw o #x3AFB Axis1 Pn407 Release Time for Torque Limit at Undervoltage DINT 32 rw o #x3AFC Axis1 Pn408 Speed Limit during Torque Control DINT 32 rw o #x3B58 Axis1 Pn500 Positioning Completed Width DINT 32 rw o #x3B59 Axis1 Pn501 Speed Coincidence Signal Detection Width DINT 32 rw o #x3B5B Axis1 Pn503 Rotation Detection Speed DINT 32 rw o #x3B5C Axis1 Pn504 Deviation Counter Overflow Alarm DINT 32 rw o #x3B5D Axis1 Pn505 Servo ON Waiting Time DINT 32 rw o #x3B5E Axis1 Pn506 Brake Reference-Servo OFF Delay Time DINT 32 rw o #x3B5F Axis1 Pn507 Brake Reference Waiting Speed DINT 32 rw o #x3B60 Axis1 Pn508 Brake Reference Waiting Time DINT 32 rw o #x3B61 Axis1 Pn509 Input Signal Allocations 1 DINT 32 rw o #x3B62 Axis1 Pn510 Input Signal Allocations 2 DINT 32 rw o #x3B63 Axis1 Pn511 Output Signal Allocations DINT 32 rw o #x3B64 Axis1 Pn512 Input Contact Data (Low Bits) at Bus Control DINT 32 rw o #x3B65 Axis1 Pn513 Input Contact Data (High Bit) at Bus Control DINT 32 rw o #x3B66 Axis1 Pn514 Input Signals Filter Time DINT 32 rw o #x3B67 Axis1 Pn515 Alarm Signals Filter Time DINT 32 rw o #x3B68 Axis1 Pn516 Input Singal Inverts 1 DINT 32 rw o #x3B69 Axis1 Pn517 Input Singal Inverts 2 DINT 32 rw o #x3B6A Axis1 Pn518 Dynamic Brake Time DINT 32 rw o #x3B6B Axis1 Pn519 Serial Encoder Error Allowed Time DINT 32 rw o #x3B6C Axis1 Pn520 Positioning Completion Time DINT 32 rw o #x3B6D Axis1 Pn521 Alarm Masks 1 DINT 32 rw o #x3B71 Axis1 Pn525 Overload Alarm Level DINT 32 rw o #x3B74 Axis1 Pn528 Ouput Signal Inverts DINT 32 rw o #x3B75 Axis1 Pn529 Torque Detection Signal Output Level DINT 32 rw o #x3B76 Axis1 Pn530 Torque Detection Signal Ouput Time DINT 32 rw o #x3B79 Axis1 Pn533 Dynamic Brake Current Detection Level DINT 32 rw o #x3B7A Axis1 Pn534 IPM Junction Temperature Detection Level DINT 32 rw o #x3B7B Axis1 Pn535 Discharging Resistor Resistance DINT 32 rw o #x3B7C Axis1 Pn536 Discharging Resistor Power DINT 32 rw o #x3B7E Axis1 Pn538 Momentary Power Interruption Hold Time DINT 32 rw o #x3B7F Axis1 Pn539 Pumping Turn ON Delay Time DINT 32 rw o #x3B80 Axis1 Pn540 Pumping Turn OFF Delay Time DINT 32 rw o #x3BBC Axis1 Pn600 PSO Position Resolution Ratio DINT 32 rw o #x3BBD Axis1 Pn601 PSO mode of Comparision DINT 32 rw o #x3BBE Axis1 Pn602 PSO output polarity DINT 32 rw o #x3BBF Axis1 Pn603 PSO output type DINT 32 rw o #x3BC0 Axis1 Pn604 PSO Settings of output pluse width DINT 32 rw o #x3BC1 Axis1 Pn605 PSO compensation of output delay DINT 32 rw o #x3BC2 Axis1 Pn606 PSO origin offset DINT 32 rw o #x3BC3 Axis1 Pn607 PSO Start point of camparision DINT 32 rw o #x3BC4 Axis1 Pn608 PSO End point of camparision DINT 32 rw o #x3BC5 Axis1 Pn609 Properties of PSO comparison point 1 DINT 32 rw o #x3BC6 Axis1 Pn610 Target position of PSO comparison point 1 DINT 32 rw o #x3BC7 Axis1 Pn611 Properties of PSO comparison point 2 DINT 32 rw o #x3BC8 Axis1 Pn612 Target position of PSO comparison point 2 DINT 32 rw o #x3BC9 Axis1 Pn613 Properties of PSO comparison point 3 DINT 32 rw o #x3BCA Axis1 Pn614 Target position of PSO comparison point 3 DINT 32 rw o #x3BCB Axis1 Pn615 Properties of PSO comparison point 4 DINT 32 rw o #x3BCC Axis1 Pn616 Target position of PSO comparison point 4 DINT 32 rw o #x3BCD Axis1 Pn617 Properties of PSO comparison point 5 DINT 32 rw o #x3BCE Axis1 Pn618 Target position of PSO comparison point 5 DINT 32 rw o #x3BCF Axis1 Pn619 Properties of PSO comparison point 6 DINT 32 rw o #x3BD0 Axis1 Pn620 Target position of PSO comparison point 6 DINT 32 rw o #x3BD1 Axis1 Pn621 Properties of PSO comparison point 7 DINT 32 rw o #x3BD2 Axis1 Pn622 Target position of PSO comparison point 7 DINT 32 rw o #x3BD3 Axis1 Pn623 Properties of PSO comparison point 8 DINT 32 rw o #x3BD4 Axis1 Pn624 Target position of PSO comparison point8 DINT 32 rw o #x3C24 Axis1 Pn704 Device Node Number DINT 32 rw o #x3C34 Axis1 Pn720 Homing Mode DINT 32 rw o #x3C35 Axis1 Pn721 Research Reference Point Speed DINT 32 rw o #x3C36 Axis1 Pn722 Origin Research Speed DINT 32 rw o #x3C37 Axis1 Pn723 Origin Research Acceleration DINT 32 rw o #x3C38 Axis1 Pn724 Origin Return Offset Pulse DINT 32 rw o #x3C39 Axis1 Pn725 Electronic Gear Ratio (Numerator) DINT 32 rw o #x3C3A Axis1 Pn726 Electronic Gear Ratio (Denominator) DINT 32 rw o #x3C84 Axis1 Pn800 Motor Applied Settings 1 DINT 32 rw o #x3C85 Axis1 Pn801 Motor Applied Settings 2 DINT 32 rw o #x3C86 Axis1 Pn802 Encoder Initial Value DINT 32 rw o #x3C88 Axis1 Pn804 Motor Serials Selection DINT 32 rw o #x3C89 Axis1 Pn805 Motor Module Selection DINT 32 rw o #x3C8A Axis1 Pn806 Motor Voltage Class DINT 32 rw o #x3C8B Axis1 Pn807 Motor Power DINT 32 rw o #x3C8C Axis1 Pn808 Motor Temperature Sensor Model DINT 32 rw o #x3C8D Axis1 Pn809 Motor Derating Factor DINT 32 rw o #x3C8E Axis1 Pn810 Motor Rated Torque DINT 32 rw o #x3C8F Axis1 Pn811 Motor Maximum Torque DINT 32 rw o #x3C90 Axis1 Pn812 Motor Reated Current DINT 32 rw o #x3C91 Axis1 Pn813 Motor Maximum Curren DINT 32 rw o #x3C92 Axis1 Pn814 Motor Reated Speed DINT 32 rw o #x3C93 Axis1 Pn815 Motor Maximum Speed DINT 32 rw o #x3C94 Axis1 Pn816 Motor Ultimate Speed DINT 32 rw o #x3C95 Axis1 Pn817 a0*10000 DINT 32 rw o #x3C96 Axis1 Pn818 a1*10000 DINT 32 rw o #x3C97 Axis1 Pn819 a2*10000 DINT 32 rw o #x3C98 Axis1 Pn820 a3*10000 DINT 32 rw o #x3C99 Axis1 Pn821 a4*10000 DINT 32 rw o #x3C9A Axis1 Pn822 b0*10000 DINT 32 rw o #x3C9B Axis1 Pn823 b1*10000 DINT 32 rw o #x3C9C Axis1 Pn824 b2*10000 DINT 32 rw o #x3C9D Axis1 Pn825 b3*10000 DINT 32 rw o #x3C9E Axis1 Pn826 b4*10000 DINT 32 rw o #x3C9F Axis1 Pn827 Opposing EMF Factor (Ke) DINT 32 rw o #x3CA0 Axis1 Pn828 Phase Resistance (Rs) DINT 32 rw o #x3CA1 Axis1 Pn829 Ld DINT 32 rw o #x3CA2 Axis1 Pn830 Lq DINT 32 rw o #x3CA3 Axis1 Pn831 Moment of Inertia for Motor DINT 32 rw o #x3CA4 Axis1 Pn832 Pole Number DINT 32 rw o #x3CA5 Axis1 Pn833 Electrical Time Constant (te) DINT 32 rw o #x3CA6 Axis1 Pn834 Mechanical Time Constant (tm) DINT 32 rw o #x3CA7 Axis1 Pn835 Thermal Time Constant (th) DINT 32 rw o #x3CA8 Axis1 Pn836 Thermal Model Parameters Tp[0]*10000 DINT 32 rw o #x3CA9 Axis1 Pn837 Thermal Model Parameters Tp[1]*10000 DINT 32 rw o #x3CAA Axis1 Pn838 Thermal Model Parameters Tp[2]*10000 DINT 32 rw o #x3CAB Axis1 Pn839 Thermal Model Parameters Tp[3]*10000 DINT 32 rw o #x3CAC Axis1 Pn840 Thermal Model Parameters Tp[4]*10000 DINT 32 rw o #x3CAD Axis1 Pn841 Motor Overload Curve Coefficient k[0]*10000 DINT 32 rw o #x3CAE Axis1 Pn842 Motor Overload Curve Coefficient k[1]*10000 DINT 32 rw o #x3CAF Axis1 Pn843 Motor Overload Curve Coefficient k[2]*10000 DINT 32 rw o #x3CB0 Axis1 Pn844 Motor Overload Curve Coefficient k[3]*10000 DINT 32 rw o #x3CB1 Axis1 Pn845 Motor Overload Curve Coefficient k[4]*10000 DINT 32 rw o #x3CCF Axis1 Pn875 Application Function Select UDINT 32 rw o #x3CD1 Axis1 Pn877 Encoder Protocol Selection DINT 32 rw o #x3CD2 Axis1 Pn878 Encoder Type Selection DINT 32 rw o #x3CD3 Axis1 Pn879 Encoder Actual Resolution DINT 32 rw o #x3CD4 Axis1 Pn880 Encoder Resolution for Program Using DINT 32 rw o #x3CD5 Axis1 Pn881 Encoder Resolution for Multi-turn Data DINT 32 rw o #x3CD9 Axis1 Pn885 Servodrive Applied Setting DINT 32 rw o #x3CE3 Axis1 Pn895 Alarm Masks 7 DINT 32 rw o #x3CF6 Axis1 Pn914 Asynchronous Drive Amplitude (Uq) DINT 32 rw o #x3CF7 Axis1 Pn915 Asynchronous Drive Frequency DINT 32 rw o #x3CF8 Axis1 Pn916 Current Loop Bandwidth UDINT 32 rw o #x3CF9 Axis1 Pn917 Dead Zone Compensation Percentage DINT 32 rw o #x3CFC Axis1 Pn920 Function Selection for Test DINT 32 rw o #x3CFD Axis1 Pn921 Test Mode Settings DINT 32 rw o #x3CFE Axis1 Pn922 Current loop step test Id given percentage DINT 32 rw o #x3CFF Axis1 Pn923 Iq Given Percentage for Current Loop Step Test DINT 32 rw o #x3D00 Axis1 Pn924 Reserved DINT 32 rw o #x3D01 Axis1 Pn925 Current loop frequency response test Iq given offset percentage DINT 32 rw o #x3D02 Axis1 Pn926 Current loop frequency response test Iq given amplitude percentage DINT 32 rw o #x3D03 Axis1 Pn927 Reserved DINT 32 rw o #x3D04 Axis1 Pn928 Speed loop frequency response test speed given offset DINT 32 rw o #x3D05 Axis1 Pn929 Speed loop frequency response test speed given amplitude DINT 32 rw o #x3D06 Axis1 Pn930 Reserved DINT 32 rw o #x3D07 Axis1 Pn931 DA output voltage amplitude in frequency response test mode DINT 32 rw o #x3D08 Axis1 Pn932 Sweep frequency DINT 32 rw o #x3D09 Axis1 Pn933 Reserved DINT 32 rw o #x3D0B Axis1 Pn935 One Volt Corresponding Pulse Number DINT 32 rw o #x3D0C Axis1 Pn936 Output Voltage Scale Factor in Position Loop Frequency Response Test DINT 32 rw o #x3D0D Axis1 Pn937 Output Voltage Offset in Position Loop Frequency Response Test DINT 32 rw o #x3D0F Axis1 Pn939 STO Function Selection DINT 32 rw o #x3D10 Axis1 Pn940 Interrupt Cycle Time DINT 32 rw o #x3D11 Axis1 Pn941 EM3A Motor Flux-weakening Selection DINT 32 rw o #x3D12 Axis1 Pn942 Flux-weakening PI Regulator (kp) DINT 32 rw o #x3D13 Axis1 Pn943 Flux-weakening PI Regulator (ki) DINT 32 rw o #x3D14 Axis1 Pn944 Mechanical Analyzer Order DINT 32 rw o #x3D1A Axis1 Pn950 Overmodulation Selection DINT 32 rw o #x3D1B Axis1 Pn951 Tz Selection DINT 32 rw o #x3D1C Axis1 Pn952 Amplifying Tmax, Pn401/Pn402 DINT 32 rw o #x3D1D Axis1 Pn953 Motor Amplified (Imax) DINT 32 rw o #x3D1E Axis1 Pn954 Alarm Self-test Selection DINT 32 rw o #x3D1F Axis1 Pn955 Bus Voltage Correction DINT 32 rw o #x3D21 Axis1 Pn957 ePWM forced synchronization enable bit in EC mode Validate After Restart DINT 32 rw o #x3D24 Axis1 Pn960 Alarm Masks 1 DINT 32 rw o #x3D25 Axis1 Pn961 Alarm Masks 2 DINT 32 rw o #x3D26 Axis1 Pn962 Alarm Masks 3 DINT 32 rw o #x3D27 Axis1 Pn963 Alarm Masks 4 DINT 32 rw o #x3D28 Axis1 Pn964 Alarm Masks 5 DINT 32 rw o #x3D29 Axis1 Pn965 Alarm Masks 6 DINT 32 rw o #x603F Error code 0 UINT 16 ro o RT #x6040 Controlword 0 UINT 16 rw m RT #x6041 Statusword 0 UINT 16 ro m RT #x605A Quick stop option code 0 INT 16 rw o #x605B Shutdown option code 0 INT 16 rw o #x605C Disable operation option code 0 INT 16 rw o #x605D Halt option code 0 INT 16 rw o #x605E Fault reaction option code 0 INT 16 rw o #x6060 Modes of operation 0 SINT 8 rw o RT #x6061 Modes of operation display 0 SINT 8 ro o RT #x6062 Position demand value 0 DINT 32 ro o RT #x6063 Position actual internal value 0 DINT 32 ro o RT #x6064 Position actual value 0 DINT 32 ro o RT #x6065 Following error window 0 UDINT 32 rw o RT #x6066 Following error time out 0 UINT 16 rw o RT #x6067 Position window 0 UDINT 32 rw o RT #x6068 Position window time 0 UINT 16 rw o RT #x6069 velocity sensor actual value 0 DINT 32 ro o RT #x606B velocity demand value 0 DINT 32 ro c RT #x606C Velocity actual value 0 DINT 32 ro o RT #x606D Velocity window 0 UINT 16 rw o RT #x606E Velocity window time 0 UINT 16 rw o RT #x606F Velocity threshold 0 UINT 16 rw o RT #x6070 Velocity threshold time 0 UINT 16 rw o RT #x6071 Target torque 0 INT 16 rw m RT #x6072 Max torque 0 UINT 16 rw m RT #x6074 Torque demand 0 INT 16 ro o RT #x6077 Torque actual value 0 INT 16 ro o RT #x6078 Current actual value 0 INT 16 ro o RT #x607A Target position 0 DINT 32 rw o RT #x607C Home offset 0 DINT 32 rw o RT #x607D Software position limit 0 DT607D 80 Number of entries 02 ro c #x607E Polarity 0 USINT 8 rw o RT #x607F Max profile velocity 0 UDINT 32 rw c RT #x6080 Max motor speed 0 UDINT 32 rw c RT #x6081 Profile velocity 0 UDINT 32 rw c RT #x6082 End velocity 0 UDINT 32 rw o RT #x6083 Profile acceleraion 0 UDINT 32 rw o RT #x6084 Profile deceleration 0 UDINT 32 rw o RT #x6085 Quick stop deceleration 0 UDINT 32 rw o RT #x6086 Motion profile type 0 INT 16 rw o RT #x6087 Torque slope 0 UDINT 32 rw m RT #x6093 Position factor 0 DT6093 80 Number of entries 02 ro o #x6094 Velocity encoder factor 0 DT6094 80 Number of entries 02 ro o #x6097 Acceleration factor 0 DT6097 80 Number of entries 02 ro o #x6098 Homing method 0 SINT 8 rw o RT #x6099 Homing speeds 0 DT6099 80 Number of entries 02 ro o #x609A Homing acceleration 0 UDINT 32 rw o RT #x60A4 Profile jerk 0 DT60A4 48 ro o #x60B1 Velocity offset 0 DINT 32 rw o RT #x60B2 Torque offset 0 INT 16 rw o RT #x60B8 Touch probe function 0 UINT 16 rw o RT #x60B9 Touch probe status 0 UINT 16 ro o RT #x60BA Touch probe pos1 pos value 0 DINT 32 ro o RT #x60BB Touch probe pos1 neg value 0 DINT 32 ro o RT #x60BC Touch probe pos2 pos value 0 DINT 32 ro o RT #x60BD Touch probe pos2 neg value 0 DINT 32 ro o RT #x60C0 Interpolation sub mode select 0 INT 16 rw c #x60C1 Interpolation data record 0 DT60C1 80 Number of entries 02 ro c #x60C2 Interpolation time period 0 DT60C2 32 Number of entries 02 ro c #x60E0 Positive torque limit value 0 UINT 16 rw m RT #x60E1 Negative torque limit value 0 UINT 16 rw m RT #x60F4 Following error actual value 0 DINT 32 ro o T #x60FA Control effort 0 DINT 32 ro o RT #x60FC Position demand internal value 0 DINT 32 ro o RT #x60FD Digital inputs 0 UDINT 32 ro o RT #x60FE Digital outputs 0 DT60FE 80 Number of entries 02 ro c #x60FF Target velocity 0 DINT 32 rw o RT #x6502 Supported drive modes 0 UDINT 32 ro m RT #x683F Error code 1 UINT 16 ro o RT #x6840 Controlword 1 UINT 16 rw m RT #x6841 Statusword 1 UINT 16 ro m RT #x685A Quick stop option code 1 INT 16 rw o #x685B Shutdown option code 1 INT 16 rw o #x685C Disable operation option code 1 INT 16 rw o #x685D Halt option code 1 INT 16 rw o #x685E Fault reaction option code 1 INT 16 rw o #x6860 Modes of operation 1 SINT 8 rw o RT #x6861 Modes of operation display 1 SINT 8 ro o RT #x6862 Position demand value 1 DINT 32 ro o RT #x6863 Position actual internal value 1 DINT 32 ro o RT #x6864 Position actual value 1 DINT 32 ro o RT #x6865 Following error window 1 UDINT 32 rw o RT #x6866 Following error time out 1 UINT 16 rw o RT #x6867 Position window 1 UDINT 32 rw o RT #x6868 Position window time 1 UINT 16 rw o RT #x6869 velocity sensor actual value 1 DINT 32 ro o RT #x686B velocity demand value 1 DINT 32 ro c RT #x686C Velocity actual value 1 DINT 32 ro o RT #x686D Velocity window 1 UINT 16 rw o RT #x686E Velocity window time 1 UINT 16 rw o RT #x686F Velocity threshold 1 UINT 16 rw o RT #x6870 Velocity threshold time 1 UINT 16 rw o RT #x6871 Target torque 1 INT 16 rw m RT #x6872 Max torque 1 UINT 16 rw m RT #x6874 Torque demand 1 INT 16 ro o RT #x6877 Torque actual value 1 INT 16 ro o RT #x6878 Current actual value 1 INT 16 ro o RT #x687A Target position 1 DINT 32 rw o RT #x687C Home offset 1 DINT 32 rw o RT #x687D Software position limit 1 DT607D 80 Number of entries 02 ro c #x687E Polarity 1 USINT 8 rw o RT #x687F Max profile velocity 1 UDINT 32 rw c RT #x6880 Max motor speed 1 UDINT 32 rw c RT #x6881 Profile velocity 1 UDINT 32 rw c RT #x6882 End velocity 1 UDINT 32 rw o RT #x6883 Profile acceleration 1 UDINT 32 rw o RT #x6884 Profile deceleration 1 UDINT 32 rw o RT #x6885 Quick stop deceleration 1 UDINT 32 rw o RT #x6886 Motion profile type 1 INT 16 rw o RT #x6887 Torque slope 1 UDINT 32 rw m RT #x6893 Position factor 1 DT6093 80 Number of entries 02 ro o #x6894 Velocity encoder factor 1 DT6094 80 Number of entries 02 ro o #x6897 Acceleration factor 1 DT6097 80 Number of entries 02 ro o #x6898 Homing method 1 SINT 8 rw o RT #x6899 Homing speeds 1 DT6099 80 Number of entries 02 ro o #x689A Homing acceleration 1 UDINT 32 rw o RT #x68A4 Profile jerk 1 DT60A4 48 ro o #x68B1 Velocity offset 1 DINT 32 rw o RT #x68B2 Torque offset 1 INT 16 rw o RT #x68B8 Touch probe function 1 UINT 16 rw o RT #x68B9 Touch probe status 1 UINT 16 ro o RT #x68BA Touch probe pos1 pos value 1 DINT 32 ro o RT #x68BB Touch probe pos1 neg value 1 DINT 32 ro o RT #x68BC Touch probe pos2 pos value 1 DINT 32 ro o RT #x68BD Touch probe pos2 neg value 1 DINT 32 ro o RT #x68C0 Interpolation sub mode select 1 INT 16 rw c #x68C1 Interpolation data record 1 DT60C1 80 Number of entries 02 ro c #x68C2 Interpolation time period 1 DT60C2 32 Number of entries 02 ro c #x68E0 Positive torque limit value 1 UINT 16 rw m RT #x68E1 Negative torque limit value 1 UINT 16 rw m RT #x68F4 Following error actual value 1 DINT 32 ro o T #x68FA Control effort 1 DINT 32 ro o RT #x68FC Position demand internal value 1 DINT 32 ro o RT #x68FD Digital inputs 1 UDINT 32 ro o RT #x68FE Digital outputs 1 DT60FE 80 Number of entries 02 ro c #x68FF Target velocity 1 DINT 32 rw o RT #x6D02 Supported drive modes 1 UDINT 32 ro m RT Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs PS 24672 0 08 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 Axis 1 #x100 #x200 #x300 #x400 #x500 #x600 #x700 #x800 #x900 Axis 2 #x100 #x200 #x300 #x400 #x500 #x600 #x700 #x800 #x900 2048 080C02EEE8030000000000000000 0010800080108000 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3E3E3E2323231F1F1F0C0C0C4A4A4AFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3B3B3B2424241C1C1C0F0F0F0F0F0FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3B3B3B161616222222262626252525FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF4949492B2B2B1D1D1D6F6F6F3D3D3DFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF4848483B3B3B1C1C1C717171474747FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF4444442929291C1C1C696969424242FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF4A4A4A4646461919196969693F3F3FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF4141412020201B1B1B6C6C6C3F3F3FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3E3E3E252525171717606060414141FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3E3E3E333333141414323232343434FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3636362424241818180C0C0C222222FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2525252E2E2E1616160E0E0E232323FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5959592C2C2C1818180D0D0D0D0D0DFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBB4B4B45757573737374D4D4DFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF CSP/CSV Cyclic Synchronous Position/Velocity Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x60FF 0 32 Target velocity DINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity 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 #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CSP Cyclic Synchronous Position Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value 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 #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CST Cyclic Synchronous Torque Mode #x1600 Outputs #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 0A 402 CSP/CST Cyclic Synchronous Position/Torque Mode & Touch Probe #x1600 Outputs #x6060 0 8 Modes of Operation SINT #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x1a00 Position Inputs #x603F 0 16 Error code UINT #x6061 0 8 Modes of Operation Display SINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #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 #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CSP/CSV/CST + TP Cyclic Synchronous Position/Velocity/Torque Mode & Touch Probe #x1600 Position Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x60FF 0 32 Target velocity DINT #x607F 0 32 Target velocity DINT #x1a00 Position Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402 CST (Speed Limited) Cyclic Synchronous Torque Mode + Speed Limted #x1600 Outputs #x6040 0 16 ControlWord UINT #x6071 0 16 Target torque INT #x607F 0 32 Max profile velocity UDINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 0A 402 PP + TP Profile Position Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x607A 0 32 Target position DINT #x6081 0 32 Profile velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x60B8 0 16 Touch probe function UINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity 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 #x60F4 0 32 Following error actual value DINT PS #x6060 0 01 402 PP/PV/PT Profile Position/Torque/Torque Mode & Touch Probe #x1600 Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x6081 0 32 Profile velocity UDINT #x6083 0 32 Profile acceleration UDINT #x6084 0 32 Profile deceleration UDINT #x60B8 0 16 Touch probe function UINT #x60FF 0 32 TargetVelocity DINT #x1a00 Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 01 402 CSP/CSV/CST+TP+LMT Cyclic Synchronous Position/Velocity/Torque Mode & Touch Pro + Speed/Torque Limted #x1600 Position Outputs #x6040 0 16 ControlWord UINT #x6060 0 8 Modes of Operation SINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x60B8 0 16 Touch probe function UINT #x60FF 0 32 Target velocity DINT #x607F 0 32 Max profile velocity UDINT #x60E0 0 16 Positive torque limit value UINT #x60E1 0 16 Negative torque limit value UINT #x1a00 Position Inputs #x603F 0 16 Error code UINT #x6041 0 16 StatusWord UINT #x6061 0 8 Modes of Operation Display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 ActualVelocity DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch Probe pos 2 pos value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 402