#x4A Henschel-Robotics GmbH 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HDrive-ETC HDrive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rive17-ETC HDrive17-ETC 2000 9000 5000 200 100 2000 HDrive-ETC 402 2 STRING(4) 32 STRING(3) 24 STRING(12) 96 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 INT 16 SINT 8 DINT 32 REAL 32 DT1018 144 0 SubIndex 000 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 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT1600 240 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map taget position 32 16 ro 2 SubIndex 002 UDINT map target velocity 32 48 ro 3 SubIndex 003 UDINT map target torque 32 80 ro 4 SubIndex 004 UDINT map mode of operation 32 112 ro 5 SubIndex 005 UDINT map control word 32 144 ro 6 SubIndex 006 UDINT Padding bytes 32 176 ro 7 SubIndex 007 UDINT Padding bytes 32 208 ro DT1601 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map target position 32 16 ro 2 SubIndex 002 UDINT map control word 32 48 ro 3 SubIndex 003 UDINT add 16bit padding to get an 32Bit object/process data structure 32 80 ro DT1602 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map target velocity 32 16 ro 2 SubIndex 002 UDINT map control word 32 48 ro 3 SubIndex 003 UDINT add 16bit padding to get an 32Bit object/process data structure 32 80 ro DT1603 80 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map target torque 32 16 ro 2 SubIndex 002 UDINT map control word 32 48 ro DT1604 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT Reset Position Latch 1 32 16 ro 2 SubIndex 002 UDINT Reset Position Latch 2 32 48 ro 3 SubIndex 003 UDINT Padding 32 80 ro DT1605 272 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT Temp Out 1 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro DT1A00 304 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map actual position 32 16 ro 2 SubIndex 002 UDINT map actual velocity 32 48 ro 3 SubIndex 003 UDINT map torque actual value 32 80 ro 4 SubIndex 004 UDINT map status word 32 112 ro 5 SubIndex 005 UDINT map mode of operation display 32 144 ro 6 SubIndex 006 UDINT map digital IO 1 32 176 ro 7 SubIndex 007 UDINT map digital IO 2 32 208 ro 8 SubIndex 008 UDINT Padding bytes 32 240 ro 9 SubIndex 009 UDINT Padding bytes 32 272 ro DT1A01 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map actual position 32 16 ro 2 SubIndex 002 UDINT map status word 32 48 ro 3 SubIndex 003 UDINT add 16bit padding to get an 32Bit object/process data structure 32 80 ro DT1A02 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map actual velocity 32 16 ro 2 SubIndex 002 UDINT map status word 32 48 ro 3 SubIndex 003 UDINT add 16bit padding to get an 32Bit object/process data structure 32 80 ro DT1A03 176 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT Position Latch 1 32 16 ro 2 SubIndex 002 UDINT Trigger Source 1 32 48 ro 3 SubIndex 003 UDINT Position Latch 2 32 80 ro 4 SubIndex 004 UDINT Trigger Source 2 32 112 ro 5 SubIndex 005 UDINT Padding 32 144 ro DT1A04 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map digital IO 1 32 16 ro 2 SubIndex 002 UDINT map digital IO 2 32 48 ro 3 SubIndex 003 UDINT Padding bytes 32 80 ro DT1A05 528 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro 9 SubIndex 009 UDINT 32 272 ro 10 SubIndex 010 UDINT 32 304 ro 11 SubIndex 011 UDINT 32 336 ro 12 SubIndex 012 UDINT 32 368 ro 13 SubIndex 013 UDINT 32 400 ro 14 SubIndex 014 UDINT 32 432 ro 15 SubIndex 015 UDINT 32 464 ro 16 SubIndex 016 UDINT 32 496 ro DT1A06 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT ISR runtime ns 32 16 ro 2 SubIndex 002 UDINT ISR runtime max ns 32 48 ro 3 SubIndex 003 UDINT ISR jitter ns 32 80 ro 4 SubIndex 004 UDINT ISR jitter max ns 32 112 ro DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 80 1 5 DT1C12 96 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 80 16 rw DT1C13ARR UINT 80 1 5 DT1C13 96 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 80 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 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 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro DT607B 80 0 SubIndex 000 USINT 8 0 ro 1 Min position range limit DINT encoder counts 32 16 rw 2 Max position range limit DINT encoder counts 32 48 rw DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT608F 80 0 SubIndex 000 USINT 8 0 ro 1 Encoder increments UDINT E10 = 3600 32 16 ro 2 Motor revolutions UDINT 32 48 ro DT6090 80 0 SubIndex 000 USINT 8 0 ro 1 Encoder increments per second UDINT 32 16 rw 2 Motor revolutions per second UDINT 32 48 rw DT6091 80 0 SubIndex 000 USINT 8 0 ro 1 Motor revolutions UDINT E10 = 3600 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6092 80 0 SubIndex 000 USINT 8 0 ro 1 Feed UDINT E10 = 3600 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6099 80 0 SubIndex 000 USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw 2 Speed during search for zero UDINT 32 48 rw DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation time period value USINT 8 16 rw 2 Interpolation time index SINT 8 24 rw DT6620 40 0 SubIndex 000 USINT 8 0 ro 1 Damping factor current USINT % 8 16 rw 2 Damping factor speed USINT % 8 24 rw 3 Damping factor position USINT % 8 32 rw DT6640 112 0 SubIndex 000 USINT 8 0 ro 1 Current DINT Hz 32 16 rw 2 Speed DINT Hz 32 48 rw 3 Position DINT Hz 32 80 rw DT6645 176 0 SubIndex 000 USINT 8 0 ro 1 Position filter DINT Hz 32 16 rw 2 A/B filter DINT Hz 32 48 rw 3 Q/D filter DINT Hz 32 80 rw 4 Position prefilter DINT Hz 32 112 rw 5 Feed forward filter DINT Hz 32 144 rw DT6660 208 0 SubIndex 000 USINT 8 0 ro 1 Current p DINT mV/A 32 16 rw 2 Current i DINT V / (A*s) 32 48 rw 3 Current kb DINT 1/s 32 80 rw 4 Speed p DINT uA / RPM 32 112 rw 5 Speed i DINT mA / (RPM * s) 32 144 rw 6 Position p DINT mRPM / ° 32 176 rw DTF000 48 0 SubIndex 000 USINT 8 0 ro 1 Index distance UINT 16 16 ro 2 Maximum number of modules UINT 16 32 ro DTF010ARR UDINT 32 1 1 DTF010 48 0 SubIndex 000 USINT 8 0 ro Elements DTF010ARR 32 16 ro #x1000 Device type UDINT 32 92010200 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(12) 96 48447269766531372D455443 ro #x1009 Manufacturer Hardware version STRING(3) 24 312E30 ro #x100A Manufacturer Software version STRING(32) 256 322E322E30000000000000000000000000000000000000000000000000000000 ro #x1018 Identity Object DT1018 144 SubIndex 000 04 Vendor ID 4A000000 Product Code 00000000 Revision Number 01000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1600 RxPdoMappingCspCsV DT1600 240 SubIndex 000 07 SubIndex 001 20007A60 SubIndex 002 2000FF60 SubIndex 003 10007160 SubIndex 004 08006060 SubIndex 005 10004060 SubIndex 006 08000000 SubIndex 007 10000000 #x1601 RxPdoMappingCsp DT1601 112 SubIndex 000 03 SubIndex 001 20007A60 SubIndex 002 10004060 SubIndex 003 10000000 #x1602 RxPdoMappingCsv DT1602 112 SubIndex 000 03 SubIndex 001 2000FF60 SubIndex 002 10004060 SubIndex 003 10000000 #x1603 RxPdoMappingCst DT1603 80 SubIndex 000 02 SubIndex 001 10007160 SubIndex 002 10004060 #x1604 RxPositionLatchReset DT1604 112 SubIndex 000 03 SubIndex 001 08006966 SubIndex 002 08007266 #x1605 RxPdoMappingTemp DT1605 272 SubIndex 000 08 SubIndex 001 20001067 SubIndex 002 20001167 SubIndex 003 20001267 SubIndex 004 20001367 SubIndex 005 20001467 SubIndex 006 20001567 SubIndex 007 20001667 SubIndex 008 20001767 #x1A00 TxPdoMappingCspCsV DT1A00 304 SubIndex 000 09 SubIndex 001 20006460 SubIndex 002 20006C60 SubIndex 003 10007760 SubIndex 004 10004160 SubIndex 005 08006160 SubIndex 006 08009166 SubIndex 007 08009266 SubIndex 008 08000000 SubIndex 009 10000000 #x1A01 TxPdoMappingCsp DT1A01 112 SubIndex 000 03 SubIndex 001 20006460 SubIndex 002 10004160 SubIndex 003 10000000 #x1A02 TxPdoMappingCsv DT1A02 112 SubIndex 000 03 SubIndex 001 20006C60 SubIndex 002 10004160 SubIndex 003 10000000 #x1A03 Position latch 1 and 2 DT1A03 176 SubIndex 000 05 SubIndex 001 20006766 SubIndex 002 08006866 SubIndex 003 20007066 SubIndex 004 08007166 SubIndex 005 10000000 #x1A04 Digital IO DT1A04 112 SubIndex 000 03 SubIndex 001 08009166 SubIndex 002 08009266 SubIndex 003 10000000 #x1A05 TxPdoMappingDebug DT1A05 528 SubIndex 000 10 SubIndex 001 20000067 SubIndex 002 20000167 SubIndex 003 20000267 SubIndex 004 20000367 SubIndex 005 20000467 SubIndex 006 20000567 SubIndex 007 20000667 SubIndex 008 20000767 SubIndex 009 20000867 SubIndex 010 20000967 SubIndex 011 20000A67 SubIndex 012 20000B67 SubIndex 013 20000C67 SubIndex 014 20000D67 SubIndex 015 20000E67 SubIndex 016 20000F67 #x1A06 TxPdoMappingIsrTiming DT1A06 144 SubIndex 000 04 SubIndex 001 2000B066 SubIndex 002 2000B166 SubIndex 003 2000B266 SubIndex 004 2000B366 #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SM2 assignment DT1C12 96 SubIndex 000 05 SubIndex 001 0016 SubIndex 002 0000 SubIndex 003 0000 SubIndex 004 0000 SubIndex 005 0000 #x1C13 SM3 assignment DT1C13 96 SubIndex 000 05 SubIndex 001 001A SubIndex 002 0000 SubIndex 003 0000 SubIndex 004 0000 SubIndex 005 0000 #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 10270000 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 10270000 #x2031 Max motor current max motor current UDINT 32 30080000 rw #x2034 Upper voltage warning level Schwellwert für den Fehler "Überspannung" in Millivolt. UDINT 32 606D0000 rw #x2035 Lower voltage warning level Schwellwert für den Fehler "Unterspannung" in Millivolt. UDINT 32 10270000 rw #x603F Error code UINT 16 0000 ro #x6040 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT 16 0000 rw t #x6041 Statusword Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled Bit 5 : Quick stop Bit 6 : Switch on disabled Bit 7 : Warning Bit 8 : reserved Bit 9 : Remote Bit 10 - 15 : reserved UINT 16 0000 ro r #x605A Quick stop option code INT 16 0200 rw #x605B Shutdown option code INT 16 0100 rw #x605C Disable operation option code INT 16 0100 rw #x605D Halt option code INT 16 0100 rw #x605E Fault reaction option code INT 16 0200 rw #x6060 Modes of operation SINT 8 00 rw #x6061 Modes of operation display SINT 8 00 ro #x6062 Position demand value DINT 32 00000000 ro #x6063 Position actual internal value DINT 32 00000000 ro #x6064 Position actual value Mandatory, if csp or csv is supported, Recommended, if cst is supported DINT 32 00000000 ro 1 #x6065 Following error window UDINT 32 00010000 rw #x6066 Following error time out ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf UINT 16 6400 rw #x6067 Position window UDINT 32 0A000000 rw #x6068 Position window Time UINT 16 6400 rw #x606B Velocity demand value DINT 32 00000000 ro #x606C Velocity actual value Mandatory if pv supported, Recommended if csv is supported DINT 32 00000000 ro #x6071 Target torque This object limits the target torque for the torque controller (bipolar limit). INT 16 0000 rw #x6072 Max torque UINT 16 5802 rw #x6073 Max current Max Current in pro mille des maximalen stromes 2031 UINT 16 E803 rw #x6074 Torque demand INT 16 0000 ro #x6075 Motor rated current Motornennstrom [mA] UDINT 32 E8030000 rw #x6076 Motor rated torque ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf UDINT 32 00000000 rw #x6077 Torque actual value Mandatory if cst supported Recommended if csp or csv is supported INT 16 0000 ro #x6079 DC link circuit voltage Zwichenkreisspannung [mV] UDINT 32 00000000 ro #x607A Target position Mandatory if csp is supported DINT 32 00000000 rw #x607B Position range limit DT607B 80 SubIndex 000 02 #x607D Software position limit DT607D 80 SubIndex 000 02 Min position limit 006CCA88 Max position limit 00943577 #x607E Polarity ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf USINT 8 00 rw #x607F Max profile velocity Defines the profile velocity in deg/s UDINT 32 70170000 rw #x6080 Max motor speed Indicates the configured maximal permitted speed for the motor. It serves as protection of the motor and is taken from the motor data sheet UDINT 32 DC050000 rw #x6081 Profile velocity Maxon: The velocity normally attained at the end of the acceleration ramp during a profiled move UDINT 32 C8000000 rw #x6083 Profile acceleration Maxon: Defines the acceleration ramp during a movement UDINT 32 E8030000 rw #x6084 Profile deceleration Maxon: Defines the acceleration ramp during a movement UDINT 32 E8030000 rw #x6085 Quick stop deceleration UDINT 32 E8030000 rw #x6086 Motion profile type ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf INT 16 0000 rw #x608F Position encoder resolution DT608F 80 SubIndex 000 02 Encoder increments 100E0000 Motor revolutions 01000000 #x6090 Velocity Encoder Resolution DT6090 80 SubIndex 000 02 Encoder increments per second 00000000 Motor revolutions per second 01000000 #x6091 Position encoder resolution DT6091 80 SubIndex 000 02 Motor revolutions 01000000 Shaft revolutions 01000000 #x6092 Position encoder resolution DT6092 80 SubIndex 000 02 Feed 01000000 Shaft revolutions 01000000 #x6099 Homing Speed DT6099 80 SubIndex 000 02 Speed during search for switch C8000000 Speed during search for zero C8000000 #x60B0 Position offset Position offset ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf DINT 32 00000000 rw #x60B1 Velocity offset ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf DINT 32 00000000 rw #x60B2 Torque offset ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf INT 16 0000 rw #x60C2 Interpolation time period DT60C2 32 SubIndex 000 02 Interpolation time period value 00 Interpolation time index 00 #x60E0 Positive torque limit value ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf UINT 16 0007 rw #x60E1 Negative torque limit value ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf UINT 16 0007 rw #x60F4 Following error actual value DINT 32 00000000 ro #x60FD Digital inputs UDINT 32 00000000 ro #x60FE Digital inputs polarity USINT 8 00 rw #x60FF Target velocity Mandatory if pv or csv is supported DINT 32 00000000 rw #x6502 Supported drive modes bit7 (csp) and bit8 (csv) and bit9 (cst) are set UDINT 32 C0010000 ro #x6620 MotorDynamic DT6620 40 SubIndex 000 03 Damping factor current 64 Damping factor speed 64 Damping factor position 64 #x6627 Max speed DINT 32 D0070000 rw #x6628 Slew rate DINT 32 30750000 rw #x6629 Max current mA DINT 32 A8160000 rw #x6630 Torque constant nMM/A DINT 32 F4010000 rw #x6631 DC coil resistant mOhm DINT 32 BC020000 rw #x6632 Phase inductance uH DINT 32 8C0A0000 rw #x6633 Rotor inertia g*cm^2 DINT 32 A0000000 rw #x6634 Damping uNm/(rad/s) DINT 32 C8000000 rw #x6635 Resonance frequency Hz DINT 32 10270000 rw #x6636 Zero position offset 1/10 deg DINT 32 00000000 rw #x6637 Trigger new parameter calculation USINT 8 00 rw #x6640 Control Bandwith DT6640 112 SubIndex 000 03 Current 90010000 Speed 32000000 Position 14000000 #x6645 Filters DT6645 176 SubIndex 000 05 Position filter 00000000 A/B filter 88130000 Q/D filter 00000000 Position prefilter 00000000 Feed forward filter 21010000 #x6660 Cascade Control Parameters DT6660 208 SubIndex 000 06 Current p D9170000 Current i F8130000 Current kb A5250000 Speed p 46050000 Speed i 99000000 Position p 22330000 #x6667 Latch position 1 DINT 32 00000000 ro #x6668 Latch trigger source 1 SINT 8 00 ro #x6669 Latch reset 1 SINT 8 00 rw #x6670 Latch position 2 DINT 32 00000000 ro #x6671 Latch trigger source 2 SINT 8 00 ro #x6672 Latch reset 2 SINT 8 00 rw #x6691 Digital input 1 Digital In 1 USINT 8 00 ro #x6692 Digital input 2 Digital In 2 USINT 8 00 ro #x6693 Digital input 3 Digital In 3 USINT 8 00 ro #x6694 Digital input 4 Digital In 4 USINT 8 00 ro #x66B0 ISR runtime Last PWM ISR occupancy in ns UDINT 32 00000000 ro t #x66B1 ISR runtime max Max PWM ISR occupancy in ns UDINT 32 00000000 ro t #x66B2 ISR jitter |period-40us| in ns UDINT 32 00000000 ro t #x66B3 ISR jitter max Max |period-40us| in ns UDINT 32 00000000 ro t #x6700 Temp 0 REAL 32 00000000 ro #x6701 Temp 1 REAL 32 00000000 ro #x6702 Temp 2 REAL 32 00000000 ro #x6703 Temp 3 REAL 32 00000000 ro #x6704 Temp 4 REAL 32 00000000 ro #x6705 Temp 5 REAL 32 00000000 ro #x6706 Temp 6 REAL 32 00000000 ro #x6707 Temp 7 REAL 32 00000000 ro #x6708 Temp 8 REAL 32 00000000 ro #x6709 Temp 9 REAL 32 00000000 ro #x670A Temp 10 REAL 32 00000000 ro #x670B Temp 11 REAL 32 00000000 ro #x670C Temp 12 REAL 32 00000000 ro #x670D Temp 13 REAL 32 00000000 ro #x670E Temp 14 REAL 32 00000000 ro #x670F Temp 15 REAL 32 00000000 ro #x6710 TempOut 0 DINT 32 00000000 rw #x6711 TempOut 1 DINT 32 00000000 rw #x6712 TempOut 2 DINT 32 00000000 rw #x6713 TempOut 3 DINT 32 00000000 rw #x6714 TempOut 4 DINT 32 00000000 rw #x6715 TempOut 5 DINT 32 00000000 rw #x6716 TempOut 6 DINT 32 00000000 rw #x6717 TempOut 7 DINT 32 00000000 rw #xF000 Modular device profile DTF000 48 SubIndex 000 02 Index distance 0008 Maximum number of modules 0100 #xF010 Module profile list DTF010 48 SubIndex 000 01 SubIndex 001 92010200 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPdoMappingCspCsV #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x6040 0 16 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT #x0 0 8 #x0 0 16 #x1601 RxPdoMappingCsp #x607A 0 32 Target position DINT #x6040 0 16 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT #x0 0 16 #x1602 RxPdoMappingCsv #x60FF 0 32 Target velocity DINT #x6040 0 16 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT #x0 0 16 #x1603 RxPdoMappingCst #x6071 0 16 Target torque INT #x6040 0 16 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT #x1604 RxPositionLatchReset #x6669 0 8 Latch reset 1 SINT #x6672 0 8 Latch reset 2 SINT #x0 0 0 #x1605 RxPdoMappingTemp #x6710 0 32 TempOut 0 DINT #x6711 0 32 TempOut 1 DINT #x6712 0 32 TempOut 2 DINT #x6713 0 32 TempOut 3 DINT #x6714 0 32 TempOut 4 DINT #x6715 0 32 TempOut 5 DINT #x6716 0 32 TempOut 6 DINT #x6717 0 32 TempOut 7 DINT #x1A00 TxPdoMappingCspCsV #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Statusword Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled Bit 5 : Quick stop Bit 6 : Switch on disabled Bit 7 : Warning Bit 8 : reserved Bit 9 : Remote Bit 10 - 15 : reserved UINT #x6061 0 8 Modes of operation display SINT #x6691 0 8 Digital input 1 USINT #x6692 0 8 Digital input 2 USINT #x0 0 8 #x0 0 16 #x1A01 TxPdoMappingCsp #x6064 0 32 Position actual value DINT #x6041 0 16 Statusword Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled Bit 5 : Quick stop Bit 6 : Switch on disabled Bit 7 : Warning Bit 8 : reserved Bit 9 : Remote Bit 10 - 15 : reserved UINT #x0 0 16 #x1A02 TxPdoMappingCsv #x606C 0 32 Velocity actual value DINT #x6041 0 16 Statusword Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled Bit 5 : Quick stop Bit 6 : Switch on disabled Bit 7 : Warning Bit 8 : reserved Bit 9 : Remote Bit 10 - 15 : reserved UINT #x0 0 16 #x1A03 Position latch 1 and 2 #x6667 0 32 Latch position 1 DINT #x6668 0 8 Latch trigger source 1 SINT #x6670 0 32 Latch position 2 DINT #x6671 0 8 Latch trigger source 2 SINT #x0 0 16 #x1A04 Digital IO #x6691 0 8 Digital input 1 USINT #x6692 0 8 Digital input 2 USINT #x0 0 16 #x1A05 TxPdoMappingDebug #x6700 0 32 Temp 0 REAL #x6701 0 32 Temp 1 REAL #x6702 0 32 Temp 2 REAL #x6703 0 32 Temp 3 REAL #x6704 0 32 Temp 4 REAL #x6705 0 32 Temp 5 REAL #x6706 0 32 Temp 6 REAL #x6707 0 32 Temp 7 REAL #x6708 0 32 Temp 8 REAL #x6709 0 32 Temp 9 REAL #x670A 0 32 Temp 10 REAL #x670B 0 32 Temp 11 REAL #x670C 0 32 Temp 12 REAL #x670D 0 32 Temp 13 REAL #x670E 0 32 Temp 14 REAL #x670F 0 32 Temp 15 REAL #x1A06 TxPdoMappingIsrTiming #x66B0 0 32 ISR runtime UDINT #x66B1 0 32 ISR runtime max UDINT #x66B2 0 32 ISR jitter UDINT #x66B3 0 32 ISR jitter max UDINT Synchron SM-Synchron #x0 DC DC-Synchron #x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rive23-ETC HDrive23-ETC 2000 9000 5000 200 100 2000 HDrive-ETC 402 2 STRING(4) 32 STRING(3) 24 STRING(12) 96 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 INT 16 SINT 8 DINT 32 REAL 32 DT1018 144 0 SubIndex 000 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 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT1600 240 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map taget position 32 16 ro 2 SubIndex 002 UDINT map target velocity 32 48 ro 3 SubIndex 003 UDINT map target torque 32 80 ro 4 SubIndex 004 UDINT map mode of operation 32 112 ro 5 SubIndex 005 UDINT map control word 32 144 ro 6 SubIndex 006 UDINT Padding bytes 32 176 ro 7 SubIndex 007 UDINT Padding bytes 32 208 ro DT1601 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map target position 32 16 ro 2 SubIndex 002 UDINT map control word 32 48 ro 3 SubIndex 003 UDINT add 16bit padding to get an 32Bit object/process data structure 32 80 ro DT1602 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map target velocity 32 16 ro 2 SubIndex 002 UDINT map control word 32 48 ro 3 SubIndex 003 UDINT add 16bit padding to get an 32Bit object/process data structure 32 80 ro DT1603 80 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map target torque 32 16 ro 2 SubIndex 002 UDINT map control word 32 48 ro DT1604 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT Reset Position Latch 1 32 16 ro 2 SubIndex 002 UDINT Reset Position Latch 2 32 48 ro 3 SubIndex 003 UDINT Padding 32 80 ro DT1605 272 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT Temp Out 1 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro DT1A00 304 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map actual position 32 16 ro 2 SubIndex 002 UDINT map actual velocity 32 48 ro 3 SubIndex 003 UDINT map torque actual value 32 80 ro 4 SubIndex 004 UDINT map status word 32 112 ro 5 SubIndex 005 UDINT map mode of operation display 32 144 ro 6 SubIndex 006 UDINT map digital IO 1 32 176 ro 7 SubIndex 007 UDINT map digital IO 2 32 208 ro 8 SubIndex 008 UDINT Padding bytes 32 240 ro 9 SubIndex 009 UDINT Padding bytes 32 272 ro DT1A01 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map actual position 32 16 ro 2 SubIndex 002 UDINT map status word 32 48 ro 3 SubIndex 003 UDINT add 16bit padding to get an 32Bit object/process data structure 32 80 ro DT1A02 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map actual velocity 32 16 ro 2 SubIndex 002 UDINT map status word 32 48 ro 3 SubIndex 003 UDINT add 16bit padding to get an 32Bit object/process data structure 32 80 ro DT1A03 176 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT Position Latch 1 32 16 ro 2 SubIndex 002 UDINT Trigger Source 1 32 48 ro 3 SubIndex 003 UDINT Position Latch 2 32 80 ro 4 SubIndex 004 UDINT Trigger Source 2 32 112 ro 5 SubIndex 005 UDINT Padding 32 144 ro DT1A04 112 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT map digital IO 1 32 16 ro 2 SubIndex 002 UDINT map digital IO 2 32 48 ro 3 SubIndex 003 UDINT Padding bytes 32 80 ro DT1A05 528 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT 32 16 ro 2 SubIndex 002 UDINT 32 48 ro 3 SubIndex 003 UDINT 32 80 ro 4 SubIndex 004 UDINT 32 112 ro 5 SubIndex 005 UDINT 32 144 ro 6 SubIndex 006 UDINT 32 176 ro 7 SubIndex 007 UDINT 32 208 ro 8 SubIndex 008 UDINT 32 240 ro 9 SubIndex 009 UDINT 32 272 ro 10 SubIndex 010 UDINT 32 304 ro 11 SubIndex 011 UDINT 32 336 ro 12 SubIndex 012 UDINT 32 368 ro 13 SubIndex 013 UDINT 32 400 ro 14 SubIndex 014 UDINT 32 432 ro 15 SubIndex 015 UDINT 32 464 ro 16 SubIndex 016 UDINT 32 496 ro DT1A06 144 0 SubIndex 000 USINT 8 0 ro 1 SubIndex 001 UDINT ISR runtime ns 32 16 ro 2 SubIndex 002 UDINT ISR runtime max ns 32 48 ro 3 SubIndex 003 UDINT ISR jitter ns 32 80 ro 4 SubIndex 004 UDINT ISR jitter max ns 32 112 ro DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 80 1 5 DT1C12 96 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 80 16 rw DT1C13ARR UINT 80 1 5 DT1C13 96 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 80 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 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 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro DT607B 80 0 SubIndex 000 USINT 8 0 ro 1 Min position range limit DINT encoder counts 32 16 rw 2 Max position range limit DINT encoder counts 32 48 rw DT607D 80 0 SubIndex 000 USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT608F 80 0 SubIndex 000 USINT 8 0 ro 1 Encoder increments UDINT E10 = 3600 32 16 ro 2 Motor revolutions UDINT 32 48 ro DT6090 80 0 SubIndex 000 USINT 8 0 ro 1 Encoder increments per second UDINT 32 16 rw 2 Motor revolutions per second UDINT 32 48 rw DT6091 80 0 SubIndex 000 USINT 8 0 ro 1 Motor revolutions UDINT E10 = 3600 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6092 80 0 SubIndex 000 USINT 8 0 ro 1 Feed UDINT E10 = 3600 32 16 rw 2 Shaft revolutions UDINT 32 48 rw DT6099 80 0 SubIndex 000 USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw 2 Speed during search for zero UDINT 32 48 rw DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation time period value USINT 8 16 rw 2 Interpolation time index SINT 8 24 rw DT6620 40 0 SubIndex 000 USINT 8 0 ro 1 Damping factor current USINT % 8 16 rw 2 Damping factor speed USINT % 8 24 rw 3 Damping factor position USINT % 8 32 rw DT6640 112 0 SubIndex 000 USINT 8 0 ro 1 Current DINT Hz 32 16 rw 2 Speed DINT Hz 32 48 rw 3 Position DINT Hz 32 80 rw DT6645 176 0 SubIndex 000 USINT 8 0 ro 1 Position filter DINT Hz 32 16 rw 2 A/B filter DINT Hz 32 48 rw 3 Q/D filter DINT Hz 32 80 rw 4 Position prefilter DINT Hz 32 112 rw 5 Feed forward filter DINT Hz 32 144 rw DT6660 208 0 SubIndex 000 USINT 8 0 ro 1 Current p DINT mV/A 32 16 rw 2 Current i DINT V / (A*s) 32 48 rw 3 Current kb DINT 1/s 32 80 rw 4 Speed p DINT uA / RPM 32 112 rw 5 Speed i DINT mA / (RPM * s) 32 144 rw 6 Position p DINT mRPM / ° 32 176 rw DTF000 48 0 SubIndex 000 USINT 8 0 ro 1 Index distance UINT 16 16 ro 2 Maximum number of modules UINT 16 32 ro DTF010ARR UDINT 32 1 1 DTF010 48 0 SubIndex 000 USINT 8 0 ro Elements DTF010ARR 32 16 ro #x1000 Device type UDINT 32 92010200 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(12) 96 48447269766532332D455443 ro #x1009 Manufacturer Hardware version STRING(3) 24 312E30 ro #x100A Manufacturer Software version STRING(32) 256 322E322E30000000000000000000000000000000000000000000000000000000 ro #x1018 Identity Object DT1018 144 SubIndex 000 04 Vendor ID 4A000000 Product Code 01000000 Revision Number 01000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1600 RxPdoMappingCspCsV DT1600 240 SubIndex 000 07 SubIndex 001 20007A60 SubIndex 002 2000FF60 SubIndex 003 10007160 SubIndex 004 08006060 SubIndex 005 10004060 SubIndex 006 08000000 SubIndex 007 10000000 #x1601 RxPdoMappingCsp DT1601 112 SubIndex 000 03 SubIndex 001 20007A60 SubIndex 002 10004060 SubIndex 003 10000000 #x1602 RxPdoMappingCsv DT1602 112 SubIndex 000 03 SubIndex 001 2000FF60 SubIndex 002 10004060 SubIndex 003 10000000 #x1603 RxPdoMappingCst DT1603 80 SubIndex 000 02 SubIndex 001 10007160 SubIndex 002 10004060 #x1604 RxPositionLatchReset DT1604 112 SubIndex 000 03 SubIndex 001 08006966 SubIndex 002 08007266 #x1605 RxPdoMappingTemp DT1605 272 SubIndex 000 08 SubIndex 001 20001067 SubIndex 002 20001167 SubIndex 003 20001267 SubIndex 004 20001367 SubIndex 005 20001467 SubIndex 006 20001567 SubIndex 007 20001667 SubIndex 008 20001767 #x1A00 TxPdoMappingCspCsV DT1A00 304 SubIndex 000 09 SubIndex 001 20006460 SubIndex 002 20006C60 SubIndex 003 10007760 SubIndex 004 10004160 SubIndex 005 08006160 SubIndex 006 08009166 SubIndex 007 08009266 SubIndex 008 08000000 SubIndex 009 10000000 #x1A01 TxPdoMappingCsp DT1A01 112 SubIndex 000 03 SubIndex 001 20006460 SubIndex 002 10004160 SubIndex 003 10000000 #x1A02 TxPdoMappingCsv DT1A02 112 SubIndex 000 03 SubIndex 001 20006C60 SubIndex 002 10004160 SubIndex 003 10000000 #x1A03 Position latch 1 and 2 DT1A03 176 SubIndex 000 05 SubIndex 001 20006766 SubIndex 002 08006866 SubIndex 003 20007066 SubIndex 004 08007166 SubIndex 005 10000000 #x1A04 Digital IO DT1A04 112 SubIndex 000 03 SubIndex 001 08009166 SubIndex 002 08009266 SubIndex 003 10000000 #x1A05 TxPdoMappingDebug DT1A05 528 SubIndex 000 10 SubIndex 001 20000067 SubIndex 002 20000167 SubIndex 003 20000267 SubIndex 004 20000367 SubIndex 005 20000467 SubIndex 006 20000567 SubIndex 007 20000667 SubIndex 008 20000767 SubIndex 009 20000867 SubIndex 010 20000967 SubIndex 011 20000A67 SubIndex 012 20000B67 SubIndex 013 20000C67 SubIndex 014 20000D67 SubIndex 015 20000E67 SubIndex 016 20000F67 #x1A06 TxPdoMappingIsrTiming DT1A06 144 SubIndex 000 04 SubIndex 001 2000B066 SubIndex 002 2000B166 SubIndex 003 2000B266 SubIndex 004 2000B366 #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 SM2 assignment DT1C12 96 SubIndex 000 05 SubIndex 001 0016 SubIndex 002 0000 SubIndex 003 0000 SubIndex 004 0000 SubIndex 005 0000 #x1C13 SM3 assignment DT1C13 96 SubIndex 000 05 SubIndex 001 001A SubIndex 002 0000 SubIndex 003 0000 SubIndex 004 0000 SubIndex 005 0000 #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 10270000 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 10270000 #x2031 Max motor current max motor current UDINT 32 30080000 rw #x2034 Upper voltage warning level Schwellwert für den Fehler "Überspannung" in Millivolt. UDINT 32 606D0000 rw #x2035 Lower voltage warning level Schwellwert für den Fehler "Unterspannung" in Millivolt. UDINT 32 10270000 rw #x603F Error code UINT 16 0000 ro #x6040 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT 16 0000 rw t #x6041 Statusword Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled Bit 5 : Quick stop Bit 6 : Switch on disabled Bit 7 : Warning Bit 8 : reserved Bit 9 : Remote Bit 10 - 15 : reserved UINT 16 0000 ro r #x605A Quick stop option code INT 16 0200 rw #x605B Shutdown option code INT 16 0100 rw #x605C Disable operation option code INT 16 0100 rw #x605D Halt option code INT 16 0100 rw #x605E Fault reaction option code INT 16 0200 rw #x6060 Modes of operation SINT 8 00 rw #x6061 Modes of operation display SINT 8 00 ro #x6062 Position demand value DINT 32 00000000 ro #x6063 Position actual internal value DINT 32 00000000 ro #x6064 Position actual value Mandatory, if csp or csv is supported, Recommended, if cst is supported DINT 32 00000000 ro 1 #x6065 Following error window UDINT 32 00010000 rw #x6066 Following error time out ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf UINT 16 6400 rw #x6067 Position window UDINT 32 0A000000 rw #x6068 Position window Time UINT 16 6400 rw #x606B Velocity demand value DINT 32 00000000 ro #x606C Velocity actual value Mandatory if pv supported, Recommended if csv is supported DINT 32 00000000 ro #x6071 Target torque This object limits the target torque for the torque controller (bipolar limit). INT 16 0000 rw #x6072 Max torque UINT 16 5802 rw #x6073 Max current Max Current in pro mille des maximalen stromes 2031 UINT 16 E803 rw #x6074 Torque demand INT 16 0000 ro #x6075 Motor rated current Motornennstrom [mA] UDINT 32 E8030000 rw #x6076 Motor rated torque ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf UDINT 32 00000000 rw #x6077 Torque actual value Mandatory if cst supported Recommended if csp or csv is supported INT 16 0000 ro #x6079 DC link circuit voltage Zwichenkreisspannung [mV] UDINT 32 00000000 ro #x607A Target position Mandatory if csp is supported DINT 32 00000000 rw #x607B Position range limit DT607B 80 SubIndex 000 02 #x607D Software position limit DT607D 80 SubIndex 000 02 Min position limit 006CCA88 Max position limit 00943577 #x607E Polarity ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf USINT 8 00 rw #x607F Max profile velocity Defines the profile velocity in deg/s UDINT 32 70170000 rw #x6080 Max motor speed Indicates the configured maximal permitted speed for the motor. It serves as protection of the motor and is taken from the motor data sheet UDINT 32 DC050000 rw #x6081 Profile velocity Maxon: The velocity normally attained at the end of the acceleration ramp during a profiled move UDINT 32 C8000000 rw #x6083 Profile acceleration Maxon: Defines the acceleration ramp during a movement UDINT 32 E8030000 rw #x6084 Profile deceleration Maxon: Defines the acceleration ramp during a movement UDINT 32 E8030000 rw #x6085 Quick stop deceleration UDINT 32 E8030000 rw #x6086 Motion profile type ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf INT 16 0000 rw #x608F Position encoder resolution DT608F 80 SubIndex 000 02 Encoder increments 100E0000 Motor revolutions 01000000 #x6090 Velocity Encoder Resolution DT6090 80 SubIndex 000 02 Encoder increments per second 00000000 Motor revolutions per second 01000000 #x6091 Position encoder resolution DT6091 80 SubIndex 000 02 Motor revolutions 01000000 Shaft revolutions 01000000 #x6092 Position encoder resolution DT6092 80 SubIndex 000 02 Feed 01000000 Shaft revolutions 01000000 #x6099 Homing Speed DT6099 80 SubIndex 000 02 Speed during search for switch C8000000 Speed during search for zero C8000000 #x60B0 Position offset Position offset ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf DINT 32 00000000 rw #x60B1 Velocity offset ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf DINT 32 00000000 rw #x60B2 Torque offset ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf INT 16 0000 rw #x60C2 Interpolation time period DT60C2 32 SubIndex 000 02 Interpolation time period value 00 Interpolation time index 00 #x60E0 Positive torque limit value ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf UINT 16 0007 rw #x60E1 Negative torque limit value ETG6010_V1i1i0_D_R_CiA402_ImplDirective.pdf UINT 16 0007 rw #x60F4 Following error actual value DINT 32 00000000 ro #x60FD Digital inputs UDINT 32 00000000 ro #x60FE Digital inputs polarity USINT 8 00 rw #x60FF Target velocity Mandatory if pv or csv is supported DINT 32 00000000 rw #x6502 Supported drive modes bit7 (csp) and bit8 (csv) and bit9 (cst) are set UDINT 32 C0010000 ro #x6620 MotorDynamic DT6620 40 SubIndex 000 03 Damping factor current 64 Damping factor speed 64 Damping factor position 64 #x6627 Max speed DINT 32 D0070000 rw #x6628 Slew rate DINT 32 30750000 rw #x6629 Max current mA DINT 32 A8160000 rw #x6630 Torque constant nMM/A DINT 32 F4010000 rw #x6631 DC coil resistant mOhm DINT 32 BC020000 rw #x6632 Phase inductance uH DINT 32 8C0A0000 rw #x6633 Rotor inertia g*cm^2 DINT 32 A0000000 rw #x6634 Damping uNm/(rad/s) DINT 32 C8000000 rw #x6635 Resonance frequency Hz DINT 32 10270000 rw #x6636 Zero position offset 1/10 deg DINT 32 00000000 rw #x6637 Trigger new parameter calculation USINT 8 00 rw #x6640 Control Bandwith DT6640 112 SubIndex 000 03 Current 90010000 Speed 32000000 Position 14000000 #x6645 Filters DT6645 176 SubIndex 000 05 Position filter 00000000 A/B filter 88130000 Q/D filter 00000000 Position prefilter 00000000 Feed forward filter 21010000 #x6660 Cascade Control Parameters DT6660 208 SubIndex 000 06 Current p D9170000 Current i F8130000 Current kb A5250000 Speed p 46050000 Speed i 99000000 Position p 22330000 #x6667 Latch position 1 DINT 32 00000000 ro #x6668 Latch trigger source 1 SINT 8 00 ro #x6669 Latch reset 1 SINT 8 00 rw #x6670 Latch position 2 DINT 32 00000000 ro #x6671 Latch trigger source 2 SINT 8 00 ro #x6672 Latch reset 2 SINT 8 00 rw #x6691 Digital input 1 Digital In 1 USINT 8 00 ro #x6692 Digital input 2 Digital In 2 USINT 8 00 ro #x6693 Digital input 3 Digital In 3 USINT 8 00 ro #x6694 Digital input 4 Digital In 4 USINT 8 00 ro #x66B0 ISR runtime Last PWM ISR occupancy in ns UDINT 32 00000000 ro t #x66B1 ISR runtime max Max PWM ISR occupancy in ns UDINT 32 00000000 ro t #x66B2 ISR jitter |period-40us| in ns UDINT 32 00000000 ro t #x66B3 ISR jitter max Max |period-40us| in ns UDINT 32 00000000 ro t #x6700 Temp 0 REAL 32 00000000 ro #x6701 Temp 1 REAL 32 00000000 ro #x6702 Temp 2 REAL 32 00000000 ro #x6703 Temp 3 REAL 32 00000000 ro #x6704 Temp 4 REAL 32 00000000 ro #x6705 Temp 5 REAL 32 00000000 ro #x6706 Temp 6 REAL 32 00000000 ro #x6707 Temp 7 REAL 32 00000000 ro #x6708 Temp 8 REAL 32 00000000 ro #x6709 Temp 9 REAL 32 00000000 ro #x670A Temp 10 REAL 32 00000000 ro #x670B Temp 11 REAL 32 00000000 ro #x670C Temp 12 REAL 32 00000000 ro #x670D Temp 13 REAL 32 00000000 ro #x670E Temp 14 REAL 32 00000000 ro #x670F Temp 15 REAL 32 00000000 ro #x6710 TempOut 0 DINT 32 00000000 rw #x6711 TempOut 1 DINT 32 00000000 rw #x6712 TempOut 2 DINT 32 00000000 rw #x6713 TempOut 3 DINT 32 00000000 rw #x6714 TempOut 4 DINT 32 00000000 rw #x6715 TempOut 5 DINT 32 00000000 rw #x6716 TempOut 6 DINT 32 00000000 rw #x6717 TempOut 7 DINT 32 00000000 rw #xF000 Modular device profile DTF000 48 SubIndex 000 02 Index distance 0008 Maximum number of modules 0100 #xF010 Module profile list DTF010 48 SubIndex 000 01 SubIndex 001 92010200 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPdoMappingCspCsV #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x6040 0 16 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT #x0 0 8 #x0 0 16 #x1601 RxPdoMappingCsp #x607A 0 32 Target position DINT #x6040 0 16 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT #x0 0 16 #x1602 RxPdoMappingCsv #x60FF 0 32 Target velocity DINT #x6040 0 16 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT #x0 0 16 #x1603 RxPdoMappingCst #x6071 0 16 Target torque INT #x6040 0 16 Controlword Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 - 6 : reserved Bit 7 : Fault reset Bit 8 - 15 : reserved UINT #x1604 RxPositionLatchReset #x6669 0 8 Latch reset 1 SINT #x6672 0 8 Latch reset 2 SINT #x0 0 0 #x1605 RxPdoMappingTemp #x6710 0 32 TempOut 0 DINT #x6711 0 32 TempOut 1 DINT #x6712 0 32 TempOut 2 DINT #x6713 0 32 TempOut 3 DINT #x6714 0 32 TempOut 4 DINT #x6715 0 32 TempOut 5 DINT #x6716 0 32 TempOut 6 DINT #x6717 0 32 TempOut 7 DINT #x1A00 TxPdoMappingCspCsV #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Statusword Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled Bit 5 : Quick stop Bit 6 : Switch on disabled Bit 7 : Warning Bit 8 : reserved Bit 9 : Remote Bit 10 - 15 : reserved UINT #x6061 0 8 Modes of operation display SINT #x6691 0 8 Digital input 1 USINT #x6692 0 8 Digital input 2 USINT #x0 0 8 #x0 0 16 #x1A01 TxPdoMappingCsp #x6064 0 32 Position actual value DINT #x6041 0 16 Statusword Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled Bit 5 : Quick stop Bit 6 : Switch on disabled Bit 7 : Warning Bit 8 : reserved Bit 9 : Remote Bit 10 - 15 : reserved UINT #x0 0 16 #x1A02 TxPdoMappingCsv #x606C 0 32 Velocity actual value DINT #x6041 0 16 Statusword Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled Bit 5 : Quick stop Bit 6 : Switch on disabled Bit 7 : Warning Bit 8 : reserved Bit 9 : Remote Bit 10 - 15 : reserved UINT #x0 0 16 #x1A03 Position latch 1 and 2 #x6667 0 32 Latch position 1 DINT #x6668 0 8 Latch trigger source 1 SINT #x6670 0 32 Latch position 2 DINT #x6671 0 8 Latch trigger source 2 SINT #x0 0 16 #x1A04 Digital IO #x6691 0 8 Digital input 1 USINT #x6692 0 8 Digital input 2 USINT #x0 0 16 #x1A05 TxPdoMappingDebug #x6700 0 32 Temp 0 REAL #x6701 0 32 Temp 1 REAL #x6702 0 32 Temp 2 REAL #x6703 0 32 Temp 3 REAL #x6704 0 32 Temp 4 REAL #x6705 0 32 Temp 5 REAL #x6706 0 32 Temp 6 REAL #x6707 0 32 Temp 7 REAL #x6708 0 32 Temp 8 REAL #x6709 0 32 Temp 9 REAL #x670A 0 32 Temp 10 REAL #x670B 0 32 Temp 11 REAL #x670C 0 32 Temp 12 REAL #x670D 0 32 Temp 13 REAL #x670E 0 32 Temp 14 REAL #x670F 0 32 Temp 15 REAL #x1A06 TxPdoMappingIsrTiming #x66B0 0 32 ISR runtime UDINT #x66B1 0 32 ISR runtime max UDINT #x66B2 0 32 ISR jitter UDINT #x66B3 0 32 ISR jitter max UDINT Synchron SM-Synchron #x0 DC DC-Synchron #x300 0 0 2048 003C0000FF0100000000 0010800080108000 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