1337 Yaskawa Electric Corporation 424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000ECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFECE3D1FFDBC6A3FFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFE8DBC4FFCFA76CFFE8DBC4FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFDBC6A3FFC8954BFFE4CEAEFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFBE822BFFE8DBC4FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFDBC6A3FFC8954BFFE8DBC4FFCFA76CFFBE801EFFE8DBC4FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFBE801EFFB97006FFB97006FFD9BA8BFFC8954BFFC1862FFFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFCFA76CFFB97006FFBE801EFFB97006FFCFA76CFFBE822BFFBE801EFFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFC8954BFFB97006FFC1862FFFD9BA8BFFBE801EFFC1862FFFB97006FFBE822BFFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFB97006FFB97006FFB97006FFCFA76CFFECE3D1FFBE822BFFB97006FFB97006FFC1862FFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFB97006FFB97006FFB97006FFB97006FFDDC397FFECE3D1FFC8954BFFB97006FFB97006FFC1862FFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFDEC092FFB97006FFB97006FFB97006FFB97006FFB97006FFE0C399FFFDFDFCFFCFA76CFFB97006FFB97006FFC8954BFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFB97006FFB97006FFB97006FFB97006FFB97006FFB97006FFDBC6A3FFFDFDFCFFDEC092FFB97006FFB97006FFC8954BFFFDFDFCFFFDFDFCFFFDFDFCFFECE3D1FFE0C399FFE4CEAEFFDDC397FFDBC6A3FFE0C399FFE4CEAEFFE0C399FFFDFDFCFFFDFDFCFFE8DBC4FFE0C399FFDEC092FFE8DBC4FFFDFDFCFFFDFDFCFF ServoDrive Servo Drives 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SGD7S-xxxDA0xxxxF64 CoE Drive ServoDrive 402 BOOL 1 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(32) 256 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 64 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT1600 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1601 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1602 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1603 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A00 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A01 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A02 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A03 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C10ARR UINT 0 1 0 DT1C10 16 0 NULL USINT 8 0 ro Elements DT1C10ARR 0 16 ro DT1C11ARR UINT 0 1 0 DT1C11 16 0 NULL USINT 8 0 ro Elements DT1C11ARR 0 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw 1 Elements DT1C12ARR 32 16 rw 1 DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw 1 Elements DT1C13ARR 32 16 rw 1 DT1C32 481 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM event missed counter UINT 16 288 ro 12 System reserved3 UINT 16 304 ro 13 System reserved4 UINT 16 320 ro 14 System reserved5 UINT 16 336 ro 15 System reserved6 UDINT 32 352 ro 16 System reserved7 UDINT 32 384 ro 17 System reserved8 UDINT 32 416 ro 18 System reserved9 UDINT 32 448 ro 32 System reserved10 BOOL 1 480 ro DT1C33 353 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM event missed counter UINT 16 288 ro 12 System reserved3 UINT 16 304 ro 13 System reserved4 UINT 16 320 ro 14 System reserved5 UINT 16 336 ro 32 System reserved6 BOOL 1 352 ro DT1F01 64 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw 1 1 DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750ARR DINT 512 1 16 DT2750 528 0 Number of entries USINT 8 0 ro Elements DT2750ARR 512 16 rw 1 1 DT2751ARR DINT 512 1 16 DT2751 528 0 Number of entries USINT 8 0 ro Elements DT2751ARR 512 16 rw 1 1 DT2767ARR UINT 32 1 2 DT2767 48 0 Highest sub-index supported USINT 8 0 ro Elements DT2767ARR 32 16 rw DT2769 560 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(32) 256 176 ro 7 System reserved7 UDINT 32 432 rw 8 System reserved8 UDINT 32 464 ro 9 System reserved9 UDINT 32 496 ro 10 System reserved10 UDINT 32 528 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Elements DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Elements DT27C1ARR 8128 16 rw DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro Elements DT607DARR 64 16 rw 1 1 DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro Elements DT6099ARR 64 16 rw RT 1 DT60A4ARR UDINT 32 1 1 DT60A4 48 0 Number of entries USINT 8 0 ro Elements DT60A4ARR 32 16 rw 1 1 DT60C1ARR DINT 32 1 1 DT60C1 48 0 Number of entries USINT 8 0 ro Elements DT60C1ARR 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 Interpolation time period value USINT 8 16 rw 2 Interpolation time index SINT 8 24 rw DT60E4ARR DINT 32 1 1 DT60E4 48 0 Number of entries USINT 8 0 ro Elements DT60E4ARR 32 16 ro T DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro Elements DT60FEARR 64 16 rw R 1 1 DTF5FFARR UINT 16 1 1 DTF5FF 32 0 Number of sub-objects USINT 8 0 ro Elements DTF5FFARR 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(32) 256 ro #x1009 Manufacturer Hardware Version STRING(32) 256 ro #x100A Manufacturer Software Version STRING(32) 256 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 64 ro #x1600 1st Receive PDO mapping DT1600 272 Number of Objects 8 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 #x60FF0020 Mapping entry 4 #x60710010 Mapping entry 5 #x60720010 Mapping entry 6 #x60600008 Mapping entry 7 8 Mapping entry 8 #x60B80010 ro #x1601 2nd Receive PDO mapping DT1601 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1602 3rd Receive PDO mapping DT1602 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60FF0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1603 4th Receive PDO mapping DT1603 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60710010 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A00 1st Transmit PDO mapping DT1A00 272 Number of Objects 8 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 #x60F40020 Mapping entry 5 #x60610008 Mapping entry 6 8 Mapping entry 7 #x60B90010 Mapping entry 8 #x60BA0020 ro #x1A01 2nd Transmit PDO mapping DT1A01 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A02 3rd Transmit PDO mapping DT1A02 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A03 4th Transmit PDO mapping DT1A03 272 Number of Objects 3 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment DT1C10 16 ro #x1C11 Sync manager 1 PDO assignment DT1C11 16 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 SubIndex 000 1 SubIndex 001 #x1601 SubIndex 002 #x1600 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 SubIndex 000 1 SubIndex 001 #x1A01 SubIndex 002 #x1A00 ro #x1C32 Sync Manager2 Synchronization DT1C32 481 ro #x1C33 Sync Manager3 Synchronization DT1C33 353 ro #x1F01 Sync Error Settings DT1F01 64 Sync Error Counter Limit 9 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200A Application Function Select Switch A UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x200E Application Function Select Switch E UINT 16 rw #x200F Application Function Select Switch F UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2021 DC Bus Switch UINT 16 rw #x2022 Application Function Select Switch 22 UINT 16 rw #x2023 Application Function Select Switch 23 UINT 16 rw #x2040 Sigma-V Mode Switch UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2081 Application Function Select Switch 81 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction INT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x214F Selection related to control UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation INT 16 rw #x2166 A type vibration control dumping gain 2 UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2181 Mode Switch (speed reference for Linear type) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type) UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x220E Electronic Gear Ratio(Numerator) UDINT 32 ro #x2210 Electronic Gear Ratio(Denominator) UDINT 32 ro #x2212 Encoder Output Pulses UDINT 32 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2230 Position Control Expansion Function Selections UINT 16 rw #x2231 Backlash Compensation DINT 32 rw #x2233 Backlash Compensation Time Constant UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2282 Linear Scale pitch UDINT 32 rw #x22D0 Position resolution UDINT 32 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2308 Speed F/B filter time constant UINT 16 rw #x230A Deceleration time when off servo and compulsion stops UINT 16 rw #x230C Speed feedforward moving average time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2316 The motor is maximum speed. UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2383 JOG Speed for Linear type (Linear type) UINT 16 rw #x2384 Vibration Detection Level (Linear type) UINT 16 rw #x2385 Motor max speed (Linear type) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2427 Speed Ripple Compensation Enable Speed UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2475 Gravity Compensation-Related Selections UINT 16 rw #x2476 Gravity Compensation Torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Command Accel/Decel Time UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Command Waiting Time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Command Speed UINT 16 rw #x2494 Polarity Detection Range UINT 16 rw #x2495 Polarity Detection Confirmation Torque Command UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x249F Speed Ripple Compensation Enable Speed UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2515 Input signal selection 6 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x2518 Output signal selection 7 UINT 16 rw #x251A Output signal selection 8 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Reserved UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2587 Polarity Detection Execution Selection for Absolute Scale UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 regenerative resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x261A Overheat Protection Selections UINT 16 rw #x261B Overheat Alarm Level UINT 16 rw #x261C Overheat Warning Level UINT 16 rw #x261D Overheat Alarm Filter Time UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 0 rw 1 #x2701 Postion User Unit DT2701 80 Numerator 1 Denominator 1 ro #x2702 Velocity User Unit DT2702 80 Numerator 1 Denominator 1 ro #x2703 Acceleration User Unit DT2703 80 Numerator 1 Denominator 1 ro #x2704 Torque User Unit DT2704 80 Numerator 1 Denominator 10 ro #x2705 Encoder Selection UINT 16 rw #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2752 Zone Signal Output select1 UINT 16 0 rw 1 1 #x2753 Zone Signal Output select2 UINT 16 0 rw 1 1 #x2765 Servo Serial Number STRING(32) 256 ro #x2767 Reserved DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 560 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 2 rw 1 1 #x605B Shutdown option code INT 16 0 rw 1 1 #x605C Disable operation option code INT 16 1 rw 1 1 #x605D Halt option code INT 16 1 rw 1 1 #x605E Fault reaction option code INT 16 0 rw 1 1 #x6060 Modes of operation SINT 8 0 rw RT 1 #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 5242880 rw 1 1 #x6066 Following error time out UINT 16 0 rw 1 1 #x6067 Position window UDINT 32 30 rw 1 1 #x6068 Position window time UINT 16 0 rw 1 1 #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 20000 rw 1 1 #x606E Velocity window time UINT 16 0 rw 1 1 #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 0 rw 1 1 #x607D Software position limit DT607D 80 SubIndex 001 0 SubIndex 002 0 ro #x607F Max profile velocity UDINT 32 #x7FFFFFFF rw RT 1 #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 0 rw RT 1 #x6083 Profile acceleration UDINT 32 1000 rw RT 1 #x6084 Profile deceleration UDINT 32 1000 rw RT 1 #x6085 Quick stop deceleration UDINT 32 1000 rw RT 1 #x6086 Motion profile type INT 16 0 rw RT 1 #x6087 Torque Slope UDINT 32 1000 rw RT 1 #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 SubIndex 001 500000 SubIndex 002 100000 ro #x609A Homing acceleration UDINT 32 1000 rw RT 1 #x60A4 Profile Jerk DT60A4 48 SubIndex 001 25 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 8000 rw RT 1 #x60E1 Negative Torque Limit Value UINT 16 8000 rw RT 1 #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 SubIndex 001 0 SubIndex 002 #x000C0000 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(32) 256 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000000000000 0010800080108000 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SGD7S-xxxDA0xxxxF64 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(32) 256 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw 1 1 DT1600 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1601 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1602 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1603 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A00 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A01 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A02 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A03 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C10ARR UINT 0 1 0 DT1C10 16 0 NULL USINT 8 0 ro Elements DT1C10ARR 0 16 ro DT1C11ARR UINT 0 1 0 DT1C11 16 0 NULL USINT 8 0 ro Elements DT1C11ARR 0 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw 1 1 Elements DT1C12ARR 32 16 rw 1 1 DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw 1 1 Elements DT1C13ARR 32 16 rw 1 1 DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 1 1 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw 1 1 DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750ARR DINT 512 1 16 DT2750 528 0 Number of entries USINT 8 0 ro Elements DT2750ARR 512 16 rw 1 1 DT2751ARR DINT 512 1 16 DT2751 528 0 Number of entries USINT 8 0 ro Elements DT2751ARR 512 16 rw 1 1 DT2767ARR UINT 32 1 2 DT2767 48 0 Highest sub-index supported USINT 8 0 ro Elements DT2767ARR 32 16 rw DT2769 560 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(32) 256 176 ro 7 System reserved7 UDINT 32 432 rw 8 System reserved8 UDINT 32 464 ro 9 System reserved9 UDINT 32 496 ro 10 System reserved10 UDINT 32 528 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Elements DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Elements DT27C1ARR 8128 16 rw DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro Elements DT607DARR 64 16 rw 1 1 DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro Elements DT6099ARR 64 16 rw RT 1 DT60A4ARR UDINT 32 1 1 DT60A4 48 0 Number of entries USINT 8 0 ro Elements DT60A4ARR 32 16 rw 1 1 DT60C1ARR DINT 32 1 1 DT60C1 48 0 Number of entries USINT 8 0 ro Elements DT60C1ARR 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4ARR DINT 32 1 1 DT60E4 48 0 Number of entries USINT 8 0 ro Elements DT60E4ARR 32 16 ro T DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro Elements DT60FEARR 64 16 rw R 1 1 DTF5FFARR UINT 16 1 1 DTF5FF 32 0 Number of sub-objects USINT 8 0 ro Elements DTF5FFARR 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(32) 256 ro #x1009 Manufacturer Hardware Version STRING(32) 256 ro #x100A Manufacturer Software Version STRING(32) 256 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 Sync Error Counter Limit 9 ro #x1600 1st Receive PDO mapping DT1600 272 Number of Objects 8 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 #x60FF0020 Mapping entry 4 #x60710010 Mapping entry 5 #x60720010 Mapping entry 6 #x60600008 Mapping entry 7 8 Mapping entry 8 #x60B80010 ro #x1601 2nd Receive PDO mapping DT1601 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1602 3rd Receive PDO mapping DT1602 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60FF0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1603 4th Receive PDO mapping DT1603 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60710010 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A00 1st Transmit PDO mapping DT1A00 272 Number of Objects 8 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 #x60F40020 Mapping entry 5 #x60610008 Mapping entry 6 8 Mapping entry 7 #x60B90010 Mapping entry 8 #x60BA0020 ro #x1A01 2nd Transmit PDO mapping DT1A01 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A02 3rd Transmit PDO mapping DT1A02 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A03 4th Transmit PDO mapping DT1A03 272 Number of Objects 3 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment DT1C10 16 ro #x1C11 Sync manager 1 PDO assignment DT1C11 16 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 SubIndex 000 1 SubIndex 001 #x1601 SubIndex 002 #x1600 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 SubIndex 000 1 SubIndex 001 #x1A01 SubIndex 002 #x1A00 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 Shift time 0 ro #x1F01 Sync Error Settings DT1F01 80 Sync Error Counter Limit 9 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200A Application Function Select Switch A UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x200E Application Function Select Switch E UINT 16 rw #x200F Application Function Select Switch F UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2021 DC Bus Switch UINT 16 rw #x2022 Application Function Select Switch 22 UINT 16 rw #x2023 Application Function Select Switch 23 UINT 16 rw #x2040 Sigma-V Mode Switch UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2081 Application Function Select Switch 81 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction INT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x214F Selection related to control UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation INT 16 rw #x2166 A type vibration control dumping gain 2 UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2181 Mode Switch (speed reference for Linear type) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type) UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x220E Electronic Gear Ratio(Numerator) UDINT 32 ro #x2210 Electronic Gear Ratio(Denominator) UDINT 32 ro #x2212 Encoder Output Pulses UDINT 32 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2230 Position Control Expansion Function Selections UINT 16 rw #x2231 Backlash Compensation DINT 32 rw #x2233 Backlash Compensation Time Constant UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2282 Linear Scale pitch UDINT 32 rw #x22D0 Position resolution UDINT 32 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2308 Speed F/B filter time constant UINT 16 rw #x230A Deceleration time when off servo and compulsion stops UINT 16 rw #x230C Speed feedforward moving average time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2316 The motor is maximum speed. UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2383 JOG Speed for Linear type (Linear type) UINT 16 rw #x2384 Vibration Detection Level (Linear type) UINT 16 rw #x2385 Motor max speed (Linear type) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2427 Speed Ripple Compensation Enable Speed UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2475 Gravity Compensation-Related Selections UINT 16 rw #x2476 Gravity Compensation Torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Command Accel/Decel Time UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Command Waiting Time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Command Speed UINT 16 rw #x2494 Polarity Detection Range UINT 16 rw #x2495 Polarity Detection Confirmation Torque Command UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x249F Speed Ripple Compensation Enable Speed UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2515 Input signal selection 6 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x2518 Output signal selection 7 UINT 16 rw #x251A Output signal selection 8 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Reserved UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2587 Polarity Detection Execution Selection for Absolute Scale UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x261A Overheat Protection Selections UINT 16 rw #x261B Overheat Alarm Level UINT 16 rw #x261C Overheat Warning Level UINT 16 rw #x261D Overheat Alarm Filter Time UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 0 rw 1 #x2701 Postion User Unit DT2701 80 Numerator 1 Denominator 1 ro #x2702 Velocity User Unit DT2702 80 Numerator 1 Denominator 1 ro #x2703 Acceleration User Unit DT2703 80 Numerator 1 Denominator 1 ro #x2704 Torque User Unit DT2704 80 Numerator 1 Denominator 10 ro #x2705 Encoder Selection UINT 16 rw #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2752 Zone Signal Output select1 UINT 16 0 rw 1 1 #x2753 Zone Signal Output select2 UINT 16 0 rw 1 1 #x2765 Servo Serial Number STRING(32) 256 ro #x2767 Reserved DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 560 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 2 rw 1 1 #x605B Shutdown option code INT 16 0 rw 1 1 #x605C Disable operation option code INT 16 1 rw 1 1 #x605D Halt option code INT 16 1 rw 1 1 #x605E Fault reaction option code INT 16 0 rw 1 1 #x6060 Modes of operation SINT 8 0 rw RT 1 #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 5242880 rw 1 1 #x6066 Following error time out UINT 16 0 rw 1 1 #x6067 Position window UDINT 32 30 rw 1 1 #x6068 Position window time UINT 16 0 rw 1 1 #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 20000 rw 1 1 #x606E Velocity window time UINT 16 0 rw 1 1 #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 0 rw 1 1 #x607D Software position limit DT607D 80 SubIndex 001 0 SubIndex 002 0 ro #x607F Max profile velocity UDINT 32 #x7FFFFFFF rw RT 1 #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 0 rw RT 1 #x6083 Profile acceleration UDINT 32 1000 rw RT 1 #x6084 Profile deceleration UDINT 32 1000 rw RT 1 #x6085 Quick stop deceleration UDINT 32 1000 rw RT 1 #x6086 Motion profile type INT 16 0 rw RT 1 #x6087 Torque Slope UDINT 32 1000 rw RT 1 #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 SubIndex 001 500000 SubIndex 002 100000 ro #x609A Homing acceleration UDINT 32 1000 rw RT 1 #x60A4 Profile Jerk DT60A4 48 SubIndex 001 25 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 8000 rw RT 1 #x60E1 Negative Torque Limit Value UINT 16 8000 rw RT 1 #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 SubIndex 001 0 SubIndex 002 #x000C0000 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(32) 256 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000000000000 0010800080108000 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SGD7S-xxxDA0xxxxF64 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(32) 256 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw 1 1 DT1600 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1601 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1602 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1603 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A00 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A01 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A02 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A03 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C10ARR UINT 0 1 0 DT1C10 16 0 NULL USINT 8 0 ro Elements DT1C10ARR 0 16 ro DT1C11ARR UINT 0 1 0 DT1C11 16 0 NULL USINT 8 0 ro Elements DT1C11ARR 0 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw 1 1 Elements DT1C12ARR 32 16 rw 1 1 DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw 1 1 Elements DT1C13ARR 32 16 rw 1 1 DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 1 1 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw 1 1 DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750ARR DINT 512 1 16 DT2750 528 0 Number of entries USINT 8 0 ro Elements DT2750ARR 512 16 rw 1 1 DT2751ARR DINT 512 1 16 DT2751 528 0 Number of entries USINT 8 0 ro Elements DT2751ARR 512 16 rw 1 1 DT2767ARR UINT 32 1 2 DT2767 48 0 Highest sub-index supported USINT 8 0 ro Elements DT2767ARR 32 16 rw DT2769 560 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(32) 256 176 ro 7 System reserved7 UDINT 32 432 rw 8 System reserved8 UDINT 32 464 ro 9 System reserved9 UDINT 32 496 ro 10 System reserved10 UDINT 32 528 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Elements DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Elements DT27C1ARR 8128 16 rw DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro Elements DT607DARR 64 16 rw 1 1 DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro Elements DT6099ARR 64 16 rw RT 1 DT60A4ARR UDINT 32 1 1 DT60A4 48 0 Number of entries USINT 8 0 ro Elements DT60A4ARR 32 16 rw 1 1 DT60C1ARR DINT 32 1 1 DT60C1 48 0 Number of entries USINT 8 0 ro Elements DT60C1ARR 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4ARR DINT 32 1 1 DT60E4 48 0 Number of entries USINT 8 0 ro Elements DT60E4ARR 32 16 ro T DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro Elements DT60FEARR 64 16 rw R 1 1 DTF5FFARR UINT 16 1 1 DTF5FF 32 0 Number of sub-objects USINT 8 0 ro Elements DTF5FFARR 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(32) 256 ro #x1009 Manufacturer Hardware Version STRING(32) 256 ro #x100A Manufacturer Software Version STRING(32) 256 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 Sync Error Counter Limit 9 ro #x1600 1st Receive PDO mapping DT1600 272 Number of Objects 8 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 #x60FF0020 Mapping entry 4 #x60710010 Mapping entry 5 #x60720010 Mapping entry 6 #x60600008 Mapping entry 7 8 Mapping entry 8 #x60B80010 ro #x1601 2nd Receive PDO mapping DT1601 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1602 3rd Receive PDO mapping DT1602 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60FF0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1603 4th Receive PDO mapping DT1603 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60710010 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A00 1st Transmit PDO mapping DT1A00 272 Number of Objects 8 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 #x60F40020 Mapping entry 5 #x60610008 Mapping entry 6 8 Mapping entry 7 #x60B90010 Mapping entry 8 #x60BA0020 ro #x1A01 2nd Transmit PDO mapping DT1A01 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A02 3rd Transmit PDO mapping DT1A02 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A03 4th Transmit PDO mapping DT1A03 272 Number of Objects 3 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment DT1C10 16 ro #x1C11 Sync manager 1 PDO assignment DT1C11 16 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 SubIndex 000 1 SubIndex 001 #x1601 SubIndex 002 #x1600 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 SubIndex 000 1 SubIndex 001 #x1A01 SubIndex 002 #x1A00 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 Shift time 0 ro #x1F01 Sync Error Settings DT1F01 80 Sync Error Counter Limit 9 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200A Application Function Select Switch A UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x200E Application Function Select Switch E UINT 16 rw #x200F Application Function Select Switch F UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2021 DC Bus Switch UINT 16 rw #x2022 Application Function Select Switch 22 UINT 16 rw #x2023 Application Function Select Switch 23 UINT 16 rw #x2040 Sigma-V Mode Switch UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2081 Application Function Select Switch 81 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction INT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x214F Selection related to control UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation INT 16 rw #x2166 A type vibration control dumping gain 2 UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2181 Mode Switch (speed reference for Linear type) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type) UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x220E Electronic Gear Ratio(Numerator) UDINT 32 ro #x2210 Electronic Gear Ratio(Denominator) UDINT 32 ro #x2212 Encoder Output Pulses UDINT 32 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2230 Position Control Expansion Function Selections UINT 16 rw #x2231 Backlash Compensation DINT 32 rw #x2233 Backlash Compensation Time Constant UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2282 Linear Scale pitch UDINT 32 rw #x22D0 Position resolution UDINT 32 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2308 Speed F/B filter time constant UINT 16 rw #x230A Deceleration time when off servo and compulsion stops UINT 16 rw #x230C Speed feedforward moving average time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2316 The motor is maximum speed. UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2383 JOG Speed for Linear type (Linear type) UINT 16 rw #x2384 Vibration Detection Level (Linear type) UINT 16 rw #x2385 Motor max speed (Linear type) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2427 Speed Ripple Compensation Enable Speed UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2475 Gravity Compensation-Related Selections UINT 16 rw #x2476 Gravity Compensation Torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Command Accel/Decel Time UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Command Waiting Time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Command Speed UINT 16 rw #x2494 Polarity Detection Range UINT 16 rw #x2495 Polarity Detection Confirmation Torque Command UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x249F Speed Ripple Compensation Enable Speed UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2515 Input signal selection 6 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x2518 Output signal selection 7 UINT 16 rw #x251A Output signal selection 8 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Reserved UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2587 Polarity Detection Execution Selection for Absolute Scale UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x261A Overheat Protection Selections UINT 16 rw #x261B Overheat Alarm Level UINT 16 rw #x261C Overheat Warning Level UINT 16 rw #x261D Overheat Alarm Filter Time UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 0 rw 1 #x2701 Postion User Unit DT2701 80 Numerator 1 Denominator 1 ro #x2702 Velocity User Unit DT2702 80 Numerator 1 Denominator 1 ro #x2703 Acceleration User Unit DT2703 80 Numerator 1 Denominator 1 ro #x2704 Torque User Unit DT2704 80 Numerator 1 Denominator 10 ro #x2705 Encoder Selection UINT 16 rw #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2752 Zone Signal Output select1 UINT 16 0 rw 1 1 #x2753 Zone Signal Output select2 UINT 16 0 rw 1 1 #x2765 Servo Serial Number STRING(32) 256 ro #x2767 Reserved DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 560 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 2 rw 1 1 #x605B Shutdown option code INT 16 0 rw 1 1 #x605C Disable operation option code INT 16 1 rw 1 1 #x605D Halt option code INT 16 1 rw 1 1 #x605E Fault reaction option code INT 16 0 rw 1 1 #x6060 Modes of operation SINT 8 0 rw RT 1 #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 5242880 rw 1 1 #x6066 Following error time out UINT 16 0 rw 1 1 #x6067 Position window UDINT 32 30 rw 1 1 #x6068 Position window time UINT 16 0 rw 1 1 #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 20000 rw 1 1 #x606E Velocity window time UINT 16 0 rw 1 1 #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 0 rw 1 1 #x607D Software position limit DT607D 80 SubIndex 001 0 SubIndex 002 0 ro #x607F Max profile velocity UDINT 32 #x7FFFFFFF rw RT 1 #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 0 rw RT 1 #x6083 Profile acceleration UDINT 32 1000 rw RT 1 #x6084 Profile deceleration UDINT 32 1000 rw RT 1 #x6085 Quick stop deceleration UDINT 32 1000 rw RT 1 #x6086 Motion profile type INT 16 0 rw RT 1 #x6087 Torque Slope UDINT 32 1000 rw RT 1 #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 SubIndex 001 500000 SubIndex 002 100000 ro #x609A Homing acceleration UDINT 32 1000 rw RT 1 #x60A4 Profile Jerk DT60A4 48 SubIndex 001 25 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 8000 rw RT 1 #x60E1 Negative Torque Limit Value UINT 16 8000 rw RT 1 #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 SubIndex 001 0 SubIndex 002 #x000C0000 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(32) 256 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000000000000 0010800080108000 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SGD7S-xxxDA0xxxxF64 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(32) 256 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw 1 1 DT1600 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1601 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1602 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1603 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A00 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A01 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A02 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A03 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C10ARR UINT 0 1 0 DT1C10 16 0 NULL USINT 8 0 ro Elements DT1C10ARR 0 16 ro DT1C11ARR UINT 0 1 0 DT1C11 16 0 NULL USINT 8 0 ro Elements DT1C11ARR 0 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw 1 1 Elements DT1C12ARR 32 16 rw 1 1 DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw 1 1 Elements DT1C13ARR 32 16 rw 1 1 DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 1 1 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw 1 1 DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750ARR DINT 512 1 16 DT2750 528 0 Number of entries USINT 8 0 ro Elements DT2750ARR 512 16 rw 1 1 DT2751ARR DINT 512 1 16 DT2751 528 0 Number of entries USINT 8 0 ro Elements DT2751ARR 512 16 rw 1 1 DT2767ARR UINT 32 1 2 DT2767 48 0 Highest sub-index supported USINT 8 0 ro Elements DT2767ARR 32 16 rw DT2769 560 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(32) 256 176 ro 7 System reserved7 UDINT 32 432 rw 8 System reserved8 UDINT 32 464 ro 9 System reserved9 UDINT 32 496 ro 10 System reserved10 UDINT 32 528 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Elements DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Elements DT27C1ARR 8128 16 rw DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro Elements DT607DARR 64 16 rw 1 1 DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro Elements DT6099ARR 64 16 rw RT 1 DT60A4ARR UDINT 32 1 1 DT60A4 48 0 Number of entries USINT 8 0 ro Elements DT60A4ARR 32 16 rw 1 1 DT60C1ARR DINT 32 1 1 DT60C1 48 0 Number of entries USINT 8 0 ro Elements DT60C1ARR 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4ARR DINT 32 1 1 DT60E4 48 0 Number of entries USINT 8 0 ro Elements DT60E4ARR 32 16 ro T DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro Elements DT60FEARR 64 16 rw R 1 1 DTF5FFARR UINT 16 1 1 DTF5FF 32 0 Number of sub-objects USINT 8 0 ro Elements DTF5FFARR 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(32) 256 ro #x1009 Manufacturer Hardware Version STRING(32) 256 ro #x100A Manufacturer Software Version STRING(32) 256 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity Object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 Sync Error Counter Limit 9 ro #x1600 1st Receive PDO mapping DT1600 272 Number of Objects 8 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 #x60FF0020 Mapping entry 4 #x60710010 Mapping entry 5 #x60720010 Mapping entry 6 #x60600008 Mapping entry 7 8 Mapping entry 8 #x60B80010 ro #x1601 2nd Receive PDO mapping DT1601 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1602 3rd Receive PDO mapping DT1602 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60FF0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1603 4th Receive PDO mapping DT1603 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60710010 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A00 1st Transmit PDO mapping DT1A00 272 Number of Objects 8 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 #x60F40020 Mapping entry 5 #x60610008 Mapping entry 6 8 Mapping entry 7 #x60B90010 Mapping entry 8 #x60BA0020 ro #x1A01 2nd Transmit PDO mapping DT1A01 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A02 3rd Transmit PDO mapping DT1A02 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A03 4th Transmit PDO mapping DT1A03 272 Number of Objects 3 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment DT1C10 16 ro #x1C11 Sync manager 1 PDO assignment DT1C11 16 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 SubIndex 000 1 SubIndex 001 #x1601 SubIndex 002 #x1600 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 SubIndex 000 1 SubIndex 001 #x1A01 SubIndex 002 #x1A00 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 Shift time 0 ro #x1F01 Sync Error Settings DT1F01 80 Sync Error Counter Limit 9 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200A Application Function Select Switch A UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x200E Application Function Select Switch E UINT 16 rw #x200F Application Function Select Switch F UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2021 DC Bus Switch UINT 16 rw #x2022 Application Function Select Switch 22 UINT 16 rw #x2023 Application Function Select Switch 23 UINT 16 rw #x2040 Sigma-V Mode Switch UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2081 Application Function Select Switch 81 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction INT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x214F Selection related to control UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation INT 16 rw #x2166 A type vibration control dumping gain 2 UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2181 Mode Switch (speed reference for Linear type) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type) UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x220E Electronic Gear Ratio(Numerator) UDINT 32 ro #x2210 Electronic Gear Ratio(Denominator) UDINT 32 ro #x2212 Encoder Output Pulses UDINT 32 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2230 Position Control Expansion Function Selections UINT 16 rw #x2231 Backlash Compensation DINT 32 rw #x2233 Backlash Compensation Time Constant UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2282 Linear Scale pitch UDINT 32 rw #x22D0 Position resolution UDINT 32 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2308 Speed F/B filter time constant UINT 16 rw #x230A Deceleration time when off servo and compulsion stops UINT 16 rw #x230C Speed feedforward moving average time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2316 The motor is maximum speed. UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2383 JOG Speed for Linear type (Linear type) UINT 16 rw #x2384 Vibration Detection Level (Linear type) UINT 16 rw #x2385 Motor max speed (Linear type) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2427 Speed Ripple Compensation Enable Speed UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2475 Gravity Compensation-Related Selections UINT 16 rw #x2476 Gravity Compensation Torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Command Accel/Decel Time UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Command Waiting Time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Command Speed UINT 16 rw #x2494 Polarity Detection Range UINT 16 rw #x2495 Polarity Detection Confirmation Torque Command UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x249F Speed Ripple Compensation Enable Speed UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2515 Input signal selection 6 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x2518 Output signal selection 7 UINT 16 rw #x251A Output signal selection 8 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Reserved UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2587 Polarity Detection Execution Selection for Absolute Scale UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x261A Overheat Protection Selections UINT 16 rw #x261B Overheat Alarm Level UINT 16 rw #x261C Overheat Warning Level UINT 16 rw #x261D Overheat Alarm Filter Time UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 0 rw 1 #x2701 Postion User Unit DT2701 80 Numerator 1 Denominator 1 ro #x2702 Velocity User Unit DT2702 80 Numerator 1 Denominator 1 ro #x2703 Acceleration User Unit DT2703 80 Numerator 1 Denominator 1 ro #x2704 Torque User Unit DT2704 80 Numerator 1 Denominator 10 ro #x2705 Encoder Selection UINT 16 rw #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2752 Zone Signal Output select1 UINT 16 0 rw 1 1 #x2753 Zone Signal Output select2 UINT 16 0 rw 1 1 #x2765 Servo Serial Number STRING(32) 256 ro #x2767 Reserved DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 560 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 2 rw 1 1 #x605B Shutdown option code INT 16 0 rw 1 1 #x605C Disable operation option code INT 16 1 rw 1 1 #x605D Halt option code INT 16 1 rw 1 1 #x605E Fault reaction option code INT 16 0 rw 1 1 #x6060 Modes of operation SINT 8 0 rw RT 1 #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 5242880 rw 1 1 #x6066 Following error time out UINT 16 0 rw 1 1 #x6067 Position window UDINT 32 30 rw 1 1 #x6068 Position window time UINT 16 0 rw 1 1 #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 20000 rw 1 1 #x606E Velocity window time UINT 16 0 rw 1 1 #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 0 rw 1 1 #x607D Software position limit DT607D 80 SubIndex 001 0 SubIndex 002 0 ro #x607F Max profile velocity UDINT 32 #x7FFFFFFF rw RT 1 #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 0 rw RT 1 #x6083 Profile acceleration UDINT 32 1000 rw RT 1 #x6084 Profile deceleration UDINT 32 1000 rw RT 1 #x6085 Quick stop deceleration UDINT 32 1000 rw RT 1 #x6086 Motion profile type INT 16 0 rw RT 1 #x6087 Torque Slope UDINT 32 1000 rw RT 1 #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 SubIndex 001 500000 SubIndex 002 100000 ro #x609A Homing acceleration UDINT 32 1000 rw RT 1 #x60A4 Profile Jerk DT60A4 48 SubIndex 001 25 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 8000 rw RT 1 #x60E1 Negative Torque Limit Value UINT 16 8000 rw RT 1 #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 SubIndex 001 0 SubIndex 002 #x000C0000 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(32) 256 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000000000000 0010800080108000 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SGD7S-xxxDA0xxxxF64 CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(32) 256 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of elements USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw 1 1 DT1600 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1601 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1602 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1603 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A00 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A01 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A02 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1A03 272 0 Number of Objects USINT 8 0 rw 1 1 1 Mapping entry 1 UDINT 32 16 rw 1 1 2 Mapping entry 2 UDINT 32 48 rw 1 1 3 Mapping entry 3 UDINT 32 80 rw 1 1 4 Mapping entry 4 UDINT 32 112 rw 1 1 5 Mapping entry 5 UDINT 32 144 rw 1 1 6 Mapping entry 6 UDINT 32 176 rw 1 1 7 Mapping entry 7 UDINT 32 208 rw 1 1 8 Mapping entry 8 UDINT 32 240 rw 1 1 DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C10ARR UINT 0 1 0 DT1C10 16 0 NULL USINT 8 0 ro Elements DT1C10ARR 0 16 ro DT1C11ARR UINT 0 1 0 DT1C11 16 0 NULL USINT 8 0 ro Elements DT1C11ARR 0 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw 1 1 Elements DT1C12ARR 32 16 rw 1 1 DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw 1 1 Elements DT1C13ARR 32 16 rw 1 1 DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 1 1 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw 1 1 DT2701ARR UDINT 64 1 2 DT2701 80 0 Number of entries USINT 8 0 ro Elements DT2701ARR 64 16 rw 1 1 DT2702ARR UDINT 64 1 2 DT2702 80 0 Number of entries USINT 8 0 ro Elements DT2702ARR 64 16 rw 1 1 DT2703ARR UDINT 64 1 2 DT2703 80 0 Number of entries USINT 8 0 ro Elements DT2703ARR 64 16 rw 1 1 DT2704ARR UDINT 64 1 2 DT2704 80 0 Number of entries USINT 8 0 ro Elements DT2704ARR 64 16 rw 1 1 DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741ARR UINT 32 1 2 DT2741 48 0 Number of entries USINT 8 0 ro Elements DT2741ARR 32 16 ro T DT2750ARR DINT 512 1 16 DT2750 528 0 Number of entries USINT 8 0 ro Elements DT2750ARR 512 16 rw 1 1 DT2751ARR DINT 512 1 16 DT2751 528 0 Number of entries USINT 8 0 ro Elements DT2751ARR 512 16 rw 1 1 DT2767ARR UINT 32 1 2 DT2767 48 0 Highest sub-index supported USINT 8 0 ro Elements DT2767ARR 32 16 ro DT2769 560 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(32) 256 176 ro 7 System reserved7 UDINT 32 432 rw 8 System reserved8 UDINT 32 464 ro 9 System reserved9 UDINT 32 496 ro 10 System reserved10 UDINT 32 528 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Elements DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Elements DT27C1ARR 8128 16 rw DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro Elements DT607DARR 64 16 rw 1 1 DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro Elements DT6099ARR 64 16 rw RT 1 DT60A4ARR UDINT 32 1 1 DT60A4 48 0 Number of entries USINT 8 0 ro Elements DT60A4ARR 32 16 rw 1 1 DT60C1ARR DINT 32 1 1 DT60C1 48 0 Number of entries USINT 8 0 ro Elements DT60C1ARR 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4ARR DINT 32 1 1 DT60E4 48 0 Number of entries USINT 8 0 ro Elements DT60E4ARR 32 16 ro T DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro Elements DT60FEARR 64 16 rw R 1 1 DTF5FFARR UINT 16 1 1 DTF5FF 32 0 Number of sub-objects USINT 8 0 ro Elements DTF5FFARR 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro #x1008 Manufacturer Device Name STRING(32) 256 ro #x1009 Manufacturer Hardware Version STRING(32) 256 ro #x100A Manufacturer Software Version STRING(32) 256 ro #x1010 Store Parameters DT1010 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 Sync Error Counter Limit 9 ro #x1600 1st Receive PDO mapping DT1600 272 Number of Objects 8 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 #x60FF0020 Mapping entry 4 #x60710010 Mapping entry 5 #x60720010 Mapping entry 6 #x60600008 Mapping entry 7 8 Mapping entry 8 #x60B80010 ro #x1601 2nd Receive PDO mapping DT1601 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x607A0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1602 3rd Receive PDO mapping DT1602 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60FF0020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1603 4th Receive PDO mapping DT1603 272 Number of Objects 2 Mapping entry 1 #x60400010 Mapping entry 2 #x60710010 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A00 1st Transmit PDO mapping DT1A00 272 Number of Objects 8 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 #x60F40020 Mapping entry 5 #x60610008 Mapping entry 6 8 Mapping entry 7 #x60B90010 Mapping entry 8 #x60BA0020 ro #x1A01 2nd Transmit PDO mapping DT1A01 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A02 3rd Transmit PDO mapping DT1A02 272 Number of Objects 2 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 0 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1A03 4th Transmit PDO mapping DT1A03 272 Number of Objects 3 Mapping entry 1 #x60410010 Mapping entry 2 #x60640020 Mapping entry 3 #x60770010 Mapping entry 4 0 Mapping entry 5 0 Mapping entry 6 0 Mapping entry 7 0 Mapping entry 8 0 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment DT1C10 16 ro #x1C11 Sync manager 1 PDO assignment DT1C11 16 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 SubIndex 000 1 SubIndex 001 #x1601 SubIndex 002 #x1600 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 SubIndex 000 1 SubIndex 001 #x1A01 SubIndex 002 #x1A00 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 Shift time 0 ro #x1F01 Sync Error Settings DT1F01 80 Sync Error Counter Limit 9 ro #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200A Application Function Select Switch A UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x200E Application Function Select Switch E UINT 16 rw #x200F Application Function Select Switch F UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2021 DC Bus Switch UINT 16 rw #x2022 Application Function Select Switch 22 UINT 16 rw #x2023 Application Function Select Switch 23 UINT 16 rw #x2040 Sigma-V Mode Switch UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2081 Application Function Select Switch 81 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction INT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x214F Selection related to control UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation INT 16 rw #x2166 A type vibration control dumping gain 2 UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2181 Mode Switch (speed reference for Linear type) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type) UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x220E Electronic Gear Ratio(Numerator) UDINT 32 rw #x2210 Electronic Gear Ratio(Denominator) UDINT 32 rw #x2212 Encoder Output Pulses UDINT 32 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2282 Linear Scale pitch UDINT 32 rw #x2230 Position Control Expansion Function Selections UINT 16 rw #x2231 Backlash Compensation DINT 32 rw #x2233 Backlash Compensation Time Constant UINT 16 rw #x22D0 Position resolution UDINT 32 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2308 Speed F/B filter time constant UINT 16 rw #x230A Deceleration time when off servo and compulsion stops UINT 16 rw #x230C Speed feedforward moving average time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2316 The motor is maximum speed. UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2383 JOG Speed for Linear type (Linear type) UINT 16 rw #x2384 Vibration Detection Level (Linear type) UINT 16 rw #x2385 Motor max speed (Linear type) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2427 Speed Ripple Compensation Enable Speed UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2475 Gravity Compensation-Related Selections UINT 16 rw #x2476 Gravity Compensation Torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Command Accel/Decel Time UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Command Waiting Time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Command Speed UINT 16 rw #x2494 Polarity Detection Range UINT 16 rw #x2495 Polarity Detection Confirmation Torque Command UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x249F Speed Ripple Compensation Enable Speed UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2515 Input signal selection 6 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x2518 Output signal selection 7 UINT 16 rw #x251A Output signal selection 8 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Reserved UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2587 Polarity Detection Execution Selection for Absolute Scale UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x261A Overheat Protection Selections UINT 16 rw #x261B Overheat Alarm Level UINT 16 rw #x261C Overheat Warning Level UINT 16 rw #x261D Overheat Alarm Filter Time UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 0 rw 1 #x2701 Postion User Unit DT2701 80 SubIndex 001 1 SubIndex 002 1 ro #x2702 Velocity User Unit DT2702 80 SubIndex 001 1 SubIndex 002 1 ro #x2703 Acceleration User Unit DT2703 80 SubIndex 001 1 SubIndex 002 1 ro #x2704 Torque User Unit DT2704 80 SubIndex 001 1 SubIndex 002 10 ro #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 SubIndex 001 0 SubIndex 002 0 SubIndex 003 0 SubIndex 004 0 SubIndex 005 0 SubIndex 006 0 SubIndex 007 0 SubIndex 008 0 SubIndex 009 0 SubIndex 010 0 SubIndex 011 0 SubIndex 012 0 SubIndex 013 0 SubIndex 014 0 SubIndex 015 0 SubIndex 016 0 ro #x2752 Zone Signal Output select1 UINT 16 0 rw 1 1 #x2753 Zone Signal Output select2 UINT 16 0 rw 1 1 #x2765 Servo Serial Number STRING(32) 256 ro #x2767 Reserved DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 560 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 2 rw 1 1 #x605B Shutdown option code INT 16 0 rw 1 1 #x605C Disable operation option code INT 16 1 rw 1 1 #x605D Halt option code INT 16 1 rw 1 1 #x605E Fault reaction option code INT 16 0 rw 1 1 #x6060 Modes of operation SINT 8 0 rw RT 1 #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 5242880 rw 1 1 #x6066 Following error time out UINT 16 0 rw 1 1 #x6067 Position window UDINT 32 30 rw 1 1 #x6068 Position window time UINT 16 0 rw 1 1 #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 20000 rw 1 1 #x606E Velocity window time UINT 16 0 rw 1 1 #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 0 rw 1 1 #x607D Software position limit DT607D 80 SubIndex 001 0 SubIndex 002 0 ro #x607F Max profile velocity UDINT 32 #x7FFFFFFF rw RT 1 #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 0 rw RT 1 #x6083 Profile acceleration UDINT 32 1000 rw RT 1 #x6084 Profile deceleration UDINT 32 1000 rw RT 1 #x6085 Quick stop deceleration UDINT 32 1000 rw RT 1 #x6086 Motion profile type INT 16 0 rw RT 1 #x6087 Torque Slope UDINT 32 1000 rw RT 1 #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 SubIndex 001 500000 SubIndex 002 100000 ro #x609A Homing acceleration UDINT 32 1000 rw RT 1 #x60A4 Profile Jerk DT60A4 48 SubIndex 001 25 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 8000 rw RT 1 #x60E1 Negative Torque Limit Value UINT 16 8000 rw RT 1 #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 SubIndex 001 0 SubIndex 002 #x000C0000 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(32) 256 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000000000000 0010800080108000 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SGD7S-xxxxA0xxxxF64 400V CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Sync manager type DT1C00ARR 32 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw Index of assigned RxPDO DT1C12ARR 32 16 rw DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw Index of assigned TxPDO DT1C13ARR 32 16 rw DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2751 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2767 48 0 Reserved1 USINT 8 0 ro 1 Reserved2 UINT 16 16 rw 2 Reserved3 UINT 16 32 ro DT2769 304 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(0) 0 176 ro 7 System reserved7 UDINT 32 176 rw 8 System reserved8 UDINT 32 208 ro 9 System reserved9 UDINT 32 240 ro 10 System reserved10 UDINT 32 272 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 1st profile DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 2nd profile DT27C1ARR 8128 16 rw DT607D 80 0 Number of entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60A4 48 0 Number of entries USINT 8 0 ro 1 Profile Jerk1 UDINT 32 16 rw DT60C1 48 0 Number of entries USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4 48 0 Number of entries USINT 8 0 ro 1 Additional Position Actual Value DINT 32 16 ro T DT60FE 80 0 Number of entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DTF5FF 32 0 Number of sub-objects USINT 8 0 ro 1 Configuration Transfer Status UINT 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw #x1001 Error Register USINT 8 ro #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 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment USINT 8 ro #x1C11 Sync manager 1 PDO assignment USINT 8 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 ro #x1F01 Sync Error Settings DT1F01 80 ro #x2000 Basic Function Select Switch 0(Pn000) UINT 16 rw #x2001 Application Function Select Switch 1(Pn001) UINT 16 rw #x2002 Application Function Select Switch 2(Pn002) UINT 16 rw #x2006 Application Function Select Switch 6(Pn006) UINT 16 rw #x2007 Application Function Select Switch 7(Pn007) UINT 16 rw #x2008 Application Function Select Switch 8(Pn008) UINT 16 rw #x2009 Application Function Select Switch 9(Pn009) UINT 16 rw #x200A Application Function Select Switch A(Pn00A) UINT 16 rw #x200B Application Function Select Switch B(Pn00B) UINT 16 rw #x200C Application Function Select Switch C(Pn00C) UINT 16 rw #x200D Application Function Select Switch D(Pn00D) UINT 16 rw #x200E Application Function Select Switch E(Pn00E) UINT 16 rw #x200F Application Function Select Switch F(Pn00F) UINT 16 rw #x2010 Axis address for USB communication(Pn010) UINT 16 rw #x2021 DC Bus Switch(Pn021) UINT 16 rw #x2022 Application Function Select Switch 22(Pn022) UINT 16 rw #x2023 Application Function Select Switch 23(Pn023) UINT 16 rw #x2040 Sigma-V Mode Switch(Pn040) UINT 16 rw #x2080 Application Function Select Switch 80(Pn080) UINT 16 rw #x2081 Application Function Select Switch 81(Pn081) UINT 16 rw #x2100 Speed Loop Gain(Pn100) UINT 16 rw #x2101 Speed Loop Integral Time Constant(Pn101) UINT 16 rw #x2102 Position Loop Gain(Pn102) UINT 16 rw #x2103 Moment of Inertia Ratio(Pn103) UINT 16 rw #x2104 2nd Speed Loop Gain(Pn104) UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant(Pn105) UINT 16 rw #x2106 2nd Position Loop Gain(Pn106) UINT 16 rw #x2109 Feedforward Gain(Pn109) UINT 16 rw #x210A Feedforward Filter Time Constant(Pn10A) UINT 16 rw #x210B Application Function for Gain Select Switch(Pn10B) UINT 16 rw #x210C Mode Switch (torque reference)(Pn10C) UINT 16 rw #x210D Mode Switch (speed reference)(Pn10D) UINT 16 rw #x210E Mode Switch (acceleration)(Pn10E) UINT 16 rw #x210F Mode Switch (position error pulse)(Pn10F) UINT 16 rw #x211F Position Integral Time Constant(Pn11F) UINT 16 rw #x2121 Friction Compensation Gain(Pn121) UINT 16 rw #x2122 2nd Gain for Friction Compensation(Pn122) UINT 16 rw #x2123 Friction Compensation Coefficient(Pn123) UINT 16 rw #x2124 Friction Compensation Frequency Correction(Pn124) INT 16 rw #x2125 Friction Compensation Gain Correction(Pn125) UINT 16 rw #x2131 Gain Switching Time 1(Pn131) UINT 16 rw #x2132 Gain Switching Time 2(Pn132) UINT 16 rw #x2135 Gain Switching Waiting Time 1(Pn135) UINT 16 rw #x2136 Gain Switching Waiting Time 2(Pn136) UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1(Pn139) UINT 16 rw #x213D Current Gain Level(Pn13D) UINT 16 rw #x2140 Model Following Control Related Switch(Pn140) UINT 16 rw #x2141 Model Following Control Gain(Pn141) UINT 16 rw #x2142 Model Following Control Gain Compensation(Pn142) UINT 16 rw #x2143 Model Following Control Bias(Forward Direction)(Pn143) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction)(Pn144) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A(Pn145) UINT 16 rw #x2146 Vibration Suppression 1 Frequency B(Pn146) UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation(Pn147) UINT 16 rw #x2148 2nd Model Following Control Gain(Pn148) UINT 16 rw #x2149 2nd Model Following Control Gain Compensation(Pn149) UINT 16 rw #x214A Vibration Suppression 2 Frequency(Pn14A) UINT 16 rw #x214B Vibration Suppression 2 Compensation(Pn14B) UINT 16 rw #x214F Selection related to control(Pn14F) UINT 16 rw #x2160 Anti-Resonance Control Related Switch(Pn160) UINT 16 rw #x2161 Anti-Resonance Frequency(Pn161) UINT 16 rw #x2162 Anti-Resonance Gain Compensation(Pn162) UINT 16 rw #x2163 Anti-Resonance Damping Gain(Pn163) UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation(Pn164) INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation(Pn165) INT 16 rw #x2166 A type vibration control dumping gain 2(Pn166) UINT 16 rw #x2170 Tuning-less Function Related Switch(Pn170) UINT 16 rw #x2181 Mode Switch (speed reference for Linear type)(Pn181) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type)(Pn182) UINT 16 rw #x2205 Multi-turn Limit Setting(Pn205) UINT 16 rw #x2207 Position Control Function Switch(Pn207) UINT 16 rw #x220A Number of External Scale Pitch(Pn20A) UDINT 32 rw #x220E Electronic Gear Ratio(Numerator)(Pn20E) UDINT 32 rw #x2210 Electronic Gear Ratio(Denominator)(Pn210) UDINT 32 rw #x2212 Encoder Output Pulses(Pn212) UDINT 32 rw #x222A Fully-closed Control Selection Switch(Pn22A) UINT 16 rw #x2281 Encoder Output Resolution(Pn281) UINT 16 rw #x2282 Linear Scale pitch(Pn282) UDINT 32 rw #x2230 Position Control Expansion Function Selections (Pn230) UINT 16 rw #x2231 Backlash Compensation(Pn231) DINT 32 rw #x2233 Backlash Compensation Time Constant(Pn233) UINT 16 rw #x22D0 Position resolution(Pn2D0) UDINT 32 rw #x2304 JOG Speed(Pn304) UINT 16 rw #x2305 Soft Start Acceleration Time(Pn305) UINT 16 rw #x2306 Soft Start Deceleration Time(Pn306) UINT 16 rw #x2308 Speed F/B filter time constant(Pn308) UINT 16 rw #x230A Deceleration time when off servo and compulsion stops(Pn30A) UINT 16 rw #x230C Speed feedforward moving average time(Pn30C) UINT 16 rw #x2310 Vibration Detection Switch(Pn310) UINT 16 rw #x2311 Vibration Detection Sensibility(Pn311) UINT 16 rw #x2312 Vibration Detection Level(Pn312) UINT 16 rw #x2316 The motor is maximum speed. (Pn316) UINT 16 rw #x2324 Moment of Inertia Calculating Start Level(Pn324) UINT 16 rw #x2383 JOG Speed for Linear type (Linear type)(Pn383) UINT 16 rw #x2384 Vibration Detection Level (Linear type)(Pn384) UINT 16 rw #x2385 Motor max speed (Linear type)(Pn385) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2427 Speed Ripple Compensation Enable Speed UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2475 Gravity Compensation-Related Selections UINT 16 rw #x2476 Gravity Compensation Torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Command Accel/Decel Time UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Command Waiting Time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Command Speed UINT 16 rw #x2494 Polarity Detection Range UINT 16 rw #x2495 Polarity Detection Confirmation Torque Command UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x249F Speed Ripple Compensation Enable Speed UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x2518 Output signal selection 7 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Reserved UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2587 Polarity Detection Execution Selection for Absolute Scale UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x261A Overheat Protection Selections UINT 16 rw #x261B Overheat Alarm Level UINT 16 rw #x261C Overheat Warning Level UINT 16 rw #x261D Overheat Alarm Filter Time UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 rw #x2701 Postion User Unit DT2701 80 ro #x2702 Velocity User Unit DT2702 80 ro #x2703 Acceleration User Unit DT2703 80 ro #x2704 Torque User Unit DT2704 80 ro #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 ro #x2752 Zone Signal Output select1 UINT 16 rw #x2753 Zone Signal Output select2 UINT 16 rw #x2765 Servo Serial Number STRING(0) 0 ro #x2767 Reserved DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 304 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6086 Motion profile type INT 16 rw RT #x6087 Torque Slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw RT #x60A4 Profile Jerk DT60A4 48 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 rw RT #x60E1 Negative Torque Limit Value UINT 16 rw RT #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(0) 0 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro #x1000 Device Type UDINT 32 #x02200301 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 0010800080108000 424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000FDFDFDFFFFFFFFFFC8C9C9FFE9EAEAFFD5DADAFFFDFDFDFFFFFFFFFF747676FF8A9091FF747676FFAEB5B6FFFFFFFFFFFDFDFDFF747676FFFFFFFFFFFDFDFDFFFFFFFFFFC8C9C9FF303030FF7B8B8CFF95A5A7FFD5E5E5FFFDFDFDFFD5DADAFF4B4B4BFF8A9091FFAEB5B6FFE9EAEAFFD5DADAFF000000FF8A9091FFFDFDFDFFFFFFFFFF95A5A7FF303030FF747676FFAEB5B6FFD5E5E5FFD5DADAFFFDFDFDFF4B4B4BFF303030FF303030FFE9EAEAFFAEB5B6FF000000FF000000FF95A5A7FFFFFFFFFFFFFFFFFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFCAD5D5FFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFAEB5B6FFCAD5D5FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF303030FF747676FFAEB5B6FFD5E5E5FFD5E5E5FFAEB5B6FFC8C9C9FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF303030FF7B8B8CFFAEB5B6FFD5E5E5FFD5E5E5FFB8C9CAFFAEB5B6FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF747676FF8A9091FF8A9091FFD5E5E5FFD5E5E5FFCAD5D5FF7B8B8CFFD5DADAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF4B4B4BFF303030FFD5E5E5FFD5DADAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFFFFFFFF303030FF303030FF303030FFD5E5E5FFB8C9CAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF95A5A7FF95A5A7FFAEB5B6FFB8C9CAFFB8C9CAFF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFD5E5E5FF8A9091FF95A5A7FF95A5A7FFAEB5B6FF747676FFC8C9C9FFFDFDFDFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFB8C9CAFF95A5A7FF747676FF747676FFB8C9CAFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFE9EAEAFFAEB5B6FFC8C9C9FFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFF SGD7S-xxxxA0xxxxF64 400V CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Sync manager type DT1C00ARR 32 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw Index of assigned RxPDO DT1C12ARR 32 16 rw DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw Index of assigned TxPDO DT1C13ARR 32 16 rw DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2751 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2767 48 0 Reserved1 USINT 8 0 ro 1 Reserved2 UINT 16 16 rw 2 Reserved3 UINT 16 32 ro DT2769 304 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(0) 0 176 ro 7 System reserved7 UDINT 32 176 rw 8 System reserved8 UDINT 32 208 ro 9 System reserved9 UDINT 32 240 ro 10 System reserved10 UDINT 32 272 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 1st profile DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 2nd profile DT27C1ARR 8128 16 rw DT607D 80 0 Number of entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60A4 48 0 Number of entries USINT 8 0 ro 1 Profile Jerk1 UDINT 32 16 rw DT60C1 48 0 Number of entries USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4 48 0 Number of entries USINT 8 0 ro 1 Additional Position Actual Value DINT 32 16 ro T DT60FE 80 0 Number of entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DTF5FF 32 0 Number of sub-objects USINT 8 0 ro 1 Configuration Transfer Status UINT 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw #x1001 Error Register USINT 8 ro #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 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment USINT 8 ro #x1C11 Sync manager 1 PDO assignment USINT 8 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 ro #x1F01 Sync Error Settings DT1F01 80 ro #x2000 Basic Function Select Switch 0(Pn000) UINT 16 rw #x2001 Application Function Select Switch 1(Pn001) UINT 16 rw #x2002 Application Function Select Switch 2(Pn002) UINT 16 rw #x2006 Application Function Select Switch 6(Pn006) UINT 16 rw #x2007 Application Function Select Switch 7(Pn007) UINT 16 rw #x2008 Application Function Select Switch 8(Pn008) UINT 16 rw #x2009 Application Function Select Switch 9(Pn009) UINT 16 rw #x200A Application Function Select Switch A(Pn00A) UINT 16 rw #x200B Application Function Select Switch B(Pn00B) UINT 16 rw #x200C Application Function Select Switch C(Pn00C) UINT 16 rw #x200D Application Function Select Switch D(Pn00D) UINT 16 rw #x200E Application Function Select Switch E(Pn00E) UINT 16 rw #x200F Application Function Select Switch F(Pn00F) UINT 16 rw #x2010 Axis address for USB communication(Pn010) UINT 16 rw #x2021 DC Bus Switch(Pn021) UINT 16 rw #x2022 Application Function Select Switch 22(Pn022) UINT 16 rw #x2023 Application Function Select Switch 23(Pn023) UINT 16 rw #x2040 Sigma-V Mode Switch(Pn040) UINT 16 rw #x2080 Application Function Select Switch 80(Pn080) UINT 16 rw #x2081 Application Function Select Switch 81(Pn081) UINT 16 rw #x2100 Speed Loop Gain(Pn100) UINT 16 rw #x2101 Speed Loop Integral Time Constant(Pn101) UINT 16 rw #x2102 Position Loop Gain(Pn102) UINT 16 rw #x2103 Moment of Inertia Ratio(Pn103) UINT 16 rw #x2104 2nd Speed Loop Gain(Pn104) UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant(Pn105) UINT 16 rw #x2106 2nd Position Loop Gain(Pn106) UINT 16 rw #x2109 Feedforward Gain(Pn109) UINT 16 rw #x210A Feedforward Filter Time Constant(Pn10A) UINT 16 rw #x210B Application Function for Gain Select Switch(Pn10B) UINT 16 rw #x210C Mode Switch (torque reference)(Pn10C) UINT 16 rw #x210D Mode Switch (speed reference)(Pn10D) UINT 16 rw #x210E Mode Switch (acceleration)(Pn10E) UINT 16 rw #x210F Mode Switch (position error pulse)(Pn10F) UINT 16 rw #x211F Position Integral Time Constant(Pn11F) UINT 16 rw #x2121 Friction Compensation Gain(Pn121) UINT 16 rw #x2122 2nd Gain for Friction Compensation(Pn122) UINT 16 rw #x2123 Friction Compensation Coefficient(Pn123) UINT 16 rw #x2124 Friction Compensation Frequency Correction(Pn124) INT 16 rw #x2125 Friction Compensation Gain Correction(Pn125) UINT 16 rw #x2131 Gain Switching Time 1(Pn131) UINT 16 rw #x2132 Gain Switching Time 2(Pn132) UINT 16 rw #x2135 Gain Switching Waiting Time 1(Pn135) UINT 16 rw #x2136 Gain Switching Waiting Time 2(Pn136) UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1(Pn139) UINT 16 rw #x213D Current Gain Level(Pn13D) UINT 16 rw #x2140 Model Following Control Related Switch(Pn140) UINT 16 rw #x2141 Model Following Control Gain(Pn141) UINT 16 rw #x2142 Model Following Control Gain Compensation(Pn142) UINT 16 rw #x2143 Model Following Control Bias(Forward Direction)(Pn143) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction)(Pn144) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A(Pn145) UINT 16 rw #x2146 Vibration Suppression 1 Frequency B(Pn146) UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation(Pn147) UINT 16 rw #x2148 2nd Model Following Control Gain(Pn148) UINT 16 rw #x2149 2nd Model Following Control Gain Compensation(Pn149) UINT 16 rw #x214A Vibration Suppression 2 Frequency(Pn14A) UINT 16 rw #x214B Vibration Suppression 2 Compensation(Pn14B) UINT 16 rw #x214F Selection related to control(Pn14F) UINT 16 rw #x2160 Anti-Resonance Control Related Switch(Pn160) UINT 16 rw #x2161 Anti-Resonance Frequency(Pn161) UINT 16 rw #x2162 Anti-Resonance Gain Compensation(Pn162) UINT 16 rw #x2163 Anti-Resonance Damping Gain(Pn163) UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation(Pn164) INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation(Pn165) INT 16 rw #x2166 A type vibration control dumping gain 2(Pn166) UINT 16 rw #x2170 Tuning-less Function Related Switch(Pn170) UINT 16 rw #x2181 Mode Switch (speed reference for Linear type)(Pn181) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type)(Pn182) UINT 16 rw #x2205 Multi-turn Limit Setting(Pn205) UINT 16 rw #x2207 Position Control Function Switch(Pn207) UINT 16 rw #x220A Number of External Scale Pitch(Pn20A) UDINT 32 rw #x220E Electronic Gear Ratio(Numerator)(Pn20E) UDINT 32 rw #x2210 Electronic Gear Ratio(Denominator)(Pn210) UDINT 32 rw #x2212 Encoder Output Pulses(Pn212) UDINT 32 rw #x222A Fully-closed Control Selection Switch(Pn22A) UINT 16 rw #x2281 Encoder Output Resolution(Pn281) UINT 16 rw #x2282 Linear Scale pitch(Pn282) UDINT 32 rw #x2230 Position Control Expansion Function Selections (Pn230) UINT 16 rw #x2231 Backlash Compensation(Pn231) DINT 32 rw #x2233 Backlash Compensation Time Constant(Pn233) UINT 16 rw #x22D0 Position resolution(Pn2D0) UDINT 32 rw #x2304 JOG Speed(Pn304) UINT 16 rw #x2305 Soft Start Acceleration Time(Pn305) UINT 16 rw #x2306 Soft Start Deceleration Time(Pn306) UINT 16 rw #x2308 Speed F/B filter time constant(Pn308) UINT 16 rw #x230A Deceleration time when off servo and compulsion stops(Pn30A) UINT 16 rw #x230C Speed feedforward moving average time(Pn30C) UINT 16 rw #x2310 Vibration Detection Switch(Pn310) UINT 16 rw #x2311 Vibration Detection Sensibility(Pn311) UINT 16 rw #x2312 Vibration Detection Level(Pn312) UINT 16 rw #x2316 The motor is maximum speed. (Pn316) UINT 16 rw #x2324 Moment of Inertia Calculating Start Level(Pn324) UINT 16 rw #x2383 JOG Speed for Linear type (Linear type)(Pn383) UINT 16 rw #x2384 Vibration Detection Level (Linear type)(Pn384) UINT 16 rw #x2385 Motor max speed (Linear type)(Pn385) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2427 Speed Ripple Compensation Enable Speed UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2475 Gravity Compensation-Related Selections UINT 16 rw #x2476 Gravity Compensation Torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Command Accel/Decel Time UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Command Waiting Time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Command Speed UINT 16 rw #x2494 Polarity Detection Range UINT 16 rw #x2495 Polarity Detection Confirmation Torque Command UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x249F Speed Ripple Compensation Enable Speed UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x2518 Output signal selection 7 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Reserved UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2587 Polarity Detection Execution Selection for Absolute Scale UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x261A Overheat Protection Selections UINT 16 rw #x261B Overheat Alarm Level UINT 16 rw #x261C Overheat Warning Level UINT 16 rw #x261D Overheat Alarm Filter Time UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 rw #x2701 Postion User Unit DT2701 80 ro #x2702 Velocity User Unit DT2702 80 ro #x2703 Acceleration User Unit DT2703 80 ro #x2704 Torque User Unit DT2704 80 ro #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 ro #x2752 Zone Signal Output select1 UINT 16 rw #x2753 Zone Signal Output select2 UINT 16 rw #x2765 Servo Serial Number STRING(0) 0 ro #x2767 Reserved DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 304 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6086 Motion profile type INT 16 rw RT #x6087 Torque Slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw RT #x60A4 Profile Jerk DT60A4 48 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 rw RT #x60E1 Negative Torque Limit Value UINT 16 rw RT #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(0) 0 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro #x1000 Device Type UDINT 32 #x02200301 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 0010800080108000 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SGD7S-xxxxA0xxxxF64 400V CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Sync manager type DT1C00ARR 32 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw Index of assigned RxPDO DT1C12ARR 32 16 rw DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw Index of assigned TxPDO DT1C13ARR 32 16 rw DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2751 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2767 48 0 DC Control Loop Mode USINT 8 0 ro 1 DC Control Loop Mode Select UINT 16 16 rw 2 DC Control Loop Mode Status UINT 16 32 ro DT2769 304 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(0) 0 176 ro 7 System reserved7 UDINT 32 176 rw 8 System reserved8 UDINT 32 208 ro 9 System reserved9 UDINT 32 240 ro 10 System reserved10 UDINT 32 272 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 1st profile DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 2nd profile DT27C1ARR 8128 16 rw DT607D 80 0 Number of entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60A4 48 0 Number of entries USINT 8 0 ro 1 Profile Jerk1 UDINT 32 16 rw DT60C1 48 0 Number of entries USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4 48 0 Number of entries USINT 8 0 ro 1 Additional Position Actual Value DINT 32 16 ro T DT60FE 80 0 Number of entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DTF5FF 32 0 Number of sub-objects USINT 8 0 ro 1 Configuration Transfer Status UINT 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw #x1001 Error Register USINT 8 ro #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 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment USINT 8 ro #x1C11 Sync manager 1 PDO assignment USINT 8 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 ro #x1F01 Sync Error Settings DT1F01 80 ro #x2000 Basic Function Select Switch 0(Pn000) UINT 16 rw #x2001 Application Function Select Switch 1(Pn001) UINT 16 rw #x2002 Application Function Select Switch 2(Pn002) UINT 16 rw #x2006 Application Function Select Switch 6(Pn006) UINT 16 rw #x2007 Application Function Select Switch 7(Pn007) UINT 16 rw #x2008 Application Function Select Switch 8(Pn008) UINT 16 rw #x2009 Application Function Select Switch 9(Pn009) UINT 16 rw #x200A Application Function Select Switch A(Pn00A) UINT 16 rw #x200B Application Function Select Switch B(Pn00B) UINT 16 rw #x200C Application Function Select Switch C(Pn00C) UINT 16 rw #x200D Application Function Select Switch D(Pn00D) UINT 16 rw #x200E Application Function Select Switch E(Pn00E) UINT 16 rw #x200F Application Function Select Switch F(Pn00F) UINT 16 rw #x2010 Axis address for USB communication(Pn010) UINT 16 rw #x2021 DC Bus Switch(Pn021) UINT 16 rw #x2022 Application Function Select Switch 22(Pn022) UINT 16 rw #x2023 Application Function Select Switch 23(Pn023) UINT 16 rw #x2040 Sigma-V Mode Switch(Pn040) UINT 16 rw #x2080 Application Function Select Switch 80(Pn080) UINT 16 rw #x2081 Application Function Select Switch 81(Pn081) UINT 16 rw #x2100 Speed Loop Gain(Pn100) UINT 16 rw #x2101 Speed Loop Integral Time Constant(Pn101) UINT 16 rw #x2102 Position Loop Gain(Pn102) UINT 16 rw #x2103 Moment of Inertia Ratio(Pn103) UINT 16 rw #x2104 2nd Speed Loop Gain(Pn104) UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant(Pn105) UINT 16 rw #x2106 2nd Position Loop Gain(Pn106) UINT 16 rw #x2109 Feedforward Gain(Pn109) UINT 16 rw #x210A Feedforward Filter Time Constant(Pn10A) UINT 16 rw #x210B Application Function for Gain Select Switch(Pn10B) UINT 16 rw #x210C Mode Switch (torque reference)(Pn10C) UINT 16 rw #x210D Mode Switch (speed reference)(Pn10D) UINT 16 rw #x210E Mode Switch (acceleration)(Pn10E) UINT 16 rw #x210F Mode Switch (position error pulse)(Pn10F) UINT 16 rw #x211F Position Integral Time Constant(Pn11F) UINT 16 rw #x2121 Friction Compensation Gain(Pn121) UINT 16 rw #x2122 2nd Gain for Friction Compensation(Pn122) UINT 16 rw #x2123 Friction Compensation Coefficient(Pn123) UINT 16 rw #x2124 Friction Compensation Frequency Correction(Pn124) INT 16 rw #x2125 Friction Compensation Gain Correction(Pn125) UINT 16 rw #x2131 Gain Switching Time 1(Pn131) UINT 16 rw #x2132 Gain Switching Time 2(Pn132) UINT 16 rw #x2135 Gain Switching Waiting Time 1(Pn135) UINT 16 rw #x2136 Gain Switching Waiting Time 2(Pn136) UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1(Pn139) UINT 16 rw #x213D Current Gain Level(Pn13D) UINT 16 rw #x2140 Model Following Control Related Switch(Pn140) UINT 16 rw #x2141 Model Following Control Gain(Pn141) UINT 16 rw #x2142 Model Following Control Gain Compensation(Pn142) UINT 16 rw #x2143 Model Following Control Bias(Forward Direction)(Pn143) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction)(Pn144) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A(Pn145) UINT 16 rw #x2146 Vibration Suppression 1 Frequency B(Pn146) UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation(Pn147) UINT 16 rw #x2148 2nd Model Following Control Gain(Pn148) UINT 16 rw #x2149 2nd Model Following Control Gain Compensation(Pn149) UINT 16 rw #x214A Vibration Suppression 2 Frequency(Pn14A) UINT 16 rw #x214B Vibration Suppression 2 Compensation(Pn14B) UINT 16 rw #x214F Selection related to control(Pn14F) UINT 16 rw #x2160 Anti-Resonance Control Related Switch(Pn160) UINT 16 rw #x2161 Anti-Resonance Frequency(Pn161) UINT 16 rw #x2162 Anti-Resonance Gain Compensation(Pn162) UINT 16 rw #x2163 Anti-Resonance Damping Gain(Pn163) UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation(Pn164) INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation(Pn165) INT 16 rw #x2166 A type vibration control dumping gain 2(Pn166) UINT 16 rw #x2170 Tuning-less Function Related Switch(Pn170) UINT 16 rw #x2181 Mode Switch (speed reference for Linear type)(Pn181) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type)(Pn182) UINT 16 rw #x2205 Multi-turn Limit Setting(Pn205) UINT 16 rw #x2207 Position Control Function Switch(Pn207) UINT 16 rw #x220A Number of External Scale Pitch(Pn20A) UDINT 32 rw #x2212 Encoder Output Pulses(Pn212) UDINT 32 rw #x222A Fully-closed Control Selection Switch(Pn22A) UINT 16 rw #x2281 Encoder Output Resolution(Pn281) UINT 16 rw #x2282 Linear Scale pitch(Pn282) UDINT 32 rw #x2304 JOG Speed(Pn304) UINT 16 rw #x2305 Soft Start Acceleration Time(Pn305) UINT 16 rw #x2306 Soft Start Deceleration Time(Pn306) UINT 16 rw #x2308 Speed F/B filter time constant(Pn308) UINT 16 rw #x230A Deceleration time when off servo and compulsion stops(Pn30A) UINT 16 rw #x230C Speed feedforward moving average time(Pn30C) UINT 16 rw #x2310 Vibration Detection Switch(Pn310) UINT 16 rw #x2311 Vibration Detection Sensibility(Pn311) UINT 16 rw #x2312 Vibration Detection Level(Pn312) UINT 16 rw #x2316 The motor is maximum speed. (Pn316) UINT 16 rw #x2324 Moment of Inertia Calculating Start Level(Pn324) UINT 16 rw #x2383 JOG Speed for Linear type (Linear type)(Pn383) UINT 16 rw #x2384 Vibration Detection Level (Linear type)(Pn384) UINT 16 rw #x2385 Motor max speed (Linear type)(Pn385) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2475 Friction Model Compensation-Related Selections UINT 16 rw #x2476 Gravity compensation torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Trace specification alarm number UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 rw #x2701 Postion User Unit DT2701 80 ro #x2702 Velocity User Unit DT2702 80 ro #x2703 Acceleration User Unit DT2703 80 ro #x2704 Torque User Unit DT2704 80 ro #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 ro #x2752 Zone Signal Output select1 UINT 16 rw #x2753 Zone Signal Output select2 UINT 16 rw #x2765 Servo Serial Number STRING(0) 0 ro #x2767 DC Control Loop Mode Status DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 304 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6086 Motion profile type INT 16 rw RT #x6087 Torque Slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw RT #x60A4 Profile Jerk DT60A4 48 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 rw RT #x60E1 Negative Torque Limit Value UINT 16 rw RT #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(0) 0 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro #x1000 Device Type UDINT 32 #x02200301 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 0010800080108000 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SGD7S-xxxxA0xxxxF64 400V CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Sync manager type DT1C00ARR 32 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw Index of assigned RxPDO DT1C12ARR 32 16 rw DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw Index of assigned TxPDO DT1C13ARR 32 16 rw DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2751 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2767 48 0 DC Control Loop Mode USINT 8 0 ro 1 DC Control Loop Mode Select UINT 16 16 rw 2 DC Control Loop Mode Status UINT 16 32 ro DT2769 304 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(0) 0 176 ro 7 System reserved7 UDINT 32 176 rw 8 System reserved8 UDINT 32 208 ro 9 System reserved9 UDINT 32 240 ro 10 System reserved10 UDINT 32 272 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 1st profile DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 2nd profile DT27C1ARR 8128 16 rw DT607D 80 0 Number of entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60A4 48 0 Number of entries USINT 8 0 ro 1 Profile Jerk1 UDINT 32 16 rw RT DT60C1 48 0 Number of entries USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4 48 0 Number of entries USINT 8 0 ro 1 Additional Position Actual Value DINT 32 16 ro T DT60FE 80 0 Number of entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DTF5FF 32 0 Number of sub-objects USINT 8 0 ro 1 Configuration Transfer Status UINT 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw #x1001 Error Register USINT 8 ro #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 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment USINT 8 ro #x1C11 Sync manager 1 PDO assignment USINT 8 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 ro #x1F01 Sync Error Settings DT1F01 80 ro #x2000 Basic Function Select Switch 0(Pn000) UINT 16 rw #x2001 Application Function Select Switch 1(Pn001) UINT 16 rw #x2002 Application Function Select Switch 2(Pn002) UINT 16 rw #x2006 Application Function Select Switch 6(Pn006) UINT 16 rw #x2007 Application Function Select Switch 7(Pn007) UINT 16 rw #x2008 Application Function Select Switch 8(Pn008) UINT 16 rw #x2009 Application Function Select Switch 9(Pn009) UINT 16 rw #x200A Application Function Select Switch A(Pn00A) UINT 16 rw #x200B Application Function Select Switch B(Pn00B) UINT 16 rw #x200C Application Function Select Switch C(Pn00C) UINT 16 rw #x200D Application Function Select Switch D(Pn00D) UINT 16 rw #x200E Application Function Select Switch E(Pn00E) UINT 16 rw #x200F Application Function Select Switch F(Pn00F) UINT 16 rw #x2010 Axis address for USB communication(Pn010) UINT 16 rw #x2021 DC Bus Switch(Pn021) UINT 16 rw #x2022 Application Function Select Switch 22(Pn022) UINT 16 rw #x2023 Application Function Select Switch 23(Pn023) UINT 16 rw #x2040 Sigma-V Mode Switch(Pn040) UINT 16 rw #x2080 Application Function Select Switch 80(Pn080) UINT 16 rw #x2081 Application Function Select Switch 81(Pn081) UINT 16 rw #x2100 Speed Loop Gain(Pn100) UINT 16 rw #x2101 Speed Loop Integral Time Constant(Pn101) UINT 16 rw #x2102 Position Loop Gain(Pn102) UINT 16 rw #x2103 Moment of Inertia Ratio(Pn103) UINT 16 rw #x2104 2nd Speed Loop Gain(Pn104) UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant(Pn105) UINT 16 rw #x2106 2nd Position Loop Gain(Pn106) UINT 16 rw #x2109 Feedforward Gain(Pn109) UINT 16 rw #x210A Feedforward Filter Time Constant(Pn10A) UINT 16 rw #x210B Application Function for Gain Select Switch(Pn10B) UINT 16 rw #x210C Mode Switch (torque reference)(Pn10C) UINT 16 rw #x210D Mode Switch (speed reference)(Pn10D) UINT 16 rw #x210E Mode Switch (acceleration)(Pn10E) UINT 16 rw #x210F Mode Switch (position error pulse)(Pn10F) UINT 16 rw #x211F Position Integral Time Constant(Pn11F) UINT 16 rw #x2121 Friction Compensation Gain(Pn121) UINT 16 rw #x2122 2nd Gain for Friction Compensation(Pn122) UINT 16 rw #x2123 Friction Compensation Coefficient(Pn123) UINT 16 rw #x2124 Friction Compensation Frequency Correction(Pn124) INT 16 rw #x2125 Friction Compensation Gain Correction(Pn125) UINT 16 rw #x2131 Gain Switching Time 1(Pn131) UINT 16 rw #x2132 Gain Switching Time 2(Pn132) UINT 16 rw #x2135 Gain Switching Waiting Time 1(Pn135) UINT 16 rw #x2136 Gain Switching Waiting Time 2(Pn136) UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1(Pn139) UINT 16 rw #x213D Current Gain Level(Pn13D) UINT 16 rw #x2140 Model Following Control Related Switch(Pn140) UINT 16 rw #x2141 Model Following Control Gain(Pn141) UINT 16 rw #x2142 Model Following Control Gain Compensation(Pn142) UINT 16 rw #x2143 Model Following Control Bias(Forward Direction)(Pn143) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction)(Pn144) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A(Pn145) UINT 16 rw #x2146 Vibration Suppression 1 Frequency B(Pn146) UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation(Pn147) UINT 16 rw #x2148 2nd Model Following Control Gain(Pn148) UINT 16 rw #x2149 2nd Model Following Control Gain Compensation(Pn149) UINT 16 rw #x214A Vibration Suppression 2 Frequency(Pn14A) UINT 16 rw #x214B Vibration Suppression 2 Compensation(Pn14B) UINT 16 rw #x214F Selection related to control(Pn14F) UINT 16 rw #x2160 Anti-Resonance Control Related Switch(Pn160) UINT 16 rw #x2161 Anti-Resonance Frequency(Pn161) UINT 16 rw #x2162 Anti-Resonance Gain Compensation(Pn162) UINT 16 rw #x2163 Anti-Resonance Damping Gain(Pn163) UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation(Pn164) INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation(Pn165) INT 16 rw #x2166 A type vibration control dumping gain 2(Pn166) UINT 16 rw #x2170 Tuning-less Function Related Switch(Pn170) UINT 16 rw #x2181 Mode Switch (speed reference for Linear type)(Pn181) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type)(Pn182) UINT 16 rw #x2205 Multi-turn Limit Setting(Pn205) UINT 16 rw #x2207 Position Control Function Switch(Pn207) UINT 16 rw #x220A Number of External Scale Pitch(Pn20A) UDINT 32 rw #x2212 Encoder Output Pulses(Pn212) UDINT 32 rw #x222A Fully-closed Control Selection Switch(Pn22A) UINT 16 rw #x2281 Encoder Output Resolution(Pn281) UINT 16 rw #x2282 Linear Scale pitch(Pn282) UDINT 32 rw #x2304 JOG Speed(Pn304) UINT 16 rw #x2305 Soft Start Acceleration Time(Pn305) UINT 16 rw #x2306 Soft Start Deceleration Time(Pn306) UINT 16 rw #x2308 Speed F/B filter time constant(Pn308) UINT 16 rw #x230A Deceleration time when off servo and compulsion stops(Pn30A) UINT 16 rw #x230C Speed feedforward moving average time(Pn30C) UINT 16 rw #x2310 Vibration Detection Switch(Pn310) UINT 16 rw #x2311 Vibration Detection Sensibility(Pn311) UINT 16 rw #x2312 Vibration Detection Level(Pn312) UINT 16 rw #x2316 The motor is maximum speed. (Pn316) UINT 16 rw #x2324 Moment of Inertia Calculating Start Level(Pn324) UINT 16 rw #x2383 JOG Speed for Linear type (Linear type)(Pn383) UINT 16 rw #x2384 Vibration Detection Level (Linear type)(Pn384) UINT 16 rw #x2385 Motor max speed (Linear type)(Pn385) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Trace specification alarm number UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 rw #x2701 Postion User Unit DT2701 80 ro #x2702 Velocity User Unit DT2702 80 ro #x2703 Acceleration User Unit DT2703 80 ro #x2704 Torque User Unit DT2704 80 ro #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 ro #x2752 Zone Signal Output select1 UINT 16 rw #x2753 Zone Signal Output select2 UINT 16 rw #x2765 Servo Serial Number STRING(0) 0 ro #x2767 DC Control Loop Mode Status DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 304 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6086 Motion profile type INT 16 rw RT #x6087 Torque Slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw RT #x60A4 Profile Jerk DT60A4 48 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 rw RT #x60E1 Negative Torque Limit Value UINT 16 rw RT #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(0) 0 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro #x1000 Device Type UDINT 32 #x02200301 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 0010800080108000 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SGD7S-xxxxA0xxxxF64 400V CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Sync manager type DT1C00ARR 32 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw Index of assigned RxPDO DT1C12ARR 32 16 rw DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw Index of assigned TxPDO DT1C13ARR 32 16 rw DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2751 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2767 48 0 DC Control Loop Mode USINT 8 0 ro 1 DC Control Loop Mode Select UINT 16 16 rw 2 DC Control Loop Mode Status UINT 16 32 ro DT2769 304 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(0) 0 176 ro 7 System reserved7 UDINT 32 176 rw 8 System reserved8 UDINT 32 208 ro 9 System reserved9 UDINT 32 240 ro 10 System reserved10 UDINT 32 272 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 1st profile DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 2nd profile DT27C1ARR 8128 16 rw DT607D 80 0 Number of entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60A4 48 0 Number of entries USINT 8 0 ro 1 Profile Jerk1 UDINT 32 16 rw RT DT60C1 48 0 Number of entries USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4 48 0 Number of entries USINT 8 0 ro 1 Additional Position Actual Value DINT 32 16 ro T DT60FE 80 0 Number of entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DTF5FF 32 0 Number of sub-objects USINT 8 0 ro 1 Configuration Transfer Status UINT 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw #x1001 Error Register USINT 8 ro #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 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment USINT 8 ro #x1C11 Sync manager 1 PDO assignment USINT 8 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 ro #x1F01 Sync Error Settings DT1F01 80 ro #x2000 Basic Function Select Switch 0(Pn000) UINT 16 rw #x2001 Application Function Select Switch 1(Pn001) UINT 16 rw #x2002 Application Function Select Switch 2(Pn002) UINT 16 rw #x2006 Application Function Select Switch 6(Pn006) UINT 16 rw #x2007 Application Function Select Switch 7(Pn007) UINT 16 rw #x2008 Application Function Select Switch 8(Pn008) UINT 16 rw #x2009 Application Function Select Switch 9(Pn009) UINT 16 rw #x200A Application Function Select Switch A(Pn00A) UINT 16 rw #x200B Application Function Select Switch B(Pn00B) UINT 16 rw #x200C Application Function Select Switch C(Pn00C) UINT 16 rw #x200D Application Function Select Switch D(Pn00D) UINT 16 rw #x200E Application Function Select Switch E(Pn00E) UINT 16 rw #x200F Application Function Select Switch F(Pn00F) UINT 16 rw #x2010 Axis address for USB communication(Pn010) UINT 16 rw #x2021 DC Bus Switch(Pn021) UINT 16 rw #x2022 Application Function Select Switch 22(Pn022) UINT 16 rw #x2040 Sigma-V Mode Switch(Pn040) UINT 16 rw #x2080 Application Function Select Switch 80(Pn080) UINT 16 rw #x2081 Application Function Select Switch 81(Pn081) UINT 16 rw #x2100 Speed Loop Gain(Pn100) UINT 16 rw #x2101 Speed Loop Integral Time Constant(Pn101) UINT 16 rw #x2102 Position Loop Gain(Pn102) UINT 16 rw #x2103 Moment of Inertia Ratio(Pn103) UINT 16 rw #x2104 2nd Speed Loop Gain(Pn104) UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant(Pn105) UINT 16 rw #x2106 2nd Position Loop Gain(Pn106) UINT 16 rw #x2109 Feedforward Gain(Pn109) UINT 16 rw #x210A Feedforward Filter Time Constant(Pn10A) UINT 16 rw #x210B Application Function for Gain Select Switch(Pn10B) UINT 16 rw #x210C Mode Switch (torque reference)(Pn10C) UINT 16 rw #x210D Mode Switch (speed reference)(Pn10D) UINT 16 rw #x210E Mode Switch (acceleration)(Pn10E) UINT 16 rw #x210F Mode Switch (position error pulse)(Pn10F) UINT 16 rw #x211F Position Integral Time Constant(Pn11F) UINT 16 rw #x2121 Friction Compensation Gain(Pn121) UINT 16 rw #x2122 2nd Gain for Friction Compensation(Pn122) UINT 16 rw #x2123 Friction Compensation Coefficient(Pn123) UINT 16 rw #x2124 Friction Compensation Frequency Correction(Pn124) INT 16 rw #x2125 Friction Compensation Gain Correction(Pn125) UINT 16 rw #x2131 Gain Switching Time 1(Pn131) UINT 16 rw #x2132 Gain Switching Time 2(Pn132) UINT 16 rw #x2135 Gain Switching Waiting Time 1(Pn135) UINT 16 rw #x2136 Gain Switching Waiting Time 2(Pn136) UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1(Pn139) UINT 16 rw #x213D Current Gain Level(Pn13D) UINT 16 rw #x2140 Model Following Control Related Switch(Pn140) UINT 16 rw #x2141 Model Following Control Gain(Pn141) UINT 16 rw #x2142 Model Following Control Gain Compensation(Pn142) UINT 16 rw #x2143 Model Following Control Bias(Forward Direction)(Pn143) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction)(Pn144) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A(Pn145) UINT 16 rw #x2146 Vibration Suppression 1 Frequency B(Pn146) UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation(Pn147) UINT 16 rw #x2148 2nd Model Following Control Gain(Pn148) UINT 16 rw #x2149 2nd Model Following Control Gain Compensation(Pn149) UINT 16 rw #x214A Vibration Suppression 2 Frequency(Pn14A) UINT 16 rw #x214B Vibration Suppression 2 Compensation(Pn14B) UINT 16 rw #x214F Selection related to control(Pn14F) UINT 16 rw #x2160 Anti-Resonance Control Related Switch(Pn160) UINT 16 rw #x2161 Anti-Resonance Frequency(Pn161) UINT 16 rw #x2162 Anti-Resonance Gain Compensation(Pn162) UINT 16 rw #x2163 Anti-Resonance Damping Gain(Pn163) UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation(Pn164) INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation(Pn165) INT 16 rw #x2166 A type vibration control dumping gain 2(Pn166) UINT 16 rw #x2170 Tuning-less Function Related Switch(Pn170) UINT 16 rw #x2181 Mode Switch (speed reference for Linear type)(Pn181) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type)(Pn182) UINT 16 rw #x2205 Multi-turn Limit Setting(Pn205) UINT 16 rw #x2207 Position Control Function Switch(Pn207) UINT 16 rw #x220A Number of External Scale Pitch(Pn20A) UDINT 32 rw #x2212 Encoder Output Pulses(Pn212) UDINT 32 rw #x222A Fully-closed Control Selection Switch(Pn22A) UINT 16 rw #x2281 Encoder Output Resolution(Pn281) UINT 16 rw #x2282 Linear Scale pitch(Pn282) UDINT 32 rw #x2304 JOG Speed(Pn304) UINT 16 rw #x2305 Soft Start Acceleration Time(Pn305) UINT 16 rw #x2306 Soft Start Deceleration Time(Pn306) UINT 16 rw #x2308 Speed F/B filter time constant(Pn308) UINT 16 rw #x230A Deceleration time when off servo and compulsion stops(Pn30A) UINT 16 rw #x230C Speed feedforward moving average time(Pn30C) UINT 16 rw #x2310 Vibration Detection Switch(Pn310) UINT 16 rw #x2311 Vibration Detection Sensibility(Pn311) UINT 16 rw #x2312 Vibration Detection Level(Pn312) UINT 16 rw #x2316 The motor is maximum speed. (Pn316) UINT 16 rw #x2324 Moment of Inertia Calculating Start Level(Pn324) UINT 16 rw #x2383 JOG Speed for Linear type (Linear type)(Pn383) UINT 16 rw #x2384 Vibration Detection Level (Linear type)(Pn384) UINT 16 rw #x2385 Motor max speed (Linear type)(Pn385) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Trace specification alarm number UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 rw #x2701 Postion User Unit DT2701 80 ro #x2702 Velocity User Unit DT2702 80 ro #x2703 Acceleration User Unit DT2703 80 ro #x2704 Torque User Unit DT2704 80 ro #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 ro #x2752 Zone Signal Output select1 UINT 16 rw #x2753 Zone Signal Output select2 UINT 16 rw #x2765 Servo Serial Number STRING(0) 0 ro #x2767 DC Control Loop Mode Status DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 304 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6086 Motion profile type INT 16 rw RT #x6087 Torque Slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw RT #x60A4 Profile Jerk DT60A4 48 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 rw RT #x60E1 Negative Torque Limit Value UINT 16 rw RT #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(0) 0 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro #x1000 Device Type UDINT 32 #x02200301 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 0010800080108000 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SGD7S-xxxxA0xxxxF64 400V CoE Drive ServoDrive 402 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 STRING(16) 128 ARRAY [0..15] OF BYTE USINT 128 0 16 ARRAY [0..3] OF BYTE USINT 32 0 4 ARRAY [0..0] OF BYTE USINT 8 0 1 ARRAY [0..4] OF BYTE USINT 40 0 5 DT1010 144 0 Number of entries USINT 8 0 ro 1 Save all parameters UDINT 32 16 rw 2 Save communication parameters UDINT 32 48 rw 3 Save application parameters UDINT 32 80 rw 4 Save manufacturer parameters UDINT 32 112 rw DT1011 144 0 Number of entries USINT 8 0 ro 1 Restore all default parameters UDINT 32 16 rw 2 Restore communication default parameters UDINT 32 48 rw 3 Restore application default parameters UDINT 32 80 rw 4 Restore manufacturer default parameters UDINT 32 112 rw DT1018 144 0 Number of entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Sync manager type DT1C00ARR 32 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of entries USINT 8 0 rw Index of assigned RxPDO DT1C12ARR 32 16 rw DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of entries USINT 8 0 rw Index of assigned TxPDO DT1C13ARR 32 16 rw DT1C32 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 ro 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1C33 352 0 Number of Synchronization parameters USINT 8 0 ro 1 Synchronization type UINT 16 16 ro 2 Cycle time UDINT 32 32 ro 3 Shift time UDINT 32 64 rw 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 7 System reserved1 UDINT 32 176 ro 8 System reserved2 UINT 16 208 ro 9 Delay time UDINT 32 224 ro 10 Sync0 cycle time UDINT 32 256 ro 11 SM2 Event miss count UDINT 32 288 ro 12 System reserved3 UDINT 32 320 ro DT1F01 80 0 Number of entries USINT 8 0 ro 1 Reserved UDINT 32 16 ro 2 Sync Error Counter Limit UDINT 32 48 rw DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 2 Denominator UDINT 32 48 rw DT2710 280 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..15] OF BYTE 128 16 rw 2 Status USINT 8 144 ro 3 Reply ARRAY [0..15] OF BYTE 128 152 ro DT2730 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2731 144 0 Number of entries USINT 8 0 ro 1 Maximum buffer size UDINT 32 16 ro 2 Actual buffer size UDINT 32 48 rw 3 Buffer organization USINT 8 80 rw 4 Buffer position UINT 16 88 rw RT 5 Size of data record USINT 8 104 wo 6 Buffer clear USINT 8 112 wo 7 Position data definition USINT 8 120 rw RT 8 Position data polarity USINT 8 128 rw RT 9 Behavior after reaching buffer position USINT 8 136 rw RT DT2741 48 0 Number of entries USINT 8 0 ro 1 Read pointer position UINT 16 16 ro T 2 Write pointer position UINT 16 32 ro T DT2750 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2751 528 0 Number of entries USINT 8 0 ro 1 ZONE ID 0 DINT 32 16 rw 2 ZONE ID 1 DINT 32 48 rw 3 ZONE ID 2 DINT 32 80 rw 4 ZONE ID 3 DINT 32 112 rw 5 ZONE ID 4 DINT 32 144 rw 6 ZONE ID 5 DINT 32 176 rw 7 ZONE ID 6 DINT 32 208 rw 8 ZONE ID 7 DINT 32 240 rw 9 ZONE ID 8 DINT 32 272 rw 10 ZONE ID 9 DINT 32 304 rw 11 ZONE ID 10 DINT 32 336 rw 12 ZONE ID 11 DINT 32 368 rw 13 ZONE ID 12 DINT 32 400 rw 14 ZONE ID 13 DINT 32 432 rw 15 ZONE ID 14 DINT 32 464 rw 16 ZONE ID 15 DINT 32 496 rw DT2767 48 0 DC Control Loop Mode USINT 8 0 ro 1 DC Control Loop Mode Select UINT 16 16 rw 2 DC Control Loop Mode Status UINT 16 32 ro DT2769 304 0 Number of entries USINT 8 0 ro 1 System reserved1 UDINT 32 16 ro 2 System reserved2 UDINT 32 48 ro 3 System reserved3 UDINT 32 80 ro 4 System reserved4 UDINT 32 112 ro 5 System reserved5 UDINT 32 144 ro 6 System reserved6 STRING(0) 0 176 ro 7 System reserved7 UDINT 32 176 rw 8 System reserved8 UDINT 32 208 ro 9 System reserved9 UDINT 32 240 ro 10 System reserved10 UDINT 32 272 ro DT27C0ARR DINT 8128 1 254 DT27C0 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 1st profile DT27C0ARR 8128 16 rw DT27C1ARR DINT 8128 1 254 DT27C1 8144 0 Number of entries USINT 8 0 ro Interpolation data record for 2nd profile DT27C1ARR 8128 16 rw DT607D 80 0 Number of entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw RT 2 Speed during search for zero UDINT 32 48 rw RT DT60A4 48 0 Number of entries USINT 8 0 ro 1 Profile Jerk1 UDINT 32 16 rw RT DT60C1 48 0 Number of entries USINT 8 0 ro 1 Interpolation data record DINT 32 16 rw RT DT60C2 32 0 Number of entries USINT 8 0 ro 1 time period USINT 8 16 rw 2 time index SINT 8 24 rw DT60E4 48 0 Number of entries USINT 8 0 ro 1 Additional Position Actual Value DINT 32 16 ro T DT60FE 80 0 Number of entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DTF5FF 32 0 Number of sub-objects USINT 8 0 ro 1 Configuration Transfer Status UINT 16 16 ro DTFBF2 64 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..0] OF BYTE 8 56 ro DTFBF3 96 0 Number of entries USINT 8 0 ro 1 Command ARRAY [0..3] OF BYTE 32 16 rw 2 Status USINT 8 48 ro 3 Response ARRAY [0..4] OF BYTE 40 56 ro DT160X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw DT1A0X 272 0 Number of Objects USINT 8 0 rw 1 Mapping entry 1 UDINT 32 16 rw 2 Mapping entry 2 UDINT 32 48 rw 3 Mapping entry 3 UDINT 32 80 rw 4 Mapping entry 4 UDINT 32 112 rw 5 Mapping entry 5 UDINT 32 144 rw 6 Mapping entry 6 UDINT 32 176 rw 7 Mapping entry 7 UDINT 32 208 rw 8 Mapping entry 8 UDINT 32 240 rw #x1001 Error Register USINT 8 ro #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 144 ro #x1011 Restore Default Parameters DT1011 144 ro #x1018 Identity object DT1018 144 ro #x10F1 Sync Error Settings DT10F1 80 ro #x1C00 Sync manager communication type DT1C00 48 ro #x1C10 Sync manager 0 PDO assignment USINT 8 ro #x1C11 Sync manager 1 PDO assignment USINT 8 ro #x1C12 Sync manager 2 PDO assignment DT1C12 48 ro #x1C13 Sync manager 3 PDO assignment DT1C13 48 ro #x1C32 Sync Manager2 Synchronization DT1C32 352 ro #x1C33 Sync Manager3 Synchronization DT1C33 352 ro #x1F01 Sync Error Settings DT1F01 80 ro #x2000 Basic Function Select Switch 0(Pn000) UINT 16 rw #x2001 Application Function Select Switch 1(Pn001) UINT 16 rw #x2002 Application Function Select Switch 2(Pn002) UINT 16 rw #x2006 Application Function Select Switch 6(Pn006) UINT 16 rw #x2007 Application Function Select Switch 7(Pn007) UINT 16 rw #x2008 Application Function Select Switch 8(Pn008) UINT 16 rw #x2009 Application Function Select Switch 9(Pn009) UINT 16 rw #x200A Application Function Select Switch A(Pn00A) UINT 16 rw #x200B Application Function Select Switch B(Pn00B) UINT 16 rw #x200C Application Function Select Switch C(Pn00C) UINT 16 rw #x200D Application Function Select Switch D(Pn00D) UINT 16 rw #x200E Application Function Select Switch E(Pn00E) UINT 16 rw #x200F Application Function Select Switch F(Pn00F) UINT 16 rw #x2010 Axis address for USB communication(Pn010) UINT 16 rw #x2021 DC Bus Switch(Pn021) UINT 16 rw #x2022 Application Function Select Switch 22(Pn022) UINT 16 rw #x2040 Sigma-V Mode Switch(Pn040) UINT 16 rw #x2080 Application Function Select Switch 80(Pn080) UINT 16 rw #x2081 Application Function Select Switch 81(Pn081) UINT 16 rw #x2100 Speed Loop Gain(Pn100) UINT 16 rw #x2101 Speed Loop Integral Time Constant(Pn101) UINT 16 rw #x2102 Position Loop Gain(Pn102) UINT 16 rw #x2103 Moment of Inertia Ratio(Pn103) UINT 16 rw #x2104 2nd Speed Loop Gain(Pn104) UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant(Pn105) UINT 16 rw #x2106 2nd Position Loop Gain(Pn106) UINT 16 rw #x2109 Feedforward Gain(Pn109) UINT 16 rw #x210A Feedforward Filter Time Constant(Pn10A) UINT 16 rw #x210B Application Function for Gain Select Switch(Pn10B) UINT 16 rw #x210C Mode Switch (torque reference)(Pn10C) UINT 16 rw #x210D Mode Switch (speed reference)(Pn10D) UINT 16 rw #x210E Mode Switch (acceleration)(Pn10E) UINT 16 rw #x210F Mode Switch (position error pulse)(Pn10F) UINT 16 rw #x211F Position Integral Time Constant(Pn11F) UINT 16 rw #x2121 Friction Compensation Gain(Pn121) UINT 16 rw #x2122 2nd Gain for Friction Compensation(Pn122) UINT 16 rw #x2123 Friction Compensation Coefficient(Pn123) UINT 16 rw #x2124 Friction Compensation Frequency Correction(Pn124) INT 16 rw #x2125 Friction Compensation Gain Correction(Pn125) UINT 16 rw #x2131 Gain Switching Time 1(Pn131) UINT 16 rw #x2132 Gain Switching Time 2(Pn132) UINT 16 rw #x2135 Gain Switching Waiting Time 1(Pn135) UINT 16 rw #x2136 Gain Switching Waiting Time 2(Pn136) UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1(Pn139) UINT 16 rw #x213D Current Gain Level(Pn13D) UINT 16 rw #x2140 Model Following Control Related Switch(Pn140) UINT 16 rw #x2141 Model Following Control Gain(Pn141) UINT 16 rw #x2142 Model Following Control Gain Compensation(Pn142) UINT 16 rw #x2143 Model Following Control Bias(Forward Direction)(Pn143) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction)(Pn144) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A(Pn145) UINT 16 rw #x2146 Vibration Suppression 1 Frequency B(Pn146) UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation(Pn147) UINT 16 rw #x2148 2nd Model Following Control Gain(Pn148) UINT 16 rw #x2149 2nd Model Following Control Gain Compensation(Pn149) UINT 16 rw #x214A Vibration Suppression 2 Frequency(Pn14A) UINT 16 rw #x214B Vibration Suppression 2 Compensation(Pn14B) UINT 16 rw #x214F Selection related to control(Pn14F) UINT 16 rw #x2160 Anti-Resonance Control Related Switch(Pn160) UINT 16 rw #x2161 Anti-Resonance Frequency(Pn161) UINT 16 rw #x2162 Anti-Resonance Gain Compensation(Pn162) UINT 16 rw #x2163 Anti-Resonance Damping Gain(Pn163) UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation(Pn164) INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation(Pn165) INT 16 rw #x2166 A type vibration control dumping gain 2(Pn166) UINT 16 rw #x2170 Tuning-less Function Related Switch(Pn170) UINT 16 rw #x2181 Mode Switch (speed reference for Linear type)(Pn181) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type)(Pn182) UINT 16 rw #x2205 Multi-turn Limit Setting(Pn205) UINT 16 rw #x2207 Position Control Function Switch(Pn207) UINT 16 rw #x220A Number of External Scale Pitch(Pn20A) UDINT 32 rw #x2212 Encoder Output Pulses(Pn212) UDINT 32 rw #x222A Fully-closed Control Selection Switch(Pn22A) UINT 16 rw #x2281 Encoder Output Resolution(Pn281) UINT 16 rw #x2282 Linear Scale pitch(Pn282) UDINT 32 rw #x2304 JOG Speed(Pn304) UINT 16 rw #x2305 Soft Start Acceleration Time(Pn305) UINT 16 rw #x2306 Soft Start Deceleration Time(Pn306) UINT 16 rw #x2308 Speed F/B filter time constant(Pn308) UINT 16 rw #x230A Deceleration time when off servo and compulsion stops(Pn30A) UINT 16 rw #x230C Speed feedforward moving average time(Pn30C) UINT 16 rw #x2310 Vibration Detection Switch(Pn310) UINT 16 rw #x2311 Vibration Detection Sensibility(Pn311) UINT 16 rw #x2312 Vibration Detection Level(Pn312) UINT 16 rw #x2316 The motor is maximum speed. (Pn316) UINT 16 rw #x2324 Moment of Inertia Calculating Start Level(Pn324) UINT 16 rw #x2383 JOG Speed for Linear type (Linear type)(Pn383) UINT 16 rw #x2384 Vibration Detection Level (Linear type)(Pn384) UINT 16 rw #x2385 Motor max speed (Linear type)(Pn385) UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling 1 UINT 16 rw #x2513 Output Signal Reversal Selling 2 UINT 16 rw #x2514 Output signal selection 4 UINT 16 rw #x2516 Input signal selection 7 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Trace specification alarm number UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB Resistor Allowable Energy Consumption UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2700 Parameter Configulation UDINT 32 rw #x2701 Postion User Unit DT2701 80 ro #x2702 Velocity User Unit DT2702 80 ro #x2703 Acceleration User Unit DT2703 80 ro #x2704 Torque User Unit DT2704 80 ro #x2710 SERVO adjusting command DT2710 280 ro #x2720 Safety module monitors UDINT 32 ro T #x2730 Interpolation data configuration for 1st profile DT2730 144 ro #x2731 Interpolation data configuration for 2nd profile DT2731 144 ro #x2732 Interpolation profile select USINT 8 rw RT #x2741 Interpolation data record pointer position DT2741 48 ro #x2750 Zone Table Positive border (ZONE P) DT2750 528 ro #x2751 Zone Table Negative border (ZONE N) DT2751 528 ro #x2752 Zone Signal Output select1 UINT 16 rw #x2753 Zone Signal Output select2 UINT 16 rw #x2765 Servo Serial Number STRING(0) 0 ro #x2767 DC Control Loop Mode Status DT2767 48 ro #x2769 Manufacturer Specific Data DT2769 304 ro #x27C0 Interpolation data record for 1st profile DT27C0 8144 ro #x27C1 Interpolation data record for 2nd profile DT27C1 8144 ro #x27E0 Diag. mode UINT 16 rw #x603F Error code UINT 16 ro T #x6040 Control word UINT 16 rw RT #x6041 Status word UINT 16 ro T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw RT #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual internal value DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x606B Velocity demand value DINT 32 ro T #x606C Velocity actual value DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x6071 Target torque INT 16 rw RT #x6072 Max torque UINT 16 rw RT #x6074 Torque demand INT 16 ro T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro T #x607A Target position DINT 32 rw RT #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw RT #x6080 Max motor speed UDINT 32 rw R #x6081 Profile velocity UDINT 32 rw RT #x6083 Profile acceleration UDINT 32 rw RT #x6084 Profile deceleration UDINT 32 rw RT #x6085 Quick stop deceleration UDINT 32 rw RT #x6086 Motion profile type INT 16 rw RT #x6087 Torque Slope UDINT 32 rw RT #x6098 Homing method SINT 8 rw RT #x6099 Homing speeds DT6099 80 ro #x609A Homing acceleration UDINT 32 rw RT #x60A4 Profile Jerk DT60A4 48 ro #x60B1 Velocity Offset DINT 32 rw RT #x60B2 Torque Offset INT 16 rw RT #x60B8 Touch probe function UINT 16 rw RT #x60B9 Touch probe status UINT 16 ro T #x60BA Touch probe 1 position value DINT 32 ro T #x60BC Touch probe 2 position value DINT 32 ro T #x60C0 Interpolation sub mode select INT 16 rw #x60C1 Interpolation data record DT60C1 48 ro #x60C2 Interpolation time period DT60C2 32 ro #x60E0 Positive Torque Limit Value UINT 16 rw RT #x60E1 Negative Torque Limit Value UINT 16 rw RT #x60E4 Additional Position Actual Value DT60E4 48 ro #x60F4 Following error actual value DINT 32 ro T #x60FC Position demand internal value DINT 32 ro T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital outputs DT60FE 80 ro #x60FF Target velocity DINT 32 rw RT #x6502 Supported drive modes UDINT 32 ro #xF5FF Configuration Management DTF5FF 32 ro #xF9F0 Manufacturer Serial Number STRING(0) 0 ro #xFBF2 Store Parameters Command DTFBF2 64 ro #xFBF3 Calculate Checksum Command DTFBF3 96 ro #x1000 Device Type UDINT 32 #x02200301 ro #x1600 1st receive PDO Mapping DT160X 272 rw #x1601 2nd receive PDO Mapping DT160X 272 rw #x1602 3rd receive PDO Mapping DT160X 272 rw #x1603 4th receive PDO Mapping DT160X 272 rw #x1A00 1st transmit PDO Mapping DT1A0X 272 rw #x1A01 2nd transmit PDO Mapping DT1A0X 272 rw #x1A02 3rd transmit PDO Mapping DT1A0X 272 rw #x1A03 4th transmit PDO Mapping DT1A0X 272 rw Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x6060 0 8 Modes of operation SINT #x0000 0 8 #x60B8 0 16 Touch probe function UINT #x1601 2nd Receive PDO mapping #x6040 0 16 Control word UINT #x607A 0 32 Target position DINT #x1602 3rd Receive PDO mapping #x6040 0 16 Control word UINT #x60FF 0 32 Target velocity DINT #x1603 4th Receive PDO mapping #x6040 0 16 Control word UINT #x6071 0 16 Target torque INT #x1A00 1st Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x6061 0 8 Modes of operation display SINT #x0000 0 8 #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe 1 position value DINT #x1A01 2nd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A02 3rd Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x1A03 4th Transmit PDO mapping #x6041 0 16 Status word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT PS #x6060 0 08 Op mode PS #x60C2 1 01 Interpolation time period PS #x60C2 2 FD Interpolation time index DC Sync0 DC for synchronization #x0300 0 0 Free-run DC unused #x0000 256 060001eee80300000100000000 0010800080108000 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