#x1097 Jiangsu Yiyou Robot Technology Co., Ltd. 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 ServoDrive Servo Drives 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 EYOU_ServoModule_V145 EYOU_ServoModule_ECAT_V145 2000 9000 5000 200 100 2000 ServoDrive 402 BIT2 2 BOOL 1 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 REAL 32 ARRAY [0..3] OF BYTE USINT 32 0 4 STRING(12) 96 STRING(10) 80 DT1010 112 0 SubIndex 000 USINT 8 0 ro o 1 Store All Parameters UDINT 32 16 rw o 2 Store Communication Parameters UDINT 32 48 rw o 3 Store Application Parametesr UDINT 32 80 rw o DT1011 112 0 SubIndex 000 USINT 8 0 ro o 1 Restore All Parameters UDINT 32 16 rw o 2 Restore Communication Parameters UDINT 32 48 rw o 3 Restore Application Parametesr UDINT 32 80 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT10F1 80 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 rw o 2 Sync Error Counter Limit UDINT 32 48 rw o DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1600 336 0 SubIndex 000 USINT 8 0 rw 1 1st Output Object to be mapped UDINT 32 16 rw o 2 2nd Output Object to be mapped UDINT 32 48 rw o 3 3rd Output Object to be mapped UDINT 32 80 rw o 4 4th Output Object to be mapped UDINT 32 112 rw o 5 5th Output Object to be mapped UDINT 32 144 rw o 6 6th Output Object to be mapped UDINT 32 176 rw o 7 7th Output Object to be mapped UDINT 32 208 rw o 8 8th Output Object to be mapped UDINT 32 240 rw o 9 9th Output Object to be mapped UDINT 32 272 rw o 10 10th Output Object to be mapped UDINT 32 304 rw o DT1601 336 0 SubIndex 000 USINT 8 0 ro 1 1st Output Object to be mapped UDINT 32 16 ro o 2 2nd Output Object to be mapped UDINT 32 48 ro o 3 3rd Output Object to be mapped UDINT 32 80 ro o 4 4th Output Object to be mapped UDINT 32 112 ro o 5 5th Output Object to be mapped UDINT 32 144 ro o 6 6th Output Object to be mapped UDINT 32 176 ro o 7 7th Output Object to be mapped UDINT 32 208 ro o 8 8th Output Object to be mapped UDINT 32 240 ro o 9 9th Output Object to be mapped UDINT 32 272 ro o 10 10th Output Object to be mapped UDINT 32 304 ro o DT1602 336 0 SubIndex 000 USINT 8 0 ro o 1 1st Output Object to be mapped UDINT 32 16 ro o 2 2nd Output Object to be mapped UDINT 32 48 ro o 3 3rd Output Object to be mapped UDINT 32 80 ro o 4 4th Output Object to be mapped UDINT 32 112 ro o 5 5th Output Object to be mapped UDINT 32 144 ro o 6 6th Output Object to be mapped UDINT 32 176 ro o 7 7th Output Object to be mapped UDINT 32 208 ro o 8 8th Output Object to be mapped UDINT 32 240 ro o 9 9th Output Object to be mapped UDINT 32 272 ro o 10 10th Output Object to be mapped UDINT 32 304 ro o DT1A00 336 0 SubIndex 000 USINT 8 0 rw 1 1st Input Object to be mapped UDINT 32 16 rw o 2 2nd Input Object to be mapped UDINT 32 48 rw o 3 3rd Input Object to be mapped UDINT 32 80 rw o 4 4th Input Object to be mapped UDINT 32 112 rw o 5 5th Input Object to be mapped UDINT 32 144 rw o 6 6th Input Object to be mapped UDINT 32 176 rw o 7 7th Input Object to be mapped UDINT 32 208 rw o 8 8th Input Object to be mapped UDINT 32 240 rw o 9 9th Input Object to be mapped UDINT 32 272 rw o 10 10th Input Object to be mapped UDINT 32 304 rw o DT1A01 336 0 SubIndex 000 USINT 8 0 ro o 1 1st Input Object to be mapped UDINT 32 16 ro o 2 2nd Input Object to be mapped UDINT 32 48 ro o 3 3rd Input Object to be mapped UDINT 32 80 ro o 4 4th Input Object to be mapped UDINT 32 112 ro o 5 5th Input Object to be mapped UDINT 32 144 ro o 6 6th Input Object to be mapped UDINT 32 176 ro o 7 7th Input Object to be mapped UDINT 32 208 ro o 8 8th Input Object to be mapped UDINT 32 240 ro o 9 9th Input Object to be mapped UDINT 32 272 ro o 10 10th Input Object to be mapped UDINT 32 304 ro o DT1A02 336 0 SubIndex 000 USINT 8 0 ro o 1 1st Input Object to be mapped UDINT 32 16 ro o 2 2nd Input Object to be mapped UDINT 32 48 ro o 3 3rd Input Object to be mapped UDINT 32 80 ro o 4 4th Input Object to be mapped UDINT 32 112 ro o 5 5th Input Object to be mapped UDINT 32 144 ro o 6 6th Input Object to be mapped UDINT 32 176 ro o 7 7th Input Object to be mapped UDINT 32 208 ro o 8 8th Input Object to be mapped UDINT 32 240 ro o 9 9th Input Object to be mapped UDINT 32 272 ro o 10 10th Input Object to be mapped UDINT 32 304 ro o DT1C12ARR UINT 32 1 2 DT1C12 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 32 16 rw o DT1C13ARR UINT 32 1 2 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 32 16 rw o DT2001 48 0 SubIndex 000 USINT 8 0 ro o 1 Eu Node Id USINT 8 16 rw o 2 Eu Can BitRate UINT 16 32 rw o DT2010 80 0 SubIndex 000 USINT 8 0 ro o 1 Current Loop Kp Default UINT 16 16 ro o 2 Current Loop Ki Default UINT 16 32 ro o 3 Current Loop Kp UINT 16 48 rw o 4 Current Loop Ki UINT 16 64 rw o DT2012 80 0 SubIndex 000 USINT 8 0 ro o 1 Velocity Loop Kp Default UINT 16 16 ro o 2 Velocity Loop Ki Default UINT 16 32 ro o 3 Velocity Loop Kp UINT 16 48 rw o 4 Velocity Loop Ki UINT 16 64 rw o DT2013 80 0 SubIndex 000 USINT 8 0 ro o 1 Position Loop Kp Default UINT 16 16 ro o 2 Position Loop Ki Default UINT 16 32 ro o 3 Position Loop Kp UINT 16 48 rw o 4 Position Loop Ki UINT 16 64 rw o DT2014 64 0 SubIndex 000 USINT 8 0 ro o 1 EuBrakeControl USINT 8 16 rw o 2 EuBrakeState USINT 8 32 ro o 3 EuBrakeAutoState USINT 8 48 rw o DT2016 64 0 SubIndex 000 USINT 8 0 ro o 1 Servo Temperture SINT 8 16 ro o 2 EuHighTemperatureLimit SINT 8 32 rw o 3 EuHighTemperatureWindowsTime UINT 16 48 rw o DT2020 80 0 SubIndex 000 USINT 8 0 ro o 1 EuMotorBlockTorque UINT 16 16 ro o 2 EuMotorBlockTime UINT 16 32 rw o 3 EuMotorBlockVelocity UDINT 32 48 rw o DT2021 64 0 SubIndex 000 USINT 8 0 ro o 1 EuVolecityFollowingErrorWindows UDINT 32 16 rw o 2 EuVolecityFollowingErrorTime UINT 16 48 rw o DT202D 144 0 SubIndex 000 USINT 8 0 ro o 1 EuUnderVoltageThreshold UDINT 32 16 rw o 2 EuUnderVoltageTime UDINT 32 48 rw o 3 EuOverVoltageThreshold UDINT 32 80 rw o 4 EuOverVoltageTime UDINT 32 112 rw o DT202E 128 0 SubIndex 000 USINT 8 0 ro o 1 EuVelocityFeedforwardControlSelect INT 16 16 rw o 2 EuVelocityFeedforwardFilterTimeConst INT 16 32 rw o 3 EuVelocityFeedforwardGain INT 16 48 rw o 4 EuVelocityFeedforwardOriginalValue DINT 32 64 ro o 4 EuVelocityFeedforwardFilteredValue DINT 32 96 ro o DT210F 64 0 SubIndex 000 USINT 8 0 ro o 1 FocCurBiasA UINT 16 16 ro o 2 FocCurBiasB UINT 16 32 ro o 3 FocCurBiasC UINT 16 48 ro o DT607D 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position limit DINT 32 16 rw o 2 Max position limit DINT 32 48 rw o DT6091 80 0 SubIndex 000 USINT 8 0 ro o 1 Motor revolutions UDINT 32 16 ro o 2 Shaft revolutions UDINT 32 48 rw o DT60C1 48 0 SubIndex 000 USINT 8 0 ro o 1 Interpolation data record DINT 32 16 rw o DT60C2 32 0 SubIndex 000 USINT 8 0 ro o 1 Interpolation period USINT 8 16 rw o 2 Interpolation Index SINT 8 24 rw o DT60FF 32 0 Target Velocity UDINT 32 0 rw o R DT6502 32 0 Supported Drive Modes UDINT 32 0 ro o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 64 1 2 DTF010 80 0 SubIndex 000 USINT 8 0 ro o Elements DTF010ARR 64 16 ro o DTF030ARR UDINT 64 1 2 DTF030 80 0 SubIndex 000 USINT 8 0 ro o Elements DTF030ARR 64 16 ro o DTF050ARR UDINT 64 1 2 DTF050 80 0 SubIndex 000 USINT 8 0 ro o Elements DTF050ARR 64 16 ro o #x1000 Device type UDINT 32 92010200 ro m #x1001 Error register USINT 8 00 ro o #x1008 Device name STRING(12) 96 4575504878782d787878 ro o #x1009 Hardware version STRING(10) 80 56332e3046343035 ro o #x100a Software version STRING(10) 80 56313433 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1010 Store Parameters DT1010 112 SubIndex 000 03 Store All Parameters 00 Store Communication Parameters 00 Store Application Parameters 00 rw o #x1011 Restore Default Parameters DT1011 112 SubIndex 000 03 Store All Parameters 00 Store Communication Parameters 00 Store Application Parameters 00 rw o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 9710 Product code 0624 Revision 0002 Serial number 00000000 ro o #x10F1 Error Settings DT10F1 80 SubIndex 000 04 Local Error Reaction 01 Sync Error Counter Limit 04 ro o #x1c32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 1E40 Minimum Cycle Time 50C30000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 1E40 Minimum Cycle Time 50C30000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 01 SubIndex 001 0016 SubIndex 002 0000 ro o #x1c13 TxPDO assign DT1C13 48 SubIndex 000 01 SubIndex 001 001a SubIndex 002 0000 ro o #x1600 csp/csv/cst RxPDO DT1600 336 SubIndex 000 00 10 #x06 1st Output Object to be mapped #x60400010 2st Output Object to be mapped #x607A0020 3st Output Object to be mapped #x60FF0020 4st Output Object to be mapped #x60710010 5st Output Object to be mapped #x60600008 6st Output Object to be mapped #x00000000 7st Output Object to be mapped #x00000000 8st Output Object to be mapped #x00000000 9st Output Object to be mapped #x00000000 10st Output Object to be mapped #x00000000 rw o #x1601 pp/pv/pt RxPDO DT1601 336 SubIndex 000 #x0A 1st Output Object to be mapped #x60400010 2st Output Object to be mapped #x607A0020 3st Output Object to be mapped #x60FF0020 4st Output Object to be mapped #x60710010 5st Output Object to be mapped #x60830020 6st Output Object to be mapped #x60840020 7st Output Object to be mapped #x60810020 8st Output Object to be mapped #x60870010 9st Output Object to be mapped #x60600008 10st Output Object to be mapped #x00000000 ro o #x1602 pv RxPDO DT1602 336 SubIndex 000 #x06 1st Output Object to be mapped #x60400010 2st Output Object to be mapped #x60FF0020 3st Output Object to be mapped #x60830020 4st Output Object to be mapped #x60840020 5st Output Object to be mapped #x60600008 6st Output Object to be mapped #x00000000 ro o #x1a00 csp/csv/cst TxPDO DT1A00 336 SubIndex 000 00 10 #x07 1st Input Object to be mapped #x60410010 2st Input Object to be mapped #x60640020 3st Input Object to be mapped #x606C0020 4st Input Object to be mapped #x60770010 5st Input Object to be mapped #x60610008 6st Input Object to be mapped #x603F0010 7st Input Object to be mapped #x00000000 8st Input Object to be mapped #x00000000 9st Input Object to be mapped #x00000000 10st Input Object to be mapped #x00000000 rw o #x1a01 pp/pv/pt TxPDO DT1A01 336 SubIndex 000 #x07 1st Input Object to be mapped #x60410010 2st Input Object to be mapped #x60640020 3st Input Object to be mapped #x606C0020 4st Input Object to be mapped #x60770020 5st Input Object to be mapped #x60610008 6st Input Object to be mapped #x603F0010 7st Input Object to be mapped #x00000000 ro o #x1a02 pv TxPDO DT1A02 336 SubIndex 000 #x05 1st Input Object to be mapped #x60410010 2st Input Object to be mapped #x606C0020 3st Input Object to be mapped #x60610008 4st Input Object to be mapped #x603F0010 5st Input Object to be mapped #x00000000 ro o #x2000 Eu Motor SN UDINT 32 Eu Motor SN 00 rw o #x2001 Servo Config DT2001 48 SubIndex 000 02 Eu Node Id 01 Eu Can BitRate 1000 ro o #x2002 Motor Para UDINT 32 Motor Para 00 rw o #x2003 Soft Limit State UDINT 32 Soft Limit State 00 rw o #x2004 EuCommMode USINT 8 EuCommMode 00 rw o #x2010 Current Loop Pi DT2010 80 SubIndex 000 04 Current Loop Kp Default 0040 Current Loop Ki Default 0001 Current Loop Kp 0004 Current Loop Ki 0001 ro o #x2012 Velocity Loop Pi DT2012 80 SubIndex 000 04 Velocity Loop Kp Default D007 Velocity Loop Ki Default 64 Velocity Loop Kp D007 Velocity Loop Ki 64 ro o #x2013 Position Loop Pi DT2013 80 SubIndex 000 04 Position Loop Kp Default D007 Position Loop Ki Default 64 Position Loop Kp D007 Position Loop Ki 64 ro o #x2014 brake control DT2014 64 SubIndex 000 03 EuBrakeControl 00 EuBrakeState 00 EuBrakeAutoState 01 ro o #x2015 Eu Pwm Inv USINT 8 Eu Pwm Inv 00 ro o #x2016 Servo Temperture DT2016 64 SubIndex 000 03 EuTemperature 19 EuHighTemperatureLimit 55 EuHighTemperatureWindowsTime B80B ro o #x2017 EuVelocityIntLimit UINT 16 EuVelocityIntLimit D007 rw o #x2020 Motor Block DT2020 80 SubIndex 000 03 EuMotorBlockTorque E803 EuMotorBlockTime B80B EuMotorBlockVelocity 1027 ro o #x2021 velocity floowing error DT2021 64 SubIndex 000 02 EuVolecityFollowingErrorWindows A08601 EuVolecityFollowingErrorTime 0BB8 ro o #x2022 torque window UINT 16 torque window 0A rw o #x2023 Torque window time UINT 16 Torque window time 01 rw o #x2024 EuOverSpeedThreshold UDINT 32 EuOverSpeedThreshold AAAA42 rw o #x2025 EuOverSpeedTime UINT 16 EuOverSpeedTime 64 rw o #x2026 EuBrakeDelayTime USINT 8 EuBrakeDelayTime 64 rw o #x2027 EuAutoMagnetAngleAlignmentFlag UDINT 32 EuAutoMagnetAngleAlignmentFlag 00 rw o #x2028 EuI2tLimit UINT 16 EuI2tLimit 64 rw o #x2029 EuI2tValue UINT 16 EuI2tValue 00 ro o #x202A EuFirstEncoderValue DINT 32 EuFirstEncoderValue 00 ro o #x202B EuSecondEncoderValue DINT 32 EuSecondEncoderValue 00 ro o #x202C EuThetaBias DINT 32 EuThetaBias 00 ro o #x202D Eu Voltage Threshold DT202D 144 SubIndex 000 04 EuUnderVoltageThreshold 283707 EuUnderVoltageTime 05 EuOverVoltageThreshold A00901 EuOverVoltageTime 05 ro o #x202E Eu Velocity Feedforward DT202E 128 SubIndex 000 05 EuVelocityFeedforwardControlSelect 01 EuVelocityFeedforwardFilterTimeConst 00 EuVelocityFeedforwardGain 00 EuVelocityFeedforwardOriginalValue 00 EuVelocityFeedforwardFilteredValue 00 ro o #x2100 EuDisableFpgaMu150Spi DINT 32 EuDisableFpgaMu150Spi 00 rw o #x2104 ServoMagnetAngleAlignment UDINT 32 ServoMagnetAngleAlignment 00 rw o #x2109 EuGoToBoot DINT 32 EuGoToBoot 00 rw o #x210A EuCompStart DINT 32 EuCompStart 00 rw o #x210B EuCompEn DINT 32 EuCompEn 00 rw o #x210C EuCompBias DINT 32 EuCompBias 00 rw o #x210D EuCompState DINT 32 EuCompState 00 rw o #x210E EuFocCurBiasSet USINT 8 EuFocCurBiasSet 00 rw o #x210F Foc Cur Bias DT210F 144 SubIndex 000 03 FocCurBiasA 00 FocCurBiasB 00 FocCurBiasC 00 ro o #x2110 EuTorqueFactor UINT 16 EuTorqueFactor E803 rw o #x2201 EuSysOutPulseStep UDINT 32 EuSysOutPulseStep 00 rw o #x2301 Position Velocity Mix Position Kp UINT 16 Position Velocity Mix Position Kp 00 rw o #x2302 Position Velocity Mix Velocity Kd UINT 16 Position Velocity Mix Velocity Kd 00 rw o #x603F Error Code UINT 16 Error Code 00 ro o T #x6040 Control Word UINT 16 Control Word 00 rw o R #x6041 Status Word UINT 16 Status Word 00 ro o T #x605A Quickstop Option Code INT 16 Quickstop Option Code 02 rw o #x605B Shutdown Option Code INT 16 Shutdown Option Code 00 rw o #x605C Disable Operation Option Code INT 16 Disable Operation Option Code 01 rw o #x605D Halt option code INT 16 Halt option code 01 rw o #x605E Fault Reaction Code INT 16 Fault Reaction Code 02 rw o #x6060 Modes of Operation SINT 8 Modes of Operation 00 rw o R #x6061 Modes of Operation Display SINT 8 Modes of Operation Display 00 ro o T #x6062 Position demannd value DINT 32 Position demannd value 00 ro o T #x6064 Position Actual Value DINT 32 Position Actual Value 00 ro o T #x6065 Maximal following error UDINT 32 Maximal following error E09304 rw o #x6067 Position window UDINT 32 Position window 64 rw o #x6068 Position window time UINT 16 Position window time 01 rw o #x606B Velocity demand value DINT 32 Velocity demand value 00 ro o T #x606C Velocity Actual Value DINT 32 Velocity Actual Value 00 ro o T #x606D Velocity window UINT 16 Velocity window 1027 ro o #x606E Velocity window time UINT 16 Velocity window time 01 ro o #x606F Velocity threshold UINT 16 Velocity threshold E803 ro o #x6070 Velocity threshold time UINT 16 Velocity threshold time 01 ro o #x6071 Target Torque INT 16 Target Torque 00 rw o #x6072 Max Torque UINT 16 Max Torque D007 rw o #x6074 Torque demand value INT 16 Torque Actual Value 00 ro o T #x6076 Motor rated torque UDINT 32 Motor rated torque 00 rw o #x6077 Torque Actual Value INT 16 Torque Actual Value 00 ro o T #x6078 Current actual value INT 16 Current actual value 00 ro o T #x6079 DC link circuit voltage UDINT 32 DC link circuit voltage 00 rw o #x607A Target Position DINT 32 Target Position 00 rw o R #x607C Home Offset DINT 32 Home Offset 00 rw o #x607D Software Position Limit DT607D 80 SubIndex 000 02 Min position limit 006CCA88 Max position limit 00943577 ro o #x607F Max Profile Velocity UDINT 32 Max Profile Velocity 00 rw o #x6081 Profile Velocity UDINT 32 Profile Velocity 00 rw o R #x6083 Profile Acceleration UDINT 32 Profile Acceleration 00 rw o R #x6084 Profile Deceleration UDINT 32 Profile Deceleration 00 rw o R #x6085 Quickstop Declaration DINT 32 Quickstop Declaration 00 rw o #x6087 Torque slope UDINT 32 Torque slope E803 rw o #x6091 Gear ratio DT6091 80 SubIndex 000 02 Motor revolutions 000051 Shaft revolutions 000051 ro o #x60B1 Velocity Offset DINT 32 Velocity Offset 00 rw o #x60B2 Torque Offset INT 16 Torque Offset 00 rw o #x60C1 Interpolation Data Record DT60C1 48 SubIndex 000 01 Interpolation data record 00 ro o #x60C2 Interpolation Time Period DT60C2 32 SubIndex 000 02 Interpolation period 01 Interpolation Index -3 ro o #x60F4 Following error actual value DINT 32 Following error actual value 00 ro o T #x60FF Target Velocity DINT 32 Target Velocity 00 rw o R #x6502 Supported Drive Modes UDINT 32 Supported Drive Modes 0001 ro o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 2003 Maximum number of modules 02 ro o #xf010 Module profile list DTF010 80 SubIndex 000 02 SubIndex 001 92010200 SubIndex 002 00000000 ro o #xf030 Configured module Ident list DTF030 80 SubIndex 000 01 SubIndex 001 00983100 SubIndex 002 00000000 ro o #xf050 Module detected list DTF050 80 SubIndex 000 01 SubIndex 001 00983100 SubIndex 002 00000000 ro o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs Synchron SM-Synchron #x0 0 0 0 DC DC-Synchron #x300 0 0 0 Axis 0 #x119800 #x219800 #x319800 2048 800E00CC8813f000000000800000 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 Axis (csv,csp,cst) dynamic switchbewteen csp/csv #x1600 #x1601 #x1602 Outputs #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 Target Position object 0x607A:0 DINT #x60FF 0 32 Target Velocity object 0x60FF:0 DINT #x6071 0 16 Target Torque object 0x6071:0 INT #x6060 0 8 Mode Of Operation object 0x6060:0 SINT #x0 0 8 #x1a00 #x1a01 #x1a02 Inputs #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 Actual Position object 0x6064:0 DINT #x606C 0 32 Actual Velocity object 0x606C:0 DINT #x6077 0 16 Actual Torque object 0x6077:0 INT #x6061 0 8 Mode Of OperationDisplay object 0x6061:0 SINT #x603F 0 16 Error Code object 0x603F:0 UINT #x0 0 8 402 Axis (pp,pv,pt) Axis only supports pp #x1601 #x1600 #x1602 Outputs #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 Target Position object 0x607A:0 DINT #x60FF 0 32 Target Velocity object 0x60FF:0 DINT #x6071 0 16 Target Torque object 0x6071:0 INT #x6083 0 32 Profile Acceleration object 0x6083:0 UDINT #x6084 0 32 Profile Deceleration object 0x6084:0 UDINT #x6081 0 32 Profile Velocity object 0x6081:0 UDINT #x6087 0 32 Torque Slope object 0x6087:0 UDINT #x6060 0 8 Modes Of Operation object 0x6060:0 SINT #x0 0 8 #x1a01 #x1a00 #x1a02 Inputs #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 Actual Position object 0x6064:0 DINT #x606C 0 32 Actual Velocity object 0x606C:0 DINT #x6077 0 16 Actual Torque object 0x6077:0 INT #x6061 0 8 Mode Of OperationDisplay object 0x6061:0 SINT #x603F 0 16 Error Code object 0x603F:0 UINT #x0 0 8 SO #x6060 0 08 Modes of operation 402 pv - axis Axis only supports pv #x1602 #x1600 #x1601 Outputs #x6040 0 16 Control Word object 0x6040:0 UINT #x60FF 0 32 Target Velocity object 0x60FF:0 DINT #x6083 0 32 Profile Acceleration object 0x6083:0 UDINT #x6084 0 32 Profile Deceleration object 0x6084:0 UDINT #x6060 0 8 Modes Of Operation object 0x6060:0 SINT #x0 0 8 #x1a02 #x1a00 #x1a01 Inputs #x6041 0 16 Status Word object 0x6041:0 UINT #x606C 0 32 Actual Velocity object 0x606C:0 DINT #x6061 0 8 Mode Of OperationDisplay object 0x6061:0 SINT #x603F 0 16 Error Code object 0x603F:0 UINT #x0 0 8 SO #x6060 0 08 Modes of operation 402