#x0000026C Nanotec Electronic GmbH & Co. KG 424DE6000000000000007600000028000000100000000E000000010004000000000070000000232E0000232E00001000000010000000C27E4600F6ECE300E9CFBB00DFBC9F00D6A88200C98C5A00F3E5DA00FFFEFE00E6C9B200CD946500C6875300DAB08E00D3A17800EEDACA00C4824C00FAF3EE007777777F1F77777777776873AEB67777777D5CF6890527777719EB73425E5677773EEB73EB2EEB77775AE37BA584E577770A0274AA42A0F7770AAD79AA98C0F7779A9675AAA8B5777730B765AAE8337777FBD73AA5B6DF777777769AA52777777777789EE92777777777777777777777 Drive Drives Antriebe 424DE6000000000000007600000028000000100000000E000000010004000000000070000000232E0000232E00001000000010000000C27E4600F6ECE300E9CFBB00DFBC9F00D6A88200C98C5A00F3E5DA00FFFEFE00E6C9B200CD946500C6875300DAB08E00D3A17800EEDACA00C4824C00FAF3EE007777777F1F77777777776873AEB67777777D5CF6890527777719EB73425E5677773EEB73EB2EEB77775AE37BA584E577770A0274AA42A0F7770AAD79AA98C0F7779A9675AAA8B5777730B765AAE8337777FBD73AA5B6DF777777769AA52777777777789EE92777777777777777777777 C5-E-2-21 C5-E-x-21 EtherCAT Drive (CoE) C5-E-x-21 EtherCAT Drive (CoE) 3000 10000 5000 200 100 5000 Drive 402 2 BOOL 1 BYTE 8 SINT 8 INT 16 DINT 32 USINT 8 UINT 16 UDINT 32 REAL 32 STRING(0) 0 STRING(9) 72 STRING(18) 144 ARRAY [0..11] OF BYTE BYTE 96 0 12 DT0021 272 0 Number of entries USINT 8 0 rw o 1 1st object to be mapped UDINT 32 16 rw o 2 2nd object to be mapped UDINT 32 48 rw o 3 3rd object to be mapped UDINT 32 80 rw o 4 4th object to be mapped UDINT 32 112 rw o 5 5th object to be mapped UDINT 32 144 rw o 6 6th object to be mapped UDINT 32 176 rw o 7 7th object to be mapped UDINT 32 208 rw o 8 8th object to be mapped UDINT 32 240 rw o DT0023 144 0 Number of entries USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision number UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT0029 96 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro o 2 Cycle time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o DT0042 112 0 Number of entries USINT 8 0 ro o 1 Sample OD UDINT 32 16 rw o 2 Buffer Size UDINT 32 48 rw o 3 Time Base ID USINT 8 80 rw o 4 Sample Sink USINT 8 88 rw o 5 Start Sample Buffer USINT 8 96 rw o 6 Number Of Sample Buffers USINT 8 104 rw o DT0043 288 0 Number of entries USINT 8 0 ro o 1 Period UDINT 32 16 rw o 2 Start Trigger ID USINT 8 48 rw o 3 Start Trigger OD UDINT 32 56 rw o 4 Start Trigger Value UDINT 32 88 rw o 5 Start Trigger Time Point UDINT 32 120 rw o 6 Stop Trigger ID USINT 8 152 rw o 7 Stop Trigger OD UDINT 32 160 rw o 8 Stop Trigger Value UDINT 32 192 rw o 9 Stop Trigger Time Point UDINT 32 224 rw o 10 Pretrigger UDINT 32 256 rw o DT0045 80 0 Number of entries USINT 8 0 ro o 1 PDI Set Value 1 DINT 32 16 rw o 2 PDI Set Value 2 INT 16 48 rw o 3 PDI Set Value 3 SINT 8 64 rw o 4 PDI Command SINT 8 72 rw o DT0046 64 0 Number of entries USINT 8 0 ro o 1 PDI Status INT 16 16 ro o 2 PDI Return Value DINT 32 32 ro o DT0080 32 0 Number of entries USINT 8 0 ro o 1 Interpolation time period value USINT 8 16 rw o 2 Interpolation time index SINT 8 24 rw o DT0081 120 0 Number of entries USINT 8 0 ro o 1 MaximumBufferSize UDINT 32 16 ro o 2 ActualBufferSize UDINT 32 48 rw o 3 BufferOrganization USINT 8 80 rw o 4 BufferPosition UINT 16 88 rw o 5 SizeOfDataRecord USINT 8 104 wo o 6 BufferClear USINT 8 112 wo o DT0082 64 0 Number of entries USINT 8 0 ro o 1 DeltaSpeed UDINT 32 16 rw o 2 DeltaTime UINT 16 48 rw o DT1003ARR UDINT 256 1 8 DT1003 272 0 SubIndex 000 USINT 8 0 rw o Elements DT1003ARR 256 16 ro o DT1010ARR UDINT 416 1 13 DT1010 432 0 SubIndex 000 USINT 8 0 ro o Elements DT1010ARR 416 16 rw o DT1011ARR UDINT 416 1 13 DT1011 432 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 416 16 rw o DT1020ARR UDINT 64 1 2 DT1020 80 0 SubIndex 000 USINT 8 0 ro o Elements DT1020ARR 64 16 rw o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 64 1 4 DT1C12 80 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 64 16 rw o DT1C13ARR UINT 64 1 4 DT1C13 80 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o DT1F51ARR USINT 16 1 2 DT1F51 32 0 SubIndex 000 USINT 8 0 ro o Elements DT1F51ARR 16 16 rw o DT1F57ARR UDINT 64 1 2 DT1F57 80 0 SubIndex 000 USINT 8 0 ro o Elements DT1F57ARR 64 16 ro o DT2038ARR UDINT 192 1 6 DT2038 208 0 SubIndex 000 USINT 8 0 ro o Elements DT2038ARR 192 16 rw o DT2039ARR DINT 160 1 5 DT2039 176 0 SubIndex 000 USINT 8 0 ro o Elements DT2039ARR 160 16 ro o T DT203AARR DINT 64 1 2 DT203A 80 0 SubIndex 000 USINT 8 0 ro o Elements DT203AARR 64 16 rw o DT203BARR UDINT 192 1 6 DT203B 208 0 SubIndex 000 USINT 8 0 ro o Elements DT203BARR 192 16 rw o DT2103ARR UDINT 64 1 2 DT2103 80 0 SubIndex 000 USINT 8 0 ro o Elements DT2103ARR 64 16 ro o DT230EARR UDINT 32 1 1 DT230E 48 0 SubIndex 000 USINT 8 0 ro o Elements DT230EARR 32 16 ro o DT2310ARR UDINT 512 1 16 DT2310 528 0 SubIndex 000 USINT 8 0 ro o Elements DT2310ARR 512 16 ro o DT2320ARR UDINT 512 1 16 DT2320 528 0 SubIndex 000 USINT 8 0 ro o Elements DT2320ARR 512 16 ro o DT2330ARR UDINT 512 1 16 DT2330 528 0 SubIndex 000 USINT 8 0 ro o Elements DT2330ARR 512 16 ro o DT2400ARR DINT 1024 1 32 DT2400 1040 0 SubIndex 000 USINT 8 0 ro o Elements DT2400ARR 1024 16 rw o R DT2410ARR DINT 1024 1 32 DT2410 1040 0 SubIndex 000 USINT 8 0 ro o Elements DT2410ARR 1024 16 rw o R DT2500ARR DINT 1024 1 32 DT2500 1040 0 SubIndex 000 USINT 8 0 ro o Elements DT2500ARR 1024 16 rw o T DT2600ARR USINT 512 1 64 DT2600 528 0 SubIndex 000 USINT 8 0 rw o Elements DT2600ARR 512 16 ro o DT2701ARR UDINT 8128 1 254 DT2701 8144 0 SubIndex 000 USINT 8 0 ro o Elements DT2701ARR 8128 16 rw o DT2800ARR UDINT 96 1 3 DT2800 112 0 SubIndex 000 USINT 8 0 ro o Elements DT2800ARR 96 16 rw o DT3203ARR USINT 24 1 3 DT3203 40 0 SubIndex 000 USINT 8 0 ro o Elements DT3203ARR 24 16 rw o R DT3204ARR UINT 48 1 3 DT3204 64 0 SubIndex 000 USINT 8 0 ro o Elements DT3204ARR 48 16 ro o T DT320DARR UDINT 64 1 2 DT320D 80 0 SubIndex 000 USINT 8 0 ro o Elements DT320DARR 64 16 rw o DT3210ARR UDINT 384 1 12 DT3210 400 0 SubIndex 000 USINT 8 0 ro o Elements DT3210ARR 384 16 rw o R DT3212ARR SINT 32 1 4 DT3212 48 0 SubIndex 000 USINT 8 0 ro o Elements DT3212ARR 32 16 rw o DT321AARR UDINT 128 1 4 DT321A 144 0 SubIndex 000 USINT 8 0 ro o Elements DT321AARR 128 16 rw o DT321BARR UDINT 64 1 2 DT321B 80 0 SubIndex 000 USINT 8 0 ro o Elements DT321BARR 64 16 rw o DT321CARR UDINT 64 1 2 DT321C 80 0 SubIndex 000 USINT 8 0 ro o Elements DT321CARR 64 16 rw o DT321DARR UDINT 96 1 3 DT321D 112 0 SubIndex 000 USINT 8 0 ro o Elements DT321DARR 96 16 rw o DT3220ARR INT 32 1 2 DT3220 48 0 SubIndex 000 USINT 8 0 ro o Elements DT3220ARR 32 16 ro o T DT3225ARR UINT 16 1 1 DT3225 32 0 SubIndex 000 USINT 8 0 ro o Elements DT3225ARR 16 16 ro o T DT3240ARR UDINT 256 1 8 DT3240 272 0 SubIndex 000 USINT 8 0 ro o Elements DT3240ARR 256 16 rw o R DT3242ARR USINT 256 1 32 DT3242 272 0 SubIndex 000 USINT 8 0 ro o Elements DT3242ARR 256 16 rw o T DT3243ARR UDINT 128 1 4 DT3243 144 0 SubIndex 000 USINT 8 0 ro o Elements DT3243ARR 128 16 rw o R DT3250ARR UDINT 288 1 9 DT3250 304 0 SubIndex 000 USINT 8 0 ro o Elements DT3250ARR 288 16 rw o R DT3252ARR UINT 64 1 4 DT3252 80 0 SubIndex 000 USINT 8 0 ro o Elements DT3252ARR 64 16 rw o T DT3320ARR DINT 64 1 2 DT3320 80 0 SubIndex 000 USINT 8 0 ro o Elements DT3320ARR 64 16 ro o T DT3321ARR INT 32 1 2 DT3321 48 0 SubIndex 000 USINT 8 0 ro o Elements DT3321ARR 32 16 rw o DT3322ARR INT 32 1 2 DT3322 48 0 SubIndex 000 USINT 8 0 ro o Elements DT3322ARR 32 16 rw o DT3323ARR INT 32 1 2 DT3323 48 0 SubIndex 000 USINT 8 0 ro o Elements DT3323ARR 32 16 rw o DT3380ARR UDINT 160 1 5 DT3380 176 0 SubIndex 000 USINT 8 0 ro o Elements DT3380ARR 160 16 rw o R DT3390ARR UINT 192 1 12 DT3390 208 0 SubIndex 000 USINT 8 0 ro o Elements DT3390ARR 192 16 rw o R DT33A0ARR UINT 32 1 2 DT33A0 48 0 SubIndex 000 USINT 8 0 ro o Elements DT33A0ARR 32 16 rw o R DT3502ARR UDINT 512 1 16 DT3502 528 0 SubIndex 000 USINT 8 0 rw o Elements DT3502ARR 512 16 rw o DT3602ARR UDINT 512 1 16 DT3602 528 0 SubIndex 000 USINT 8 0 rw o Elements DT3602ARR 512 16 rw o DT4012ARR UDINT 32 1 1 DT4012 48 0 SubIndex 000 USINT 8 0 ro o Elements DT4012ARR 32 16 ro o DT4013ARR UDINT 32 1 1 DT4013 48 0 SubIndex 000 USINT 8 0 ro o Elements DT4013ARR 32 16 rw o DT4014ARR DINT 160 1 5 DT4014 176 0 SubIndex 000 USINT 8 0 ro o Elements DT4014ARR 160 16 ro o T DT4021ARR UDINT 96 1 3 DT4021 112 0 SubIndex 000 USINT 8 0 ro o Elements DT4021ARR 96 16 rw o DT4042ARR UDINT 96 1 3 DT4042 112 0 SubIndex 000 USINT 8 0 ro o Elements DT4042ARR 96 16 ro o DT6046ARR UDINT 64 1 2 DT6046 80 0 SubIndex 000 USINT 8 0 ro o Elements DT6046ARR 64 16 rw o R DT604CARR DINT 64 1 2 DT604C 80 0 SubIndex 000 USINT 8 0 ro o Elements DT604CARR 64 16 rw o R DT607BARR DINT 64 1 2 DT607B 80 0 SubIndex 000 USINT 8 0 ro o Elements DT607BARR 64 16 rw o R DT607DARR DINT 64 1 2 DT607D 80 0 SubIndex 000 USINT 8 0 ro o Elements DT607DARR 64 16 rw o R DT608FARR DINT 64 1 2 DT608F 80 0 SubIndex 000 USINT 8 0 ro o Elements DT608FARR 64 16 rw o R DT6090ARR DINT 64 1 2 DT6090 80 0 SubIndex 000 USINT 8 0 ro o Elements DT6090ARR 64 16 rw o R DT6091ARR UDINT 64 1 2 DT6091 80 0 SubIndex 000 USINT 8 0 ro o Elements DT6091ARR 64 16 rw o R DT6092ARR UDINT 64 1 2 DT6092 80 0 SubIndex 000 USINT 8 0 ro o Elements DT6092ARR 64 16 rw o R DT6096ARR UDINT 64 1 2 DT6096 80 0 SubIndex 000 USINT 8 0 ro o Elements DT6096ARR 64 16 rw o R DT6097ARR UDINT 64 1 2 DT6097 80 0 SubIndex 000 USINT 8 0 ro o Elements DT6097ARR 64 16 rw o R DT6099ARR UDINT 64 1 2 DT6099 80 0 SubIndex 000 USINT 8 0 ro o Elements DT6099ARR 64 16 rw o R DT60A2ARR UDINT 64 1 2 DT60A2 80 0 SubIndex 000 USINT 8 0 ro o Elements DT60A2ARR 64 16 rw o R DT60A4ARR UDINT 128 1 4 DT60A4 144 0 SubIndex 000 USINT 8 0 ro o Elements DT60A4ARR 128 16 rw o DT60C1ARR DINT 32 1 1 DT60C1 48 0 SubIndex 000 USINT 8 0 ro o Elements DT60C1ARR 32 16 rw o R DT60E4ARR DINT 96 1 3 DT60E4 112 0 SubIndex 000 USINT 8 0 ro o Elements DT60E4ARR 96 16 ro o T DT60E5ARR DINT 96 1 3 DT60E5 112 0 SubIndex 000 USINT 8 0 ro o Elements DT60E5ARR 96 16 ro o T DT60E6ARR DINT 96 1 3 DT60E6 112 0 SubIndex 000 USINT 8 0 ro o Elements DT60E6ARR 96 16 rw o R DT60E8ARR UDINT 96 1 3 DT60E8 112 0 SubIndex 000 USINT 8 0 ro o Elements DT60E8ARR 96 16 rw o R DT60E9ARR UDINT 96 1 3 DT60E9 112 0 SubIndex 000 USINT 8 0 ro o Elements DT60E9ARR 96 16 rw o R DT60EBARR UDINT 96 1 3 DT60EB 112 0 SubIndex 000 USINT 8 0 ro o Elements DT60EBARR 96 16 rw o R DT60EDARR UDINT 96 1 3 DT60ED 112 0 SubIndex 000 USINT 8 0 ro o Elements DT60EDARR 96 16 rw o R DT60EEARR UDINT 96 1 3 DT60EE 112 0 SubIndex 000 USINT 8 0 ro o Elements DT60EEARR 96 16 rw o R DT60FEARR UDINT 32 1 1 DT60FE 48 0 SubIndex 000 USINT 8 0 ro o Elements DT60FEARR 32 16 rw o R #x1000 Device Type UDINT 32 92010600 ro m #x1001 Error Register USINT 8 00 ro o T #x1003 Pre-defined error field DT1003 272 SubIndex 000 00 Number of errors SubIndex 001 00000000 1st Standard error field SubIndex 002 00000000 2nd Standard error field SubIndex 003 00000000 3th Standard error field SubIndex 004 00000000 4th Standard error field SubIndex 005 00000000 5th Standard error field SubIndex 006 00000000 6th Standard error field SubIndex 007 00000000 7th Standard error field SubIndex 008 00000000 8th Standard error field rw o #x1008 Manufacturer Device Name STRING(9) 72 C5-E-2-21 ro o #x1009 Manufacturer Hardware Version STRING(0) 0 ro o #x100A Manufacturer Software Version STRING(18) 144 FIR-v2213-B1031134 ro o #x1010 Store parameters DT1010 432 SubIndex 000 0D Number of entries SubIndex 001 01000000 Save all parameters to non-volatile memory SubIndex 002 01000000 Save communication parameters to non-volatile memory SubIndex 003 01000000 Save application parameters to non-volatile memory SubIndex 004 01000000 Save customer parameters to non-volatile memory SubIndex 005 01000000 Save drive parameters to non-volatile memory SubIndex 006 01000000 Save tuning parameters to non-volatile memory SubIndex 007 01000000 Save miscellaneous configurations to non-volatile memory SubIndex 008 00000000 Save reserved1 configurations to non-volatile memory SubIndex 009 00000000 Save reserved2 configurations to non-volatile memory SubIndex 010 01000000 Save CANopen configurations to non-volatile memory SubIndex 011 01000000 Save Modbus RTU configurations to non-volatile memory SubIndex 012 01000000 Save Ethernet configurations to non-volatile memory SubIndex 013 01000000 Save Profibus configurations to non-volatile memory ro o #x1011 Restore default parameters DT1011 432 SubIndex 000 0D Number of entries SubIndex 001 01000000 Restore all default parameters SubIndex 002 01000000 Restore communication default parameters SubIndex 003 01000000 Restore application default parameters SubIndex 004 01000000 Restore customer default parameters SubIndex 005 01000000 Restore drive default parameters SubIndex 006 01000000 Restore tuning default parameters SubIndex 007 01000000 Restore miscellaneous configurations SubIndex 008 00000000 Restore reserved1 configurations to non-volatile memory SubIndex 009 00000000 Restore reserved2 configurations to non-volatile memory SubIndex 010 01000000 Restore CANopen configurations to non-volatile memory SubIndex 011 01000000 Restore Modbus RTU configurations to non-volatile memory SubIndex 012 01000000 Restore Ethernet configurations to non-volatile memory SubIndex 013 01000000 Restore Profibus configurations to non-volatile memory ro o #x1018 Identity Object DT0023 144 Number of entries 04 Vendor ID 6C020000 Product code 4F000000 Revision number 0000A508 Serial number ro o #x1020 Verify Configuration DT1020 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 Configuration date SubIndex 002 00000000 Configuration time ro o #x1600 Receive PDO 1 Mapping Parameter DT0021 272 Number of entries 02 1st object to be mapped 10004060 2nd object to be mapped 08006060 3rd object to be mapped 00000000 4th object to be mapped 00000000 5th object to be mapped 00000000 6th object to be mapped 00000000 7th object to be mapped 00000000 8th object to be mapped 00000000 rw o #x1601 Receive PDO 2 Mapping Parameter DT0021 272 Number of entries 02 1st object to be mapped 20007A60 2nd object to be mapped 20008160 3rd object to be mapped 00000000 4th object to be mapped 00000000 5th object to be mapped 00000000 6th object to be mapped 00000000 7th object to be mapped 00000000 8th object to be mapped 00000000 rw o #x1602 Receive PDO 3 Mapping Parameter DT0021 272 Number of entries 01 1st object to be mapped 10004260 2nd object to be mapped 00000000 3rd object to be mapped 00000000 4th object to be mapped 00000000 5th object to be mapped 00000000 6th object to be mapped 00000000 7th object to be mapped 00000000 8th object to be mapped 00000000 rw o #x1603 Receive PDO 4 Mapping Parameter DT0021 272 Number of entries 01 1st object to be mapped 2001FE60 2nd object to be mapped 00000000 3rd object to be mapped 00000000 4th object to be mapped 00000000 5th object to be mapped 00000000 6th object to be mapped 00000000 7th object to be mapped 00000000 8th object to be mapped 00000000 rw o #x1A00 Transmit PDO 1 Mapping Parameter DT0021 272 Number of entries 02 1st object to be mapped 10004160 2nd object to be mapped 08006160 3rd object to be mapped 00000000 4th object to be mapped 00000000 5th object to be mapped 00000000 6th object to be mapped 00000000 7th object to be mapped 00000000 8th object to be mapped 00000000 rw o #x1A01 Transmit PDO 2 Mapping Parameter DT0021 272 Number of entries 01 1st object to be mapped 20006460 2nd object to be mapped 00000000 3rd object to be mapped 00000000 4th object to be mapped 00000000 5th object to be mapped 00000000 6th object to be mapped 00000000 7th object to be mapped 00000000 8th object to be mapped 00000000 rw o #x1A02 Transmit PDO 3 Mapping Parameter DT0021 272 Number of entries 01 1st object to be mapped 10004460 2nd object to be mapped 00000000 3rd object to be mapped 00000000 4th object to be mapped 00000000 5th object to be mapped 00000000 6th object to be mapped 00000000 7th object to be mapped 00000000 8th object to be mapped 00000000 rw o #x1A03 Transmit PDO 4 Mapping Parameter DT0021 272 Number of entries 01 1st object to be mapped 2000FD60 2nd object to be mapped 00000000 3rd object to be mapped 00000000 4th object to be mapped 00000000 5th object to be mapped 00000000 6th object to be mapped 00000000 7th object to be mapped 00000000 8th object to be mapped 00000000 rw o #x1C00 Sync Manager Communication Type DT1C00 48 SubIndex 000 04 Number of entries SubIndex 001 01 Sync-Manager Type Channel 1: Mailbox Write SubIndex 002 02 Sync-Manager Type Channel 2: Mailbox Read SubIndex 003 03 Sync-Manager Type Channel 3: Process Data Write (Outputs) SubIndex 004 04 Sync-Manager Type Channel 4: Process Data Read (Inputs) ro o #x1C12 Sync Manager RxPDO Assignment DT1C12 80 SubIndex 000 01 Number of entries SubIndex 001 0016 1st RxPDO mapping index SubIndex 002 0000 2nd RxPDO mapping index SubIndex 003 0000 3rd RxPDO mapping index SubIndex 004 0000 4th RxPDO mapping index rw o #x1C13 Sync Manager TxPDO Assignment DT1C13 80 SubIndex 000 01 Number of entries SubIndex 001 001A 1st TxPDO mapping index SubIndex 002 0000 2nd TxPDO mapping index SubIndex 003 0000 3rd TxPDO mapping index SubIndex 004 0000 4th TxPDO mapping index rw o #x1C32 Output Sync Manager Synchronization DT0029 96 Number of entries 03 Synchronization type 0000 Cycle time 00000000 Shift time 00000000 ro o #x1C33 Input Sync Manager Synchronization DT0029 96 Number of entries 03 Synchronization type 0000 Cycle time 00000000 Shift time 00000000 ro o #x1F51 Program control DT1F51 32 SubIndex 000 02 Number of entries SubIndex 001 00 Program control bootloader/firmware SubIndex 002 00 Program control NanoJ ro o #x1F57 Program status DT1F57 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 Program status bootloader/firmware SubIndex 002 00000000 Program status NanoJ ro o #x2030 Pole pair count UDINT 32 32000000 rw o #x2031 Max motor current UDINT 32 E8030000 rw o #x2034 Upper voltage warning level UDINT 32 0DC20000 rw o #x2035 Lower voltage warning level UDINT 32 10270000 rw o #x2036 Open loop current reduction idle time UDINT 32 E8030000 rw o #x2037 Open loop current reduction value/factor DINT 32 CEFFFFFF rw o #x2038 Brake controller timing DT2038 208 SubIndex 000 06 Number of entries SubIndex 001 E8030000 Close Brake idle time SubIndex 002 E8030000 Shutdown power idle time SubIndex 003 E8030000 Open Brake delay time SubIndex 004 00000000 Start Operation delay time SubIndex 005 00000000 PWM frequency SubIndex 006 00000000 PWM duty cycle ro o #x2039 Motor Currents DT2039 176 SubIndex 000 05 Number of entries SubIndex 001 00000000 Id SubIndex 002 00000000 Iq SubIndex 003 00000000 Iα SubIndex 004 00000000 Iβ SubIndex 005 00000000 Actual current ro o #x203A Homing on block configuration DT203A 80 SubIndex 000 02 Number of entries SubIndex 001 C4090000 Minimum current for block detection SubIndex 002 C8000000 Block detection time ro o #x203B I2t Parameters DT203B 208 SubIndex 000 06 Number of entries SubIndex 001 E8030000 Motor rated current SubIndex 002 00000000 Maximum duration of max current SubIndex 003 00000000 Threshold SubIndex 004 00000000 CalcValue SubIndex 005 00000000 LimitedCurrent SubIndex 006 00000000 Status ro o #x203D Torque window UINT 16 0000 rw o R #x203E Torque window time out UINT 16 0000 rw o R #x203F Max slippage time out UINT 16 6400 rw o R #x2057 Clock Direction Multiplier DINT 32 80000000 rw o #x2058 Clock Direction Divider DINT 32 01000000 rw o #x2059 Encoder Configuration UDINT 32 00000000 rw o #x205A Absolute Sensor Boot Value (in user units) DINT 32 00000000 ro o #x205B Clock Direction or Clockwise/Counter Clockwise Mode UDINT 32 00000000 rw o #x2084 Bootup Delay UDINT 32 00000000 rw o #x2101 Fieldbus Module Availability UDINT 32 21001900 ro o #x2102 Fieldbus Module Control UDINT 32 21001900 rw o #x2103 Fieldbus Module Status DT2103 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 Fieldbus Module Disable Mask SubIndex 002 21001900 Fieldbus Module Enabled ro o #x2110 EtherCAT Slave status UINT 16 0000 ro o #x2290 PDI Control USINT 8 01 rw o #x2291 PDI Input DT0045 80 Number of entries 04 PDI Set Value 1 00000000 PDI Set Value 2 0000 PDI Set Value 3 00 PDI Command 00 ro o #x2292 PDI Output DT0046 64 Number of entries 02 PDI Status 0000 PDI Return Value 00000000 ro o #x2300 NanoJ Control UDINT 32 00000000 rw o R #x2301 NanoJ Status UDINT 32 00000000 ro o T #x2302 NanoJ Error Code UDINT 32 00000000 ro o T #x230E Timer DT230E 48 SubIndex 000 01 Number of entries SubIndex 001 00000000 1ms Timer ro o #x230F Uptime Seconds UDINT 32 00000000 ro o T #x2310 NanoJ input data selection DT2310 528 SubIndex 000 10 Number of entries SubIndex 001 00000000 Mapping #1 SubIndex 002 00000000 Mapping #2 SubIndex 003 00000000 Mapping #3 SubIndex 004 00000000 Mapping #4 SubIndex 005 00000000 Mapping #5 SubIndex 006 00000000 Mapping #6 SubIndex 007 00000000 Mapping #7 SubIndex 008 00000000 Mapping #8 SubIndex 009 00000000 Mapping #9 SubIndex 010 00000000 Mapping #10 SubIndex 011 00000000 Mapping #11 SubIndex 012 00000000 Mapping #12 SubIndex 013 00000000 Mapping #13 SubIndex 014 00000000 Mapping #14 SubIndex 015 00000000 Mapping #15 SubIndex 016 00000000 Mapping #16 ro o #x2320 NanoJ output data selection DT2320 528 SubIndex 000 10 Number of entries SubIndex 001 00000000 Mapping #1 SubIndex 002 00000000 Mapping #2 SubIndex 003 00000000 Mapping #3 SubIndex 004 00000000 Mapping #4 SubIndex 005 00000000 Mapping #5 SubIndex 006 00000000 Mapping #6 SubIndex 007 00000000 Mapping #7 SubIndex 008 00000000 Mapping #8 SubIndex 009 00000000 Mapping #9 SubIndex 010 00000000 Mapping #10 SubIndex 011 00000000 Mapping #11 SubIndex 012 00000000 Mapping #12 SubIndex 013 00000000 Mapping #13 SubIndex 014 00000000 Mapping #14 SubIndex 015 00000000 Mapping #15 SubIndex 016 00000000 Mapping #16 ro o #x2330 NanoJ in/output data selection DT2330 528 SubIndex 000 10 Number of entries SubIndex 001 00000000 Mapping #1 SubIndex 002 00000000 Mapping #2 SubIndex 003 00000000 Mapping #3 SubIndex 004 00000000 Mapping #4 SubIndex 005 00000000 Mapping #5 SubIndex 006 00000000 Mapping #6 SubIndex 007 00000000 Mapping #7 SubIndex 008 00000000 Mapping #8 SubIndex 009 00000000 Mapping #9 SubIndex 010 00000000 Mapping #10 SubIndex 011 00000000 Mapping #11 SubIndex 012 00000000 Mapping #12 SubIndex 013 00000000 Mapping #13 SubIndex 014 00000000 Mapping #14 SubIndex 015 00000000 Mapping #15 SubIndex 016 00000000 Mapping #16 ro o #x2400 NanoJ Inputs DT2400 1040 SubIndex 000 20 Number of entries SubIndex 001 00000000 NanoJ Input #1 SubIndex 002 00000000 NanoJ Input #2 SubIndex 003 00000000 NanoJ Input #3 SubIndex 004 00000000 NanoJ Input #4 SubIndex 005 00000000 NanoJ Input #5 SubIndex 006 00000000 NanoJ Input #6 SubIndex 007 00000000 NanoJ Input #7 SubIndex 008 00000000 NanoJ Input #8 SubIndex 009 00000000 NanoJ Input #9 SubIndex 010 00000000 NanoJ Input #10 SubIndex 011 00000000 NanoJ Input #11 SubIndex 012 00000000 NanoJ Input #12 SubIndex 013 00000000 NanoJ Input #13 SubIndex 014 00000000 NanoJ Input #14 SubIndex 015 00000000 NanoJ Input #15 SubIndex 016 00000000 NanoJ Input #16 SubIndex 017 00000000 NanoJ Input #17 SubIndex 018 00000000 NanoJ Input #18 SubIndex 019 00000000 NanoJ Input #19 SubIndex 020 00000000 NanoJ Input #20 SubIndex 021 00000000 NanoJ Input #21 SubIndex 022 00000000 NanoJ Input #22 SubIndex 023 00000000 NanoJ Input #23 SubIndex 024 00000000 NanoJ Input #24 SubIndex 025 00000000 NanoJ Input #25 SubIndex 026 00000000 NanoJ Input #26 SubIndex 027 00000000 NanoJ Input #27 SubIndex 028 00000000 NanoJ Input #28 SubIndex 029 00000000 NanoJ Input #29 SubIndex 030 00000000 NanoJ Input #30 SubIndex 031 00000000 NanoJ Input #31 SubIndex 032 00000000 NanoJ Input #32 ro o #x2410 NanoJ Init Parameters DT2410 1040 SubIndex 000 20 Number of entries SubIndex 001 00000000 NanoJ Init Parameter #1 SubIndex 002 00000000 NanoJ Init Parameter #2 SubIndex 003 00000000 NanoJ Init Parameter #3 SubIndex 004 00000000 NanoJ Init Parameter #4 SubIndex 005 00000000 NanoJ Init Parameter #5 SubIndex 006 00000000 NanoJ Init Parameter #6 SubIndex 007 00000000 NanoJ Init Parameter #7 SubIndex 008 00000000 NanoJ Init Parameter #8 SubIndex 009 00000000 NanoJ Init Parameter #9 SubIndex 010 00000000 NanoJ Init Parameter #10 SubIndex 011 00000000 NanoJ Init Parameter #11 SubIndex 012 00000000 NanoJ Init Parameter #12 SubIndex 013 00000000 NanoJ Init Parameter #13 SubIndex 014 00000000 NanoJ Init Parameter #14 SubIndex 015 00000000 NanoJ Init Parameter #15 SubIndex 016 00000000 NanoJ Init Parameter #16 SubIndex 017 00000000 NanoJ Init Parameter #17 SubIndex 018 00000000 NanoJ Init Parameter #18 SubIndex 019 00000000 NanoJ Init Parameter #19 SubIndex 020 00000000 NanoJ Init Parameter #20 SubIndex 021 00000000 NanoJ Init Parameter #21 SubIndex 022 00000000 NanoJ Init Parameter #22 SubIndex 023 00000000 NanoJ Init Parameter #23 SubIndex 024 00000000 NanoJ Init Parameter #24 SubIndex 025 00000000 NanoJ Init Parameter #25 SubIndex 026 00000000 NanoJ Init Parameter #26 SubIndex 027 00000000 NanoJ Init Parameter #27 SubIndex 028 00000000 NanoJ Init Parameter #28 SubIndex 029 00000000 NanoJ Init Parameter #29 SubIndex 030 00000000 NanoJ Init Parameter #30 SubIndex 031 00000000 NanoJ Init Parameter #31 SubIndex 032 00000000 NanoJ Init Parameter #32 ro o #x2500 NanoJ Outputs DT2500 1040 SubIndex 000 20 Number of entries SubIndex 001 00000000 NanoJ Output #1 SubIndex 002 00000000 NanoJ Output #2 SubIndex 003 00000000 NanoJ Output #3 SubIndex 004 00000000 NanoJ Output #4 SubIndex 005 00000000 NanoJ Output #5 SubIndex 006 00000000 NanoJ Output #6 SubIndex 007 00000000 NanoJ Output #7 SubIndex 008 00000000 NanoJ Output #8 SubIndex 009 00000000 NanoJ Output #9 SubIndex 010 00000000 NanoJ Output #10 SubIndex 011 00000000 NanoJ Output #11 SubIndex 012 00000000 NanoJ Output #12 SubIndex 013 00000000 NanoJ Output #13 SubIndex 014 00000000 NanoJ Output #14 SubIndex 015 00000000 NanoJ Output #15 SubIndex 016 00000000 NanoJ Output #16 SubIndex 017 00000000 NanoJ Output #17 SubIndex 018 00000000 NanoJ Output #18 SubIndex 019 00000000 NanoJ Output #19 SubIndex 020 00000000 NanoJ Output #20 SubIndex 021 00000000 NanoJ Output #21 SubIndex 022 00000000 NanoJ Output #22 SubIndex 023 00000000 NanoJ Output #23 SubIndex 024 00000000 NanoJ Output #24 SubIndex 025 00000000 NanoJ Output #25 SubIndex 026 00000000 NanoJ Output #26 SubIndex 027 00000000 NanoJ Output #27 SubIndex 028 00000000 NanoJ Output #28 SubIndex 029 00000000 NanoJ Output #29 SubIndex 030 00000000 NanoJ Output #30 SubIndex 031 00000000 NanoJ Output #31 SubIndex 032 00000000 NanoJ Output #32 ro o #x2600 NanoJ Debug Output DT2600 528 SubIndex 000 00 Number of entries SubIndex 001 00 Value #1 SubIndex 002 00 Value #2 SubIndex 003 00 Value #3 SubIndex 004 00 Value #4 SubIndex 005 00 Value #5 SubIndex 006 00 Value #6 SubIndex 007 00 Value #7 SubIndex 008 00 Value #8 SubIndex 009 00 Value #9 SubIndex 010 00 Value #10 SubIndex 011 00 Value #11 SubIndex 012 00 Value #12 SubIndex 013 00 Value #13 SubIndex 014 00 Value #14 SubIndex 015 00 Value #15 SubIndex 016 00 Value #16 SubIndex 017 00 Value #17 SubIndex 018 00 Value #18 SubIndex 019 00 Value #19 SubIndex 020 00 Value #20 SubIndex 021 00 Value #21 SubIndex 022 00 Value #22 SubIndex 023 00 Value #23 SubIndex 024 00 Value #24 SubIndex 025 00 Value #25 SubIndex 026 00 Value #26 SubIndex 027 00 Value #27 SubIndex 028 00 Value #28 SubIndex 029 00 Value #29 SubIndex 030 00 Value #30 SubIndex 031 00 Value #31 SubIndex 032 00 Value #32 SubIndex 033 00 Value #33 SubIndex 034 00 Value #34 SubIndex 035 00 Value #35 SubIndex 036 00 Value #36 SubIndex 037 00 Value #37 SubIndex 038 00 Value #38 SubIndex 039 00 Value #39 SubIndex 040 00 Value #40 SubIndex 041 00 Value #41 SubIndex 042 00 Value #42 SubIndex 043 00 Value #43 SubIndex 044 00 Value #44 SubIndex 045 00 Value #45 SubIndex 046 00 Value #46 SubIndex 047 00 Value #47 SubIndex 048 00 Value #48 SubIndex 049 00 Value #49 SubIndex 050 00 Value #50 SubIndex 051 00 Value #51 SubIndex 052 00 Value #52 SubIndex 053 00 Value #53 SubIndex 054 00 Value #54 SubIndex 055 00 Value #55 SubIndex 056 00 Value #56 SubIndex 057 00 Value #57 SubIndex 058 00 Value #58 SubIndex 059 00 Value #59 SubIndex 060 00 Value #60 SubIndex 061 00 Value #61 SubIndex 062 00 Value #62 SubIndex 063 00 Value #63 SubIndex 064 00 Value #64 rw o #x2701 Customer storage area DT2701 8144 SubIndex 000 FE Number of entries SubIndex 001 00000000 Storage #1 SubIndex 002 00000000 Storage #2 SubIndex 003 00000000 Storage #3 SubIndex 004 00000000 Storage #4 SubIndex 005 00000000 Storage #5 SubIndex 006 00000000 Storage #6 SubIndex 007 00000000 Storage #7 SubIndex 008 00000000 Storage #8 SubIndex 009 00000000 Storage #9 SubIndex 010 00000000 Storage #10 SubIndex 011 00000000 Storage #11 SubIndex 012 00000000 Storage #12 SubIndex 013 00000000 Storage #13 SubIndex 014 00000000 Storage #14 SubIndex 015 00000000 Storage #15 SubIndex 016 00000000 Storage #16 SubIndex 017 00000000 Storage #17 SubIndex 018 00000000 Storage #18 SubIndex 019 00000000 Storage #19 SubIndex 020 00000000 Storage #20 SubIndex 021 00000000 Storage #21 SubIndex 022 00000000 Storage #22 SubIndex 023 00000000 Storage #23 SubIndex 024 00000000 Storage #24 SubIndex 025 00000000 Storage #25 SubIndex 026 00000000 Storage #26 SubIndex 027 00000000 Storage #27 SubIndex 028 00000000 Storage #28 SubIndex 029 00000000 Storage #29 SubIndex 030 00000000 Storage #30 SubIndex 031 00000000 Storage #31 SubIndex 032 00000000 Storage #32 SubIndex 033 00000000 Storage #33 SubIndex 034 00000000 Storage #34 SubIndex 035 00000000 Storage #35 SubIndex 036 00000000 Storage #36 SubIndex 037 00000000 Storage #37 SubIndex 038 00000000 Storage #38 SubIndex 039 00000000 Storage #39 SubIndex 040 00000000 Storage #40 SubIndex 041 00000000 Storage #41 SubIndex 042 00000000 Storage #42 SubIndex 043 00000000 Storage #43 SubIndex 044 00000000 Storage #44 SubIndex 045 00000000 Storage #45 SubIndex 046 00000000 Storage #46 SubIndex 047 00000000 Storage #47 SubIndex 048 00000000 Storage #48 SubIndex 049 00000000 Storage #49 SubIndex 050 00000000 Storage #50 SubIndex 051 00000000 Storage #51 SubIndex 052 00000000 Storage #52 SubIndex 053 00000000 Storage #53 SubIndex 054 00000000 Storage #54 SubIndex 055 00000000 Storage #55 SubIndex 056 00000000 Storage #56 SubIndex 057 00000000 Storage #57 SubIndex 058 00000000 Storage #58 SubIndex 059 00000000 Storage #59 SubIndex 060 00000000 Storage #60 SubIndex 061 00000000 Storage #61 SubIndex 062 00000000 Storage #62 SubIndex 063 00000000 Storage #63 SubIndex 064 00000000 Storage #64 SubIndex 065 00000000 Storage #65 SubIndex 066 00000000 Storage #66 SubIndex 067 00000000 Storage #67 SubIndex 068 00000000 Storage #68 SubIndex 069 00000000 Storage #69 SubIndex 070 00000000 Storage #70 SubIndex 071 00000000 Storage #71 SubIndex 072 00000000 Storage #72 SubIndex 073 00000000 Storage #73 SubIndex 074 00000000 Storage #74 SubIndex 075 00000000 Storage #75 SubIndex 076 00000000 Storage #76 SubIndex 077 00000000 Storage #77 SubIndex 078 00000000 Storage #78 SubIndex 079 00000000 Storage #79 SubIndex 080 00000000 Storage #80 SubIndex 081 00000000 Storage #81 SubIndex 082 00000000 Storage #82 SubIndex 083 00000000 Storage #83 SubIndex 084 00000000 Storage #84 SubIndex 085 00000000 Storage #85 SubIndex 086 00000000 Storage #86 SubIndex 087 00000000 Storage #87 SubIndex 088 00000000 Storage #88 SubIndex 089 00000000 Storage #89 SubIndex 090 00000000 Storage #90 SubIndex 091 00000000 Storage #91 SubIndex 092 00000000 Storage #92 SubIndex 093 00000000 Storage #93 SubIndex 094 00000000 Storage #94 SubIndex 095 00000000 Storage #95 SubIndex 096 00000000 Storage #96 SubIndex 097 00000000 Storage #97 SubIndex 098 00000000 Storage #98 SubIndex 099 00000000 Storage #99 SubIndex 100 00000000 Storage #100 SubIndex 101 00000000 Storage #101 SubIndex 102 00000000 Storage #102 SubIndex 103 00000000 Storage #103 SubIndex 104 00000000 Storage #104 SubIndex 105 00000000 Storage #105 SubIndex 106 00000000 Storage #106 SubIndex 107 00000000 Storage #107 SubIndex 108 00000000 Storage #108 SubIndex 109 00000000 Storage #109 SubIndex 110 00000000 Storage #110 SubIndex 111 00000000 Storage #111 SubIndex 112 00000000 Storage #112 SubIndex 113 00000000 Storage #113 SubIndex 114 00000000 Storage #114 SubIndex 115 00000000 Storage #115 SubIndex 116 00000000 Storage #116 SubIndex 117 00000000 Storage #117 SubIndex 118 00000000 Storage #118 SubIndex 119 00000000 Storage #119 SubIndex 120 00000000 Storage #120 SubIndex 121 00000000 Storage #121 SubIndex 122 00000000 Storage #122 SubIndex 123 00000000 Storage #123 SubIndex 124 00000000 Storage #124 SubIndex 125 00000000 Storage #125 SubIndex 126 00000000 Storage #126 SubIndex 127 00000000 Storage #127 SubIndex 128 00000000 Storage #128 SubIndex 129 00000000 Storage #129 SubIndex 130 00000000 Storage #130 SubIndex 131 00000000 Storage #131 SubIndex 132 00000000 Storage #132 SubIndex 133 00000000 Storage #133 SubIndex 134 00000000 Storage #134 SubIndex 135 00000000 Storage #135 SubIndex 136 00000000 Storage #136 SubIndex 137 00000000 Storage #137 SubIndex 138 00000000 Storage #138 SubIndex 139 00000000 Storage #139 SubIndex 140 00000000 Storage #140 SubIndex 141 00000000 Storage #141 SubIndex 142 00000000 Storage #142 SubIndex 143 00000000 Storage #143 SubIndex 144 00000000 Storage #144 SubIndex 145 00000000 Storage #145 SubIndex 146 00000000 Storage #146 SubIndex 147 00000000 Storage #147 SubIndex 148 00000000 Storage #148 SubIndex 149 00000000 Storage #149 SubIndex 150 00000000 Storage #150 SubIndex 151 00000000 Storage #151 SubIndex 152 00000000 Storage #152 SubIndex 153 00000000 Storage #153 SubIndex 154 00000000 Storage #154 SubIndex 155 00000000 Storage #155 SubIndex 156 00000000 Storage #156 SubIndex 157 00000000 Storage #157 SubIndex 158 00000000 Storage #158 SubIndex 159 00000000 Storage #159 SubIndex 160 00000000 Storage #160 SubIndex 161 00000000 Storage #161 SubIndex 162 00000000 Storage #162 SubIndex 163 00000000 Storage #163 SubIndex 164 00000000 Storage #164 SubIndex 165 00000000 Storage #165 SubIndex 166 00000000 Storage #166 SubIndex 167 00000000 Storage #167 SubIndex 168 00000000 Storage #168 SubIndex 169 00000000 Storage #169 SubIndex 170 00000000 Storage #170 SubIndex 171 00000000 Storage #171 SubIndex 172 00000000 Storage #172 SubIndex 173 00000000 Storage #173 SubIndex 174 00000000 Storage #174 SubIndex 175 00000000 Storage #175 SubIndex 176 00000000 Storage #176 SubIndex 177 00000000 Storage #177 SubIndex 178 00000000 Storage #178 SubIndex 179 00000000 Storage #179 SubIndex 180 00000000 Storage #180 SubIndex 181 00000000 Storage #181 SubIndex 182 00000000 Storage #182 SubIndex 183 00000000 Storage #183 SubIndex 184 00000000 Storage #184 SubIndex 185 00000000 Storage #185 SubIndex 186 00000000 Storage #186 SubIndex 187 00000000 Storage #187 SubIndex 188 00000000 Storage #188 SubIndex 189 00000000 Storage #189 SubIndex 190 00000000 Storage #190 SubIndex 191 00000000 Storage #191 SubIndex 192 00000000 Storage #192 SubIndex 193 00000000 Storage #193 SubIndex 194 00000000 Storage #194 SubIndex 195 00000000 Storage #195 SubIndex 196 00000000 Storage #196 SubIndex 197 00000000 Storage #197 SubIndex 198 00000000 Storage #198 SubIndex 199 00000000 Storage #199 SubIndex 200 00000000 Storage #200 SubIndex 201 00000000 Storage #201 SubIndex 202 00000000 Storage #202 SubIndex 203 00000000 Storage #203 SubIndex 204 00000000 Storage #204 SubIndex 205 00000000 Storage #205 SubIndex 206 00000000 Storage #206 SubIndex 207 00000000 Storage #207 SubIndex 208 00000000 Storage #208 SubIndex 209 00000000 Storage #209 SubIndex 210 00000000 Storage #210 SubIndex 211 00000000 Storage #211 SubIndex 212 00000000 Storage #212 SubIndex 213 00000000 Storage #213 SubIndex 214 00000000 Storage #214 SubIndex 215 00000000 Storage #215 SubIndex 216 00000000 Storage #216 SubIndex 217 00000000 Storage #217 SubIndex 218 00000000 Storage #218 SubIndex 219 00000000 Storage #219 SubIndex 220 00000000 Storage #220 SubIndex 221 00000000 Storage #221 SubIndex 222 00000000 Storage #222 SubIndex 223 00000000 Storage #223 SubIndex 224 00000000 Storage #224 SubIndex 225 00000000 Storage #225 SubIndex 226 00000000 Storage #226 SubIndex 227 00000000 Storage #227 SubIndex 228 00000000 Storage #228 SubIndex 229 00000000 Storage #229 SubIndex 230 00000000 Storage #230 SubIndex 231 00000000 Storage #231 SubIndex 232 00000000 Storage #232 SubIndex 233 00000000 Storage #233 SubIndex 234 00000000 Storage #234 SubIndex 235 00000000 Storage #235 SubIndex 236 00000000 Storage #236 SubIndex 237 00000000 Storage #237 SubIndex 238 00000000 Storage #238 SubIndex 239 00000000 Storage #239 SubIndex 240 00000000 Storage #240 SubIndex 241 00000000 Storage #241 SubIndex 242 00000000 Storage #242 SubIndex 243 00000000 Storage #243 SubIndex 244 00000000 Storage #244 SubIndex 245 00000000 Storage #245 SubIndex 246 00000000 Storage #246 SubIndex 247 00000000 Storage #247 SubIndex 248 00000000 Storage #248 SubIndex 249 00000000 Storage #249 SubIndex 250 00000000 Storage #250 SubIndex 251 00000000 Storage #251 SubIndex 252 00000000 Storage #252 SubIndex 253 00000000 Storage #253 SubIndex 254 00000000 Storage #254 ro o #x2800 Bootloader and reboot settings DT2800 112 SubIndex 000 03 Number of entries SubIndex 001 00000000 Reboot command SubIndex 002 00000000 Reboot delay time in ms SubIndex 003 00000000 Bootloader HW config ro o #x3202 Motor drive submode select UDINT 32 00000000 rw o R #x3203 Feedback selection DT3203 40 SubIndex 000 03 Number of entries SubIndex 001 00 1st feedback interface SubIndex 002 00 2nd feedback interface SubIndex 003 00 3rd feedback interface ro o #x3204 Feedback mapping DT3204 64 SubIndex 000 03 Number of entries SubIndex 001 8033 Index of 1st feedback interface SubIndex 002 9033 Index of 2nd feedback interface SubIndex 003 A033 Index of 3rd feedback interface ro o #x320D Torque of inertia factor DT320D 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 Current SubIndex 002 00000000 Acceleration ro o #x3210 Motor drive parameter set DT3210 400 SubIndex 000 0C Number of entries SubIndex 001 00080000 Position loop, proportional gain (closed loop) SubIndex 002 00000000 Position loop, integral gain (closed loop) SubIndex 003 E02E0000 Velocity loop, proportional gain (closed loop) SubIndex 004 1E000000 Velocity loop, integral gain (closed loop) SubIndex 005 E01E8800 Flux current loop, proportional gain (closed loop) SubIndex 006 40C70700 Flux current loop, integral gain (closed loop) SubIndex 007 E01E8800 Torque current loop, proportional gain (closed loop) SubIndex 008 40C70700 Torque current loop, integral gain (closed loop) SubIndex 009 80C84D00 Torque current loop, proportional gain (open loop) SubIndex 010 302B1D00 Torque current loop, integral gain (open loop) SubIndex 011 E8030000 Velocity feed forward factor in per mille SubIndex 012 00000000 Acceleration feed forward factor ro o #x3212 Motor drive flags DT3212 48 SubIndex 000 04 Number of entries SubIndex 001 00 reserved SubIndex 002 00 override field inversion SubIndex 003 00 auto-setup with current controller parameters from the OD SubIndex 004 00 use 321Ah, 321Bh, 321Ch, 321Dh, instead of 3210h ro o #x321A Current controller parameters DT321A 144 SubIndex 000 04 Number of entries SubIndex 001 E4270000 Proportional gain Kp for Iq [mV/A] SubIndex 002 46040000 Integrator time Ti for Iq [μs] SubIndex 003 E4270000 Proportional gain Kp for Id [mV/A] SubIndex 004 46040000 Integrator time Ti for Id [μs] ro o #x321B Velocity controller parameters DT321B 80 SubIndex 000 02 Number of entries SubIndex 001 80010000 Proportional gain Kp [mA/Hz] SubIndex 002 A0860100 Integrator time Ti [μs] ro o #x321C Position controller parameters DT321C 80 SubIndex 000 02 Number of entries SubIndex 001 32000000 Proportional gain Kp [Hz] SubIndex 002 00000000 Integrator time Ti [μs] ro o #x321D Pre-control DT321D 112 SubIndex 000 03 Number of entries SubIndex 001 E8030000 Voltage pre-control [‰] SubIndex 002 E8030000 Acceleration pre-control [‰] SubIndex 003 E8030000 Velocity pre-control [‰] ro o #x321E Voltage limit UDINT 32 A0860100 rw o #x3220 Analog input digits DT3220 48 SubIndex 000 02 Number of analog input digits SubIndex 001 0000 Analog input #1 digit SubIndex 002 0000 Analog input #2 digit ro o #x3221 Analog inputs control DINT 32 00000000 rw o #x3225 Analog input switches DT3225 32 SubIndex 000 01 Number of entries SubIndex 001 0000 Analog input switch #1 ro o #x3240 Digital inputs control DT3240 272 SubIndex 000 08 Number of entries SubIndex 001 00000000 Special function enable SubIndex 002 00000000 Function inverted SubIndex 003 00000000 Force enable SubIndex 004 00000000 Force value SubIndex 005 00000000 Raw value SubIndex 006 00000000 Input Range Select SubIndex 007 00000000 Differential Select SubIndex 008 00000000 Routing Enable ro o #x3242 Digital Input Routing DT3242 272 SubIndex 000 20 Number of entries SubIndex 001 00 Input Source for Bit #1 in 60FDh SubIndex 002 00 Input Source for Bit #2 in 60FDh SubIndex 003 00 Input Source for Bit #3 in 60FDh SubIndex 004 00 Input Source for Bit #4 in 60FDh SubIndex 005 00 Input Source for Bit #5 in 60FDh SubIndex 006 00 Input Source for Bit #6 in 60FDh SubIndex 007 00 Input Source for Bit #7 in 60FDh SubIndex 008 00 Input Source for Bit #8 in 60FDh SubIndex 009 00 Input Source for Bit #9 in 60FDh SubIndex 010 00 Input Source for Bit #10 in 60FDh SubIndex 011 00 Input Source for Bit #11 in 60FDh SubIndex 012 00 Input Source for Bit #12 in 60FDh SubIndex 013 00 Input Source for Bit #13 in 60FDh SubIndex 014 00 Input Source for Bit #14 in 60FDh SubIndex 015 00 Input Source for Bit #15 in 60FDh SubIndex 016 00 Input Source for Bit #16 in 60FDh SubIndex 017 00 Input Source for Bit #17 in 60FDh SubIndex 018 00 Input Source for Bit #18 in 60FDh SubIndex 019 00 Input Source for Bit #19 in 60FDh SubIndex 020 00 Input Source for Bit #20 in 60FDh SubIndex 021 00 Input Source for Bit #21 in 60FDh SubIndex 022 00 Input Source for Bit #22 in 60FDh SubIndex 023 00 Input Source for Bit #23 in 60FDh SubIndex 024 00 Input Source for Bit #24 in 60FDh SubIndex 025 00 Input Source for Bit #25 in 60FDh SubIndex 026 00 Input Source for Bit #26 in 60FDh SubIndex 027 00 Input Source for Bit #27 in 60FDh SubIndex 028 00 Input Source for Bit #28 in 60FDh SubIndex 029 00 Input Source for Bit #29 in 60FDh SubIndex 030 00 Input Source for Bit #30 in 60FDh SubIndex 031 00 Input Source for Bit #31 in 60FDh SubIndex 032 00 Input Source for Bit #32 in 60FDh ro o #x3243 Digital input homing capture DT3243 144 SubIndex 000 04 Number of entries SubIndex 001 00000000 Control SubIndex 002 00000000 Capture Count SubIndex 003 00000000 Value SubIndex 004 00000000 Sensor Raw Value ro o #x3250 Digital outputs control DT3250 304 SubIndex 000 09 Number of entries SubIndex 001 00000000 No function SubIndex 002 00000000 Function inverted SubIndex 003 00000000 Force enable SubIndex 004 00000000 Force value SubIndex 005 00000000 Raw value SubIndex 006 00000000 Reserved1 SubIndex 007 00000000 Reserved2 SubIndex 008 00000000 Routing Enable SubIndex 009 FFFFFFFF Enable Mask [Bit0=StatusLed, Bit1=ErrorLed] ro o #x3252 Digital Output Routing DT3252 80 SubIndex 000 04 Number of entries SubIndex 001 8010 Control Bit of 60FEh:1h and Source for Brake Output SubIndex 002 9000 Control Bit of 60FEh:1h and Source for Output #1 SubIndex 003 9100 Control Bit of 60FEh:1h and Source for Output #2 SubIndex 004 9200 Control Bit of 60FEh:1h and Source for Output #3 ro o #x3320 Analog input values DT3320 80 SubIndex 000 02 Number of analog input values SubIndex 001 00000000 Analog input #1 value SubIndex 002 00000000 Analog input #2 value ro o #x3321 Analog input offsets DT3321 48 SubIndex 000 02 Number of analog input offsets SubIndex 001 0000 Analog input #1 offset SubIndex 002 0000 Analog input #2 offset ro o #x3322 Analog input numerators DT3322 48 SubIndex 000 02 Number of analog input numerators SubIndex 001 0100 Analog input #1 numerator SubIndex 002 0100 Analog input #2 numerator ro o #x3323 Analog input denominators DT3323 48 SubIndex 000 02 Number of analog input denominators SubIndex 001 0100 Analog input #1 denominator SubIndex 002 0100 Analog input #2 denominator ro o #x3380 Feedback Sensorless DT3380 176 SubIndex 000 05 Number of entries SubIndex 001 00000000 Resistance [Ohm] SubIndex 002 00000000 Inductance [H] SubIndex 003 00000000 Magnetic flux [Vs] SubIndex 004 78000000 Switch on speed [rpm] SubIndex 005 64000000 Switch off speed [rpm] ro o #x3390 Feedback Hall DT3390 208 SubIndex 000 0C Number of entries SubIndex 001 0000 1st alignment SubIndex 002 0000 2nd alignment SubIndex 003 0000 3rd alignment SubIndex 004 0000 4th alignment SubIndex 005 0000 5th alignment SubIndex 006 0000 6th alignment SubIndex 007 0000 7th alignment SubIndex 008 0000 8th alignment SubIndex 009 0000 9th alignment SubIndex 010 0000 10th alignment SubIndex 011 0000 11th alignment SubIndex 012 0000 12th alignment ro o #x33A0 Feedback Incremental A/B/I 1 DT33A0 48 SubIndex 000 02 Number of entries SubIndex 001 0000 Configuration SubIndex 002 0000 Alignment ro o #x3502 MODBUS Rx PDO Mapping DT3502 528 SubIndex 000 07 Number of entries SubIndex 001 10004060 1st object to be mapped SubIndex 002 08000500 2nd object to be mapped SubIndex 003 08006060 3rd object to be mapped SubIndex 004 20007A60 4th object to be mapped SubIndex 005 20008160 5th object to be mapped SubIndex 006 10004260 6th object to be mapped SubIndex 007 2001FE60 7th object to be mapped SubIndex 008 00000000 8th object to be mapped SubIndex 009 00000000 9th object to be mapped SubIndex 010 00000000 10th object to be mapped SubIndex 011 00000000 11th object to be mapped SubIndex 012 00000000 12th object to be mapped SubIndex 013 00000000 13th object to be mapped SubIndex 014 00000000 14th object to be mapped SubIndex 015 00000000 15th object to be mapped SubIndex 016 00000000 16th object to be mapped rw o #x3602 MODBUS Tx PDO Mapping DT3602 528 SubIndex 000 06 Number of entries SubIndex 001 10004160 1st object to be mapped SubIndex 002 08000500 2nd object to be mapped SubIndex 003 08006160 3rd object to be mapped SubIndex 004 20006460 4th object to be mapped SubIndex 005 10004460 5th object to be mapped SubIndex 006 2000FD60 6th object to be mapped SubIndex 007 00000000 7th object to be mapped SubIndex 008 00000000 8th object to be mapped SubIndex 009 00000000 9th object to be mapped SubIndex 010 00000000 10th object to be mapped SubIndex 011 00000000 11th object to be mapped SubIndex 012 00000000 12th object to be mapped SubIndex 013 00000000 13th object to be mapped SubIndex 014 00000000 14th object to be mapped SubIndex 015 00000000 15th object to be mapped SubIndex 016 00000000 16th object to be mapped rw o #x3700 Deviation error option code INT 16 FFFF rw o #x3701 Limit switch error option code INT 16 FFFF rw o #x4012 HW information DT4012 48 SubIndex 000 01 Number of entries SubIndex 001 00000000 EEPROM size in bytes ro o #x4013 HW configuration DT4013 48 SubIndex 000 01 Number of entries SubIndex 001 00000000 HW configuration #1 ro o #x4014 Operating conditions DT4014 176 SubIndex 000 05 Number of entries SubIndex 001 00000000 Voltage UB Power [mV] SubIndex 002 00000000 Voltage UB Logic [mV] SubIndex 003 00000000 Temperature PCB [Celsius * 10] SubIndex 004 00000000 Temperature Motor [Celsius * 10] SubIndex 005 00000000 Temperature Microcontroller Chip [Celsius * 10] ro o #x4021 Ballast Configuration DT4021 112 SubIndex 000 03 Number of entries SubIndex 001 01000000 Settings [Bit0: On/Off] SubIndex 002 19C00000 UB Power limit [mV] SubIndex 003 F4010000 UB Power hysteresis [mV] ro o #x4040 Drive serial number STRING(0) 0 ro o #x4041 Device Id ARRAY [0..11] OF BYTE 96 ro o #x4042 Bootloader Infos DT4042 112 SubIndex 000 03 Number of entries SubIndex 001 00000000 Bootloader version SubIndex 002 00000000 Bootloader supported fieldbus SubIndex 003 00000000 Bootloader hw-group ro o #x6007 Abort connection option code INT 16 FFFF rw o #x603F Error code UINT 16 0000 ro o T #x6040 Controlword UINT 16 0000 rw o R #x6041 Statusword UINT 16 0000 ro o T #x6042 vl target velocity INT 16 C800 rw o R #x6043 vl velocity demand INT 16 0000 ro o T #x6044 vl velocity actual value INT 16 0000 ro o T #x6046 vl velocity min max amount DT6046 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 MinAmount SubIndex 002 30750000 MaxAmount ro o #x6048 vl velocity acceleration DT0082 64 Number of entries 02 DeltaSpeed F4010000 DeltaTime 0100 ro o #x6049 vl velocity deceleration DT0082 64 Number of entries 02 DeltaSpeed F4010000 DeltaTime 0100 ro o #x604A vl velocity quick stop DT0082 64 Number of entries 02 DeltaSpeed 88130000 DeltaTime 0100 ro o #x604C vl dimension factor DT604C 80 SubIndex 000 02 Number of entries SubIndex 001 01000000 vl dimension factor numerator SubIndex 002 01000000 vl dimension factor denominator ro o #x605A Quick stop option code INT 16 0200 rw o #x605B Shutdown option code INT 16 0100 rw o #x605C Disable option code INT 16 0100 rw o #x605D Halt option code INT 16 0100 rw o #x605E Fault option code INT 16 0200 rw o #x6060 Modes of operation SINT 8 00 rw o R #x6061 Modes of operation display SINT 8 00 ro o T #x6062 Position demand value DINT 32 00000000 ro o T #x6063 Position actual internal value DINT 32 00000000 ro o T #x6064 Position actual value DINT 32 00000000 ro o T #x6065 Following error window UDINT 32 00010000 rw o R #x6066 Following error time out UINT 16 6400 rw o R #x6067 Position window UDINT 32 0A000000 rw o R #x6068 Position window time UINT 16 6400 rw o R #x606B Velocity demand value DINT 32 00000000 ro o T #x606C Velocity actual value DINT 32 00000000 ro o T #x606D Velocity window UINT 16 1E00 rw o R #x606E Velocity window time UINT 16 0000 rw o R #x606F Velocity threshold UINT 16 0000 rw o R #x6070 Velocity threshold time UINT 16 0000 rw o R #x6071 Target torque INT 16 0000 rw o R #x6072 Max torque UINT 16 6400 rw o R #x6073 Max current UINT 16 E803 rw o R #x6074 Torque demand INT 16 0000 ro o T #x6075 Motor rated current UDINT 32 00000000 rw o #x6077 Torque actual value INT 16 0000 ro o T #x607A Target Position DINT 32 A00F0000 rw o R #x607B Position range limit DT607B 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 Min position range limit SubIndex 002 00000000 Max position range limit ro o #x607C Home offset DINT 32 00000000 rw o R #x607D Software position limit DT607D 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 Min position limit SubIndex 002 00000000 Max position limit ro o #x607E Polarity USINT 8 00 rw o R #x607F Max profile velocity UDINT 32 30750000 rw o R #x6080 Max motor speed UDINT 32 30750000 rw o R #x6081 Profile velocity UDINT 32 F4010000 rw o R #x6082 End velocity UDINT 32 00000000 rw o R #x6083 Profile acceleration UDINT 32 F4010000 rw o R #x6084 Profile deceleration UDINT 32 F4010000 rw o R #x6085 Quick stop deceleration UDINT 32 88130000 rw o R #x6086 Motion profile type INT 16 0000 rw o R #x6087 Torque slope UDINT 32 64000000 rw o R #x608F Position encoder resolution DT608F 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 Encoder increments SubIndex 002 01000000 Motor revolutions ro o #x6090 Velocity encoder resolution DT6090 80 SubIndex 000 02 Number of entries SubIndex 001 00000000 Encoder increments per second SubIndex 002 01000000 Motor revolutions per second ro o #x6091 Gear ratio DT6091 80 SubIndex 000 02 Number of entries SubIndex 001 01000000 Motor revolutions SubIndex 002 01000000 Shaft revolutions ro o #x6092 Feed constant DT6092 80 SubIndex 000 02 Number of entries SubIndex 001 01000000 Feed SubIndex 002 01000000 Shaft revolutions ro o #x6096 Velocity factor DT6096 80 SubIndex 000 02 Number of entries SubIndex 001 01000000 Numerator SubIndex 002 01000000 Divisor ro o #x6097 Acceleration factor DT6097 80 SubIndex 000 02 Number of entries SubIndex 001 01000000 Numerator SubIndex 002 01000000 Divisor ro o #x6098 Homing method SINT 8 23 rw o R #x6099 Homing speed DT6099 80 SubIndex 000 02 Number of entries SubIndex 001 32000000 Speed during search for switch SubIndex 002 0A000000 Speed during search for zero ro o #x609A Homing acceleration UDINT 32 F4010000 rw o R #x60A2 Jerk factor DT60A2 80 SubIndex 000 02 Number of entries SubIndex 001 01000000 Numerator SubIndex 002 01000000 Divisor ro o #x60A4 Profile Jerk DT60A4 144 SubIndex 000 04 Number of entries SubIndex 001 E8030000 Begin Acceleration Jerk SubIndex 002 E8030000 Begin Deceleration Jerk SubIndex 003 E8030000 End Acceleration Jerk SubIndex 004 E8030000 End Deceleration Jerk ro o #x60A8 SI unit position UDINT 32 000041FF rw o #x60A9 SI unit velocity UDINT 32 0047B400 rw o #x60B0 Position offset DINT 32 00000000 rw o R #x60B1 Velocity offset DINT 32 00000000 rw o R #x60B2 Torque offset INT 16 0000 rw o R #x60C1 Interpolation data record DT60C1 48 SubIndex 000 01 Number of entries SubIndex 001 00000000 1st set-point ro o #x60C2 Interpolation time period DT0080 32 Number of entries 02 Interpolation time period value 01 Interpolation time index FD ro o #x60C4 Interpolation data configuration DT0081 120 Number of entries 06 MaximumBufferSize 01000000 ActualBufferSize 01000000 BufferOrganization 00 BufferPosition 0100 SizeOfDataRecord 04 BufferClear 00 ro o #x60C5 Max acceleration UDINT 32 88130000 rw o R #x60C6 Max deceleration UDINT 32 88130000 rw o R #x60E4 Additional position actual value DT60E4 112 SubIndex 000 03 Number of entries SubIndex 001 00000000 Additional position actual value #1 SubIndex 002 00000000 Additional position actual value #2 SubIndex 003 00000000 Additional position actual value #3 ro o #x60E5 Additional velocity actual value DT60E5 112 SubIndex 000 03 Number of entries SubIndex 001 00000000 Additional velocity actual value #1 SubIndex 002 00000000 Additional velocity actual value #2 SubIndex 003 00000000 Additional velocity actual value #3 ro o #x60E6 Additional position encoder resolution - encoder increments DT60E6 112 SubIndex 000 03 Number of entries SubIndex 001 00000000 Additional position encoder resolution - encoder increments feedback interface #1 SubIndex 002 00000000 Additional position encoder resolution - encoder increments feedback interface #2 SubIndex 003 00000000 Additional position encoder resolution - encoder increments feedback interface #3 ro o #x60E8 Additional gear ratio - motor shaft revolutions DT60E8 112 SubIndex 000 03 Number of entries SubIndex 001 01000000 Additional gear ratio - motor shaft revolutions feedback interface #1 SubIndex 002 01000000 Additional gear ratio - motor shaft revolutions feedback interface #2 SubIndex 003 01000000 Additional gear ratio - motor shaft revolutions feedback interface #3 ro o #x60E9 Additional feed constant - feed DT60E9 112 SubIndex 000 03 Number of entries SubIndex 001 01000000 Additional feed constant - feed feedback interface #1 SubIndex 002 01000000 Additional feed constant - feed feedback interface #2 SubIndex 003 01000000 Additional feed constant - feed feedback interface #3 ro o #x60EB Additional position encoder resolution - motor revolutions DT60EB 112 SubIndex 000 03 Number of entries SubIndex 001 01000000 Additional position encoder resolution - motor revolutions feedback interface #1 SubIndex 002 01000000 Additional position encoder resolution - motor revolutions feedback interface #2 SubIndex 003 01000000 Additional position encoder resolution - motor revolutions feedback interface #3 ro o #x60ED Additional gear ratio - driving shaft revolutions DT60ED 112 SubIndex 000 03 Number of entries SubIndex 001 01000000 Additional gear ratio - driving shaft revolutions feedback interface #1 SubIndex 002 01000000 Additional gear ratio - driving shaft revolutions feedback interface #2 SubIndex 003 01000000 Additional gear ratio - driving shaft revolutions feedback interface #3 ro o #x60EE Additional feed constant - driving shaft revolutions DT60EE 112 SubIndex 000 03 Number of entries SubIndex 001 01000000 Additional feed constant - driving shaft revolutions feedback interface #1 SubIndex 002 01000000 Additional feed constant - driving shaft revolutions feedback interface #2 SubIndex 003 01000000 Additional feed constant - driving shaft revolutions feedback interface #3 ro o #x60F2 Positioning option code UINT 16 0100 rw o R #x60F4 Following error actual value DINT 32 00000000 ro o T #x60F8 Max slippage DINT 32 90010000 rw o R #x60FA Control Effort DINT 32 00000000 ro o T #x60FC Position demand internal value DINT 32 00000000 ro o T #x60FD Digital Inputs UDINT 32 00000000 ro o T #x60FE Digital Outputs DT60FE 48 SubIndex 000 01 Number of entries SubIndex 001 01000000 Physical outputs ro o #x60FF Target velocity DINT 32 00000000 rw o R #x6502 Supported drive modes UDINT 32 EF030000 ro o T #x6503 Drive catalogue number STRING(0) 0 ro o #x6505 http drive catalogue address STRING(0) 0 ro o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs Drives #x1600 Receive PDO 1 Mapping Parameter #x6040 0 16 Controlword UINT #x6060 0 8 Modes of operation SINT #x1601 Receive PDO 2 Mapping Parameter #x607A 0 32 Target Position DINT #x6081 0 32 Profile velocity UDINT #x1602 Receive PDO 3 Mapping Parameter #x6042 0 16 vl target velocity INT #x1603 Receive PDO 4 Mapping Parameter #x60FE 1 32 Digital Outputs UDINT #x1A00 Transmit PDO 1 Mapping Parameter #x6041 0 16 Statusword UINT #x6061 0 8 Modes of operation display SINT #x1A01 Transmit PDO 2 Mapping Parameter #x6064 0 32 Position actual value DINT #x1A02 Transmit PDO 3 Mapping Parameter #x6044 0 16 vl velocity actual value INT #x1A03 Transmit PDO 4 Mapping Parameter #x60FD 0 32 Digital Inputs UDINT Synchron FreeRun/SM-Synchron #x0 0 0 0 0 DC DC with SYNC0=1ms #x0330 1000000 250000 0 0 16384 05060B0E64000000 0010800080108000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000232E0000232E00001000000010000000C27E4600F6ECE300E9CFBB00DFBC9F00D6A88200C98C5A00F3E5DA00FFFEFE00E6C9B200CD946500C6875300DAB08E00D3A17800EEDACA00C4824C00FAF3EE007777777F1F77777777776873AEB67777777D5CF6890527777719EB73425E5677773EEB73EB2EEB77775AE37BA584E577770A0274AA42A0F7770AAD79AA98C0F7779A9675AAA8B5777730B765AAE8337777FBD73AA5B6DF777777769AA52777777777789EE92777777777777777777777