1337
Yaskawa Electric Corporation
424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000ECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFECE3D1FFDBC6A3FFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFE8DBC4FFCFA76CFFE8DBC4FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFDBC6A3FFC8954BFFE4CEAEFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFBE822BFFE8DBC4FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFDBC6A3FFC8954BFFE8DBC4FFCFA76CFFBE801EFFE8DBC4FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFBE801EFFB97006FFB97006FFD9BA8BFFC8954BFFC1862FFFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFCFA76CFFB97006FFBE801EFFB97006FFCFA76CFFBE822BFFBE801EFFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFC8954BFFB97006FFC1862FFFD9BA8BFFBE801EFFC1862FFFB97006FFBE822BFFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFB97006FFB97006FFB97006FFCFA76CFFECE3D1FFBE822BFFB97006FFB97006FFC1862FFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFB97006FFB97006FFB97006FFB97006FFDDC397FFECE3D1FFC8954BFFB97006FFB97006FFC1862FFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFDEC092FFB97006FFB97006FFB97006FFB97006FFB97006FFE0C399FFFDFDFCFFCFA76CFFB97006FFB97006FFC8954BFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFB97006FFB97006FFB97006FFB97006FFB97006FFB97006FFDBC6A3FFFDFDFCFFDEC092FFB97006FFB97006FFC8954BFFFDFDFCFFFDFDFCFFFDFDFCFFECE3D1FFE0C399FFE4CEAEFFDDC397FFDBC6A3FFE0C399FFE4CEAEFFE0C399FFFDFDFCFFFDFDFCFFE8DBC4FFE0C399FFDEC092FFE8DBC4FFFDFDFCFFFDFDFCFF
ServoDrive
Servo Drives
424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000FFFFFFFFFBFBFBFFFBFBFBFFFBFBFBFFFBFBFBFFFBFBFBFFFBFBFBFFFBFBFBFFFBFBFBFFD2D2D1FFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFFC2C0BEFFC2C0BEFF827F7BFF61615EFF61615EFFADADACFF8E8D8AFFD2D2D1FFFFFFFFFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFFFFFFFFFFD2D2D1FF8E8D8AFF8E8D8AFF61615EFF24221EFF1F201CFF43413EFFADADACFF737270FFFBFBFBFFFFFFFFFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFFFBFBFBFF50504CFF737270FF737270FF61615EFF50504CFF24221EFF8E8D8AFF31302CFF8E8D8AFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFFFBFBFBFF31302CFF24221EFF50504CFF737270FF43413EFF161512FF8E8D8AFF43413EFF827F7BFFC2C0BEFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFFD2D2D1FF43413EFF24221EFF50504CFF43413EFF161512FF43413EFFADADACFF43413EFFADADACFF827F7BFFD2D2D1FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD2D2D1FF737270FF161512FF161512FF161512FF43413EFFADADACFF827F7BFF31302CFF8E8D8AFF8E8D8AFF8E8D8AFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFD2D2D1FF827F7BFF8E8D8AFF737270FF8E8D8AFF8E8D8AFF61615EFF50504CFF31302CFF43413EFF827F7BFF8E8D8AFFFBFBFBFFFBFBFBFFFFFFFFFFFFFFFFFFD2D2D1FF8E8D8AFF827F7BFF50504CFF43413EFF31302CFF31302CFF24221EFF24221EFF31302CFF50504CFF827F7BFFFBFBFBFFFFFFFFFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFF8E8D8AFF43413EFF31302CFF31302CFF24221EFF24221EFF31302CFF31302CFF737270FFFBFBFBFFFBFBFBFFFFFFFFFFFBFBFBFFFBFBFBFFFBFBFBFFFFFFFFFFFBFBFBFF8E8D8AFF43413EFF31302CFF24221EFF24221EFF24221EFF43413EFFC2C0BEFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFFADADACFF50504CFF31302CFF161512FF161512FF61615EFFFBFBFBFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFFFBFBFBFFFBFBFBFFFBFBFBFF737270FF31302CFFADADACFFFBFBFBFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBFBFBFFFBFBFBFFFBFBFBFFFBFBFBFFFFFFFFFFFFFFFFFF
SGD7S-xxxxA0x 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
DT2754
80
0
Number of entries
USINT
8
0
ro
1
Mode change
UDINT
32
16
rw
R
2
Bit mask
UDINT
32
48
rw
R
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
DT607BARR
DINT
64
1
2
DT607B
80
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT607BARR
64
16
rw
R
1
1
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
Highest sub-index supported
USINT
8
0
ro
Elements
DT60A4ARR
32
16
rw
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
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
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
424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000FDFDFDFFFFFFFFFFC8C9C9FFE9EAEAFFD5DADAFFFDFDFDFFFFFFFFFF747676FF8A9091FF747676FFAEB5B6FFFFFFFFFFFDFDFDFF747676FFFFFFFFFFFDFDFDFFFFFFFFFFC8C9C9FF303030FF7B8B8CFF95A5A7FFD5E5E5FFFDFDFDFFD5DADAFF4B4B4BFF8A9091FFAEB5B6FFE9EAEAFFD5DADAFF000000FF8A9091FFFDFDFDFFFFFFFFFF95A5A7FF303030FF747676FFAEB5B6FFD5E5E5FFD5DADAFFFDFDFDFF4B4B4BFF303030FF303030FFE9EAEAFFAEB5B6FF000000FF000000FF95A5A7FFFFFFFFFFFFFFFFFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFCAD5D5FFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFAEB5B6FFCAD5D5FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF303030FF747676FFAEB5B6FFD5E5E5FFD5E5E5FFAEB5B6FFC8C9C9FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF303030FF7B8B8CFFAEB5B6FFD5E5E5FFD5E5E5FFB8C9CAFFAEB5B6FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF747676FF8A9091FF8A9091FFD5E5E5FFD5E5E5FFCAD5D5FF7B8B8CFFD5DADAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF4B4B4BFF303030FFD5E5E5FFD5DADAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFFFFFFFF303030FF303030FF303030FFD5E5E5FFB8C9CAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF95A5A7FF95A5A7FFAEB5B6FFB8C9CAFFB8C9CAFF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFD5E5E5FF8A9091FF95A5A7FF95A5A7FFAEB5B6FF747676FFC8C9C9FFFDFDFDFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFB8C9CAFF95A5A7FF747676FF747676FFB8C9CAFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFE9EAEAFFAEB5B6FFC8C9C9FFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFF
SGD7S-xxxxA0x 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
DT2754
80
0
Number of entries
USINT
8
0
ro
1
Mode change
UDINT
32
16
rw
R
2
Bit mask
UDINT
32
48
rw
R
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
DT607BARR
DINT
64
1
2
DT607B
80
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT607BARR
64
16
rw
R
1
1
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
Highest sub-index supported
USINT
8
0
ro
Elements
DT60A4ARR
32
16
rw
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
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
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
424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000FDFDFDFFFFFFFFFFC8C9C9FFE9EAEAFFD5DADAFFFDFDFDFFFFFFFFFF747676FF8A9091FF747676FFAEB5B6FFFFFFFFFFFDFDFDFF747676FFFFFFFFFFFDFDFDFFFFFFFFFFC8C9C9FF303030FF7B8B8CFF95A5A7FFD5E5E5FFFDFDFDFFD5DADAFF4B4B4BFF8A9091FFAEB5B6FFE9EAEAFFD5DADAFF000000FF8A9091FFFDFDFDFFFFFFFFFF95A5A7FF303030FF747676FFAEB5B6FFD5E5E5FFD5DADAFFFDFDFDFF4B4B4BFF303030FF303030FFE9EAEAFFAEB5B6FF000000FF000000FF95A5A7FFFFFFFFFFFFFFFFFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFCAD5D5FFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFAEB5B6FFCAD5D5FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF303030FF747676FFAEB5B6FFD5E5E5FFD5E5E5FFAEB5B6FFC8C9C9FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF303030FF7B8B8CFFAEB5B6FFD5E5E5FFD5E5E5FFB8C9CAFFAEB5B6FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF747676FF8A9091FF8A9091FFD5E5E5FFD5E5E5FFCAD5D5FF7B8B8CFFD5DADAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF4B4B4BFF303030FFD5E5E5FFD5DADAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFFFFFFFF303030FF303030FF303030FFD5E5E5FFB8C9CAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF95A5A7FF95A5A7FFAEB5B6FFB8C9CAFFB8C9CAFF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFD5E5E5FF8A9091FF95A5A7FF95A5A7FFAEB5B6FF747676FFC8C9C9FFFDFDFDFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFB8C9CAFF95A5A7FF747676FF747676FFB8C9CAFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFE9EAEAFFAEB5B6FFC8C9C9FFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFF
SGD7S-xxxxA0x 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
DT2754
80
0
Number of entries
USINT
8
0
ro
1
Mode change
UDINT
32
16
rw
R
2
Bit mask
UDINT
32
48
rw
R
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
DT607BARR
DINT
64
1
2
DT607B
80
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT607BARR
64
16
rw
R
1
1
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
Highest sub-index supported
USINT
8
0
ro
Elements
DT60A4ARR
32
16
rw
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
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
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
424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000FDFDFDFFFFFFFFFFC8C9C9FFE9EAEAFFD5DADAFFFDFDFDFFFFFFFFFF747676FF8A9091FF747676FFAEB5B6FFFFFFFFFFFDFDFDFF747676FFFFFFFFFFFDFDFDFFFFFFFFFFC8C9C9FF303030FF7B8B8CFF95A5A7FFD5E5E5FFFDFDFDFFD5DADAFF4B4B4BFF8A9091FFAEB5B6FFE9EAEAFFD5DADAFF000000FF8A9091FFFDFDFDFFFFFFFFFF95A5A7FF303030FF747676FFAEB5B6FFD5E5E5FFD5DADAFFFDFDFDFF4B4B4BFF303030FF303030FFE9EAEAFFAEB5B6FF000000FF000000FF95A5A7FFFFFFFFFFFFFFFFFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFCAD5D5FFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFAEB5B6FFCAD5D5FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF303030FF747676FFAEB5B6FFD5E5E5FFD5E5E5FFAEB5B6FFC8C9C9FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF303030FF7B8B8CFFAEB5B6FFD5E5E5FFD5E5E5FFB8C9CAFFAEB5B6FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF747676FF8A9091FF8A9091FFD5E5E5FFD5E5E5FFCAD5D5FF7B8B8CFFD5DADAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF4B4B4BFF303030FFD5E5E5FFD5DADAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFFFFFFFF303030FF303030FF303030FFD5E5E5FFB8C9CAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF95A5A7FF95A5A7FFAEB5B6FFB8C9CAFFB8C9CAFF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFD5E5E5FF8A9091FF95A5A7FF95A5A7FFAEB5B6FF747676FFC8C9C9FFFDFDFDFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFB8C9CAFF95A5A7FF747676FF747676FFB8C9CAFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFE9EAEAFFAEB5B6FFC8C9C9FFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFF
SGD7S-xxxxA0x 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
DT2754
80
0
Number of entries
USINT
8
0
ro
1
Mode change
UDINT
32
16
rw
R
2
Bit mask
UDINT
32
48
rw
R
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
DT607BARR
DINT
64
1
2
DT607B
80
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT607BARR
64
16
rw
R
1
1
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
Highest sub-index supported
USINT
8
0
ro
Elements
DT60A4ARR
32
16
rw
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
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
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
424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000FDFDFDFFFFFFFFFFC8C9C9FFE9EAEAFFD5DADAFFFDFDFDFFFFFFFFFF747676FF8A9091FF747676FFAEB5B6FFFFFFFFFFFDFDFDFF747676FFFFFFFFFFFDFDFDFFFFFFFFFFC8C9C9FF303030FF7B8B8CFF95A5A7FFD5E5E5FFFDFDFDFFD5DADAFF4B4B4BFF8A9091FFAEB5B6FFE9EAEAFFD5DADAFF000000FF8A9091FFFDFDFDFFFFFFFFFF95A5A7FF303030FF747676FFAEB5B6FFD5E5E5FFD5DADAFFFDFDFDFF4B4B4BFF303030FF303030FFE9EAEAFFAEB5B6FF000000FF000000FF95A5A7FFFFFFFFFFFFFFFFFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFCAD5D5FFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFAEB5B6FFCAD5D5FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF303030FF747676FFAEB5B6FFD5E5E5FFD5E5E5FFAEB5B6FFC8C9C9FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF303030FF7B8B8CFFAEB5B6FFD5E5E5FFD5E5E5FFB8C9CAFFAEB5B6FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF747676FF8A9091FF8A9091FFD5E5E5FFD5E5E5FFCAD5D5FF7B8B8CFFD5DADAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF4B4B4BFF303030FFD5E5E5FFD5DADAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFFFFFFFF303030FF303030FF303030FFD5E5E5FFB8C9CAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF95A5A7FF95A5A7FFAEB5B6FFB8C9CAFFB8C9CAFF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFD5E5E5FF8A9091FF95A5A7FF95A5A7FFAEB5B6FF747676FFC8C9C9FFFDFDFDFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFB8C9CAFF95A5A7FF747676FF747676FFB8C9CAFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFE9EAEAFFAEB5B6FFC8C9C9FFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFF
SGD7S-xxxxA0x 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
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
DT607BARR
DINT
64
1
2
DT607B
80
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT607BARR
64
16
rw
R
1
1
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
Highest sub-index supported
USINT
8
0
ro
Elements
DT60A4ARR
32
16
rw
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
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
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
424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000FDFDFDFFFFFFFFFFC8C9C9FFE9EAEAFFD5DADAFFFDFDFDFFFFFFFFFF747676FF8A9091FF747676FFAEB5B6FFFFFFFFFFFDFDFDFF747676FFFFFFFFFFFDFDFDFFFFFFFFFFC8C9C9FF303030FF7B8B8CFF95A5A7FFD5E5E5FFFDFDFDFFD5DADAFF4B4B4BFF8A9091FFAEB5B6FFE9EAEAFFD5DADAFF000000FF8A9091FFFDFDFDFFFFFFFFFF95A5A7FF303030FF747676FFAEB5B6FFD5E5E5FFD5DADAFFFDFDFDFF4B4B4BFF303030FF303030FFE9EAEAFFAEB5B6FF000000FF000000FF95A5A7FFFFFFFFFFFFFFFFFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFCAD5D5FFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFAEB5B6FFCAD5D5FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF303030FF747676FFAEB5B6FFD5E5E5FFD5E5E5FFAEB5B6FFC8C9C9FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF303030FF7B8B8CFFAEB5B6FFD5E5E5FFD5E5E5FFB8C9CAFFAEB5B6FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF747676FF8A9091FF8A9091FFD5E5E5FFD5E5E5FFCAD5D5FF7B8B8CFFD5DADAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF4B4B4BFF303030FFD5E5E5FFD5DADAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFFFFFFFF303030FF303030FF303030FFD5E5E5FFB8C9CAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF95A5A7FF95A5A7FFAEB5B6FFB8C9CAFFB8C9CAFF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFD5E5E5FF8A9091FF95A5A7FF95A5A7FFAEB5B6FF747676FFC8C9C9FFFDFDFDFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFB8C9CAFF95A5A7FF747676FF747676FFB8C9CAFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFE9EAEAFFAEB5B6FFC8C9C9FFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFF
SGD7S-xxxxA0x 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
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
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
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
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
DT607BARR
DINT
64
1
2
DT607B
80
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT607BARR
64
16
rw
R
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
Highest sub-index supported
USINT
8
0
ro
Elements
DT60A4ARR
32
16
rw
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
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
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
DT2767ARR
UINT
32
1
2
DT2767
48
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT2767ARR
32
16
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
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
424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000FDFDFDFFFFFFFFFFC8C9C9FFE9EAEAFFD5DADAFFFDFDFDFFFFFFFFFF747676FF8A9091FF747676FFAEB5B6FFFFFFFFFFFDFDFDFF747676FFFFFFFFFFFDFDFDFFFFFFFFFFC8C9C9FF303030FF7B8B8CFF95A5A7FFD5E5E5FFFDFDFDFFD5DADAFF4B4B4BFF8A9091FFAEB5B6FFE9EAEAFFD5DADAFF000000FF8A9091FFFDFDFDFFFFFFFFFF95A5A7FF303030FF747676FFAEB5B6FFD5E5E5FFD5DADAFFFDFDFDFF4B4B4BFF303030FF303030FFE9EAEAFFAEB5B6FF000000FF000000FF95A5A7FFFFFFFFFFFFFFFFFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFCAD5D5FFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFF303030FF747676FF95A5A7FFD5E5E5FFD5DADAFFAEB5B6FFCAD5D5FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF303030FF747676FFAEB5B6FFD5E5E5FFD5E5E5FFAEB5B6FFC8C9C9FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF303030FF7B8B8CFFAEB5B6FFD5E5E5FFD5E5E5FFB8C9CAFFAEB5B6FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF747676FF8A9091FF8A9091FFD5E5E5FFD5E5E5FFCAD5D5FF7B8B8CFFD5DADAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF4B4B4BFF303030FFD5E5E5FFD5DADAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFFFFFFFF303030FF303030FF303030FFD5E5E5FFB8C9CAFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF95A5A7FF95A5A7FFAEB5B6FFB8C9CAFFB8C9CAFF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFD5E5E5FF8A9091FF95A5A7FF95A5A7FFAEB5B6FF747676FFC8C9C9FFFDFDFDFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFB8C9CAFF95A5A7FF747676FF747676FFB8C9CAFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFE9EAEAFFAEB5B6FFC8C9C9FFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFF
SGD7S-xxxxA0x 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
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
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
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
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
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
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
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
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
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
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
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-xxxxA0x 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
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
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
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
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
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
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
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
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
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
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
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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