#x0000002F ELCO Industry Automation AG 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000010000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCFF2FCCCFCCFCCFCCFF2FCFCFFCFFCFCCFCFFCFCFCCFCCFCC2FFFCFCFCFFCFFCCF2FFCCCFCCFCCFCCFFCFFFFFFFFFFFFCFFCFFFFFFFFFFF2FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF ServoDrive Servo Drives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lco SA And SC Drive V0235-1115-000 Three phase AC220V/400W/750W/1.5kw/==/AC380V/3KW/4KW/6KW/7KW/15KW ServoDrive www.elco-holding.com.cn 10000 10000 5000 200 100 2000 MII MII ServoDrive 402 BOOLEAN 1 STRING(0) 0 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 DT1018 144 0 largest sub-index supported USINT 8 0 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 DT1600 272 0 largest sub-index supported USINT 8 0 rw o 1 1st mapping data UDINT 32 16 rw o 2 2nd mapping data UDINT 32 48 rw o 3 3rd mapping data UDINT 32 80 rw o 4 4th mapping data UDINT 32 112 rw o 5 5th mapping data UDINT 32 144 rw o 6 6th mapping data UDINT 32 176 rw o 7 7th mapping data UDINT 32 208 rw o 8 8th mapping data UDINT 32 240 rw o DT1C00 80 0 largest sub-index supported USINT 8 0 ro o 1 SyncManager0 communication type USINT 8 16 ro o 2 SyncManager1 communication type USINT 8 24 ro o 3 SyncManager2 communication type USINT 8 32 ro o 4 SyncManager3 communication type USINT 8 40 ro o 5 SyncManager4 communication type USINT 8 48 ro o 6 SyncManager5 communication type USINT 8 56 ro o 7 SyncManager6 communication type USINT 8 64 ro o 8 SyncManager7 communication type USINT 8 72 ro o DT1C10 16 0 largest sub-index supported USINT 8 0 ro o DT1C12 80 0 largest sub-index supported USINT 8 0 rw o 1 Assign1 UINT 16 16 rw o 2 Assign2 UINT 16 32 rw o 3 Assign3 UINT 16 48 rw o 4 Assign4 UINT 16 64 rw o DT1C32 337 0 largest sub-index supported USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 80 ro o 5 Minimum cycle time UDINT 32 96 ro o 6 Calc and copy time UDINT 32 128 ro o 8 Command UINT 16 160 rw o 9 Delay time UDINT 32 176 ro o 10 Sync0 cycle time UDINT 32 208 rw o 11 Cycle Time Too Small UINT 16 240 ro o 12 SM-Event Missed UINT 16 256 ro o 13 Shift too short counter UDINT 32 272 ro o 14 RxPDO Toggle Failed UDINT 32 304 ro o 32 Sync error BOOLEAN 1 336 ro o RT DT3000 80 0 SubIndex 000 USINT 8 0 ro o 1 Pass Word of Operate DINT 32 16 wo 2 Ctrl Command Select DINT 32 48 rw 1 DT3001 240 0 SubIndex 000 USINT 8 0 ro 1 Communiction Protocol Support DINT 32 16 ro 2 Node ID of the Drive DINT 32 48 rw 3 Communication Cycle of us DINT 32 80 ro 4 Checking EtherCAT Frame Lost DINT 32 112 rw 1 5 NodeAddress Configuration Select UDINT 32 144 rw 6 Reserved 1 UDINT 32 176 rw 7 Reserved 2 DINT 32 208 ro DT3010 112 0 SubIndex 000 USINT 8 0 ro 1 Motor Brand Option DINT 32 16 rw 1 2 Motor Catalog Number DINT 32 48 rw 1 3 Motor Type Option DINT 32 80 rw DT3011 432 0 SubIndex 000 USINT 8 0 ro 1 Motor Rated Power(0.01kw) DINT 32 16 rw 1 2 Motor Rated Current(0.1A) DINT 32 48 rw 1 3 Motor Quiescent Current(0.1A) DINT 32 80 rw 1 4 Motor Rated speed(RPM) DINT 32 112 rw 1 5 Motor Max speed(RPM) UDINT 32 144 rw 1 6 Motor Pole pairs(Pn) UDINT 32 176 rw 1 7 Motor rated torque(0.001Nm) DINT 32 208 rw 1 8 Motor stator phase resistance(0.01ohm) DINT 32 240 rw 1 9 Motor D-axis inductance(0.01mH) DINT 32 272 rw 1 10 Motor Q-axis inductance(0.01mH) DINT 32 304 rw 1 11 Motor Inertia(0.01kgcm2) DINT 32 336 rw 1 12 Motor Ke Constant(v/1000rpm) DINT 32 368 rw 1 13 Motor Auto Tune Pole pairs(Pn) DINT 32 400 rw 1 DT3020 624 0 SubIndex 000 USINT 8 0 ro 1 Encoder type DINT 32 16 rw 1 2 Encoder resolution Per single turn(bit) DINT 32 48 rw 1 3 Encoder resolution of Muti-turn Part(bit) DINT 32 80 rw 1 4 Pulse count Per revolution of ABZ encoder(ppr) DINT 32 112 rw 1 5 Frequency-division pulses per revolution(ppr) UDINT 32 144 rw 1 6 Output pulse phase UDINT 32 176 rw 1 7 Encoder Position Angle(inc) DINT 32 208 rw 8 Resolver Pole Pairs DINT 32 240 rw 9 Selection of pulse output source DINT 32 272 rw 1 10 Selection of z-phase output polarity DINT 32 304 rw 1 11 Reserved 1 DINT 32 336 rw 12 Reserved 2 DINT 32 368 rw 13 Reserved 3 DINT 32 400 rw 14 Reserved 4 DINT 32 432 rw 15 Reserved 5 DINT 32 464 rw 16 Auxiliary Encoder Configuration DINT 32 496 rw 1 17 Type of auxiliary Encoder DINT 32 528 rw 1 18 Resolution of auxiliary encoder(ppr) DINT 32 560 rw 1 19 Auxiliary encoder direction DINT 32 592 rw 1 DT3021 304 0 SubIndex 000 USINT 8 0 ro 1 Absolute encoder alarm enable DINT 32 16 rw 1 2 Encoder position deviation threshold(inc) DINT 32 48 rw 1 3 Encoder position deviation alarm enable DINT 32 80 rw 1 4 Auto Tune Current(%1) DINT 32 112 rw 5 Mini Motion Tune Kp DINT 32 144 rw 6 Mini Motion Tune Ti(0.01ms) DINT 32 176 rw 7 Auto Run Mini Motion Tune DINT 32 208 rw 8 Absolute encoder alarm reset enable DINT 32 240 rw 9 Encoder alarm enable DINT 32 272 rw 1 DT3030 304 0 SubIndex 000 USINT 8 0 ro 1 Reserved 0 DINT 32 16 rw 2 Delay from brake output off to command received(ms) DINT 32 48 rw 1 3 Delay from brake output on to motor deenergized in static state(ms) DINT 32 80 rw 1 4 Brake Timing Control DINT 32 112 rw 1 5 Starting speed of holding brake(RPM) UDINT 32 144 rw 6 reserved 2 UDINT 32 176 ro 7 reserved 3 DINT 32 208 ro 8 reserved 4 DINT 32 240 ro 9 reserved 5 DINT 32 272 ro DT3031 560 0 SubIndex 000 USINT 8 0 ro 1 150% OverLoad Allow time(ms) DINT 32 16 rw 1 2 250% OverLoad Allow time(ms) DINT 32 48 rw 1 3 Maximum OverLoad Allow Threshold(%) DINT 32 80 rw 1 4 Maximum OverLoad Allow Time(ms) DINT 32 112 rw 1 5 Overload protection gain(%) UDINT 32 144 rw 1 6 reserve1 UDINT 32 176 ro 7 reserve2 DINT 32 208 ro 8 Power Input Phase Loss Protection Enable DINT 32 240 rw 1 9 Power Output Phase Loss Protection Enable DINT 32 272 rw 10 Power phase loss protection current Threshold(%) DINT 32 304 rw 11 Motro Rotating direction DINT 32 336 rw 1 12 Filter Fuction Enable DINT 32 368 rw 1 13 PWM Carrier Frequency DINT 32 400 rw 14 Pwm Control Mode DINT 32 432 rw 15 reserve3 DINT 32 464 ro 16 Brake Resistance(ohm) DINT 32 496 rw 1 17 Braking Resistor Power(w) DINT 32 528 rw 1 DT3040 496 0 SubIndex 000 USINT 8 0 ro 1 Current Loop Gain(Kp 0.01) DINT 32 16 rw 1 2 Current Loop Integral Time(Ti 0.1) DINT 32 48 rw 1 3 Current Loop Td(Td 0.001) DINT 32 80 rw 4 Pwm Dead Time(ns) DINT 32 112 rw 5 Dead Time Compensation Factor(0.1%) UDINT 32 144 rw 6 Dead Time Compensation Threshold(0.1%) UDINT 32 176 rw 7 Flux-Weaken Kp(0.01As) DINT 32 208 rw 1 8 Flux-Weaken Ti(0.1ms) DINT 32 240 rw 1 9 Maximum Torque reference(%) DINT 32 272 rw 1 10 Minimum Torque Reference(%) DINT 32 304 rw 1 11 Positive Torque Limit For Ai Reference DINT 32 336 rw 12 Negative Torque Limit For Ai Reference DINT 32 368 rw 13 Maximum Jerk(%) DINT 32 400 rw 1 14 Velocity Limit For Torque Control(RPM) DINT 32 432 rw 15 reserve0 DINT 32 464 ro DT3041 528 0 SubIndex 000 USINT 8 0 ro 1 Filter1 Type DINT 32 16 rw 1 2 Cut-off Frequency of LPF1 DINT 32 48 rw 1 3 Filter1 Notch Frequency DINT 32 80 rw 1 4 Filter1 Notch Attenuation DINT 32 112 rw 1 5 Filter2 Type UDINT 32 144 rw 1 6 Cut-off Frequency of LPF2 UDINT 32 176 rw 1 7 Filter2 Notch Frequency DINT 32 208 rw 1 8 Filter2 Notch Attenuation DINT 32 240 rw 1 9 Filter3 Type DINT 32 272 rw 1 10 Cut-off Frequency of LPF3 DINT 32 304 rw 1 11 Filter3 Notch Frequency DINT 32 336 rw 1 12 Filter3 Notch Attenuation DINT 32 368 rw 1 13 Filter4 Type DINT 32 400 rw 1 14 Cut-off Frequency of LPF4 DINT 32 432 rw 1 15 Filter4 Notch Frequency DINT 32 464 rw 1 16 Filter4 Notch Attenuation DINT 32 496 rw 1 DT3050 944 0 SubIndex 000 USINT 8 0 ro 1 Speed Loop Gain1(Kp 0.1Hz) DINT 32 16 rw 1 2 Speed Loop Integral Time1(Ti 0.1ms) DINT 32 48 rw 1 3 Speed Loop Td1(Td 0.1) DINT 32 80 rw 1 4 Speed Loop Gain2(Kp 0.1Hz) DINT 32 112 rw 1 5 Speed Loop Integral Time2(Ti 0.1ms) UDINT 32 144 rw 1 6 Speed Loop Td2(Td 0.1) UDINT 32 176 rw 1 7 reserve0 DINT 32 208 ro 8 reserve1 DINT 32 240 ro 9 reserve2 DINT 32 272 ro 10 reserve3 DINT 32 304 ro 11 reserve4 DINT 32 336 ro 12 reserve5 DINT 32 368 ro 13 reserve6 DINT 32 400 ro 14 Torque feedforward coefficient(0.1%) DINT 32 432 rw 15 Torque feedforward filtering time(0.01ms) DINT 32 464 rw 16 Speed Feedforward Command Selection DINT 32 496 rw 17 Speed Loop of PWM Cycles DINT 32 528 rw 1 18 Maximum Reference Speed DINT 32 560 rw 1 19 Minimum Reference Speed DINT 32 592 rw 1 20 Speed Lag Error Threshold(0.1%) DINT 32 624 rw 1 21 Time constant of Speed Lag Error filter DINT 32 656 rw 1 22 Speed Stall Detection Threshold(0.1%) DINT 32 688 rw 1 23 Time constant of Speed Stall Detection Filter DINT 32 720 rw 1 24 Speed Stall Detection Enable DINT 32 752 rw 1 25 Time constant of Overspeed Detection Filter DINT 32 784 rw 1 26 reserve9 DINT 32 816 27 Sweep resonance frequency1(Hz) DINT 32 848 28 Sweep resonance frequency2(Hz) DINT 32 880 29 Sweep resonance frequency3(Hz) DINT 32 912 DT3051 528 0 SubIndex 000 USINT 8 0 ro 1 Filter1 Type DINT 32 16 rw 1 2 Cut-off Frequency of LPF1 DINT 32 48 rw 1 3 Filter1 Notch Frequency DINT 32 80 rw 1 4 Filter1 Notch Attenuation DINT 32 112 rw 1 5 Filter2 Type UDINT 32 144 rw 1 6 Cut-off Frequency of LPF2 UDINT 32 176 rw 1 7 Filter2 Notch Frequency DINT 32 208 rw 1 8 Filter2 Notch Attenuation DINT 32 240 rw 1 9 Filter3 Type DINT 32 272 rw 1 10 Cut-off Frequency of LPF3 DINT 32 304 rw 1 11 Filter3 Notch Frequency DINT 32 336 rw 1 12 Filter3 Notch Attenuation DINT 32 368 rw 1 13 Filter4 Type DINT 32 400 rw 1 14 Cut-off Frequency of LPF4 DINT 32 432 rw 1 15 Filter4 Notch Frequency DINT 32 464 rw 1 16 Filter4 Notch Attenuation DINT 32 496 rw 1 DT3060 624 0 SubIndex 000 USINT 8 0 ro 1 Position Loop Gain1(Kp 0.1Hz) DINT 32 16 rw 1 2 Position Loop Output Feedforward Gain1(Kpre0.1%) DINT 32 48 rw 1 3 Position Loop Gain2(Kp 0.1Hz) DINT 32 80 rw 4 Position Loop Output Feedforward Gain2(Kpre0.1%) DINT 32 112 rw 5 reserve0 DINT 32 144 ro 6 reserve1 DINT 32 176 ro 7 reserve2 DINT 32 208 ro 8 reserve3 DINT 32 240 ro 9 reserve4 DINT 32 272 ro 10 reserve5 DINT 32 304 ro 11 Position Follow Error Detection Enabled DINT 32 336 rw 1 12 Position Follow Error Threshold DINT 32 368 rw 13 Absolute Position Limit Enable DINT 32 400 rw 14 Max Position limit UDINT 32 432 rw 1 15 Min Position limit DINT 32 464 rw 1 16 Command Position abnormal Check Enable DINT 32 496 rw 1 17 Allowed Min Acc Time(us) DINT 32 528 rw 1 18 reserve6 DINT 32 560 19 PosRef FIR Fltr Time Constant(0.1ms) DINT 32 592 rw 1 DT3061 528 0 SubIndex 000 USINT 8 0 ro 1 Filter1 Type DINT 32 16 rw 1 2 Cut-off Frequency of LPF1 DINT 32 48 rw 1 3 Filter1 Notch Frequency DINT 32 80 rw 1 4 Filter1 Notch Attenuation DINT 32 112 rw 1 5 Filter2 Type UDINT 32 144 rw 1 6 Cut-off Frequency of LPF2 UDINT 32 176 rw 1 7 Filter2 Notch Frequency DINT 32 208 rw 1 8 Filter2 Notch Attenuation DINT 32 240 rw 1 9 Filter3 Type DINT 32 272 rw 10 Cut-off Frequency of LPF3 DINT 32 304 rw 11 Filter3 Notch Frequency DINT 32 336 rw 12 Filter3 Notch Attenuation DINT 32 368 rw 13 Filter4 Type DINT 32 400 rw 14 Cut-off Frequency of LPF4 DINT 32 432 rw 15 Filter4 Notch Frequency DINT 32 464 rw 16 Filter4 Notch Attenuation DINT 32 496 rw DT3063 112 0 SubIndex 000 USINT 8 0 ro 1 Inertia Ratio(%1) DINT 32 16 rw 1 2 Stiff Factor Setting DINT 32 48 rw 1 3 Inertia Autotune Frequency DINT 32 80 rw 1 DT3070 336 0 SubIndex 000 USINT 8 0 ro 1 Di1 Fuction Setting DINT 32 16 rw 1 2 Di2 Fuction Setting DINT 32 48 rw 1 3 Di3 Fuction Setting DINT 32 80 rw 1 4 Di4 Fuction Setting DINT 32 112 rw 1 5 Di5 Fuction Setting UDINT 32 144 rw 1 6 Safety Stop Fuction Setting(6:NO;106:NC) UDINT 32 176 rw 1 7 Di Fliter Time DINT 32 208 rw 8 Di Inputs Status DINT 32 240 ro 9 Di Inputs Simulation Enable DINT 32 272 rw 1 10 Di Inputs Simulated values DINT 32 304 rw 1 DT3071 496 0 SubIndex 000 USINT 8 0 ro 1 Do1 Fuction Setting DINT 32 16 rw 1 2 Do2 Fuction Setting DINT 32 48 rw 1 3 Do3 Fuction Setting DINT 32 80 rw 1 4 Do4 Fuction Setting DINT 32 112 rw 1 5 Do1 Turn On Fliter Time DINT 32 144 rw 6 Do2 Turn On Fliter Time DINT 32 176 rw 7 Do3 Turn On Fliter Time DINT 32 208 rw 8 Do4 Turn On Fliter Time DINT 32 240 rw 9 Do1 Turn Off Fliter Time DINT 32 272 rw 10 Do2 Turn Off Fliter Time DINT 32 304 rw 11 Do3 Turn Off Fliter Time DINT 32 336 rw 12 Do4 Turn Off Fliter Time DINT 32 368 rw 13 Do Outputs Values DINT 32 400 rw 14 Do Forced Outputs Enable DINT 32 432 rw 1 15 Do Forced Output values DINT 32 464 rw 1 DT3072 464 0 SubIndex 000 USINT 8 0 ro 1 Ai1 Fuction Setting DINT 32 16 rw 2 Ai1 Offset(0.001v) DINT 32 48 rw 3 Ai1 Gain(0.1%) DINT 32 80 rw 4 Ai1 Fliter Time(0.1ms) DINT 32 112 rw 5 Ai1 Maximum Limit(0.001v) DINT 32 144 rw 6 Ai1 Minimum Limit(0.001v) DINT 32 176 rw 7 Ai1 Input Value DINT 32 208 ro 8 Ai2 Fuction Setting DINT 32 240 rw 9 Ai2 Offset(0.001v) DINT 32 272 rw 10 Ai2 Gain(0.1%) DINT 32 304 rw 11 Ai2 Fliter Time(0.1ms) DINT 32 336 rw 12 Ai2 Maximum Limit(0.001v) DINT 32 368 rw 13 Ai2 Minimum Limit(0.001v) DINT 32 400 rw 14 Ai2 Input Value DINT 32 432 ro DT3073 144 0 SubIndex 000 USINT 8 0 ro 1 Ao1 Fuction Setting DINT 32 16 rw 2 Ao1 Offset(0.001v) DINT 32 48 rw 3 Ao1 Gain(0.1%) DINT 32 80 rw 4 Ao1 Output Value DINT 32 112 ro DT3080 240 0 SubIndex 000 USINT 8 0 ro 1 Speed Curve Type Setting DINT 32 16 rw 2 Profile Acceleration For Velocity Trajectory Generator DINT 32 48 rw 3 Profile Deceleration For Velocity Trajectory Generator DINT 32 80 rw 4 Profile jerk0 for Acceleration DINT 32 112 rw 5 Profile jerk1 for Acceleration UDINT 32 144 rw 6 Profile jerk0 for Deceleration UDINT 32 176 rw 7 Profile jerk1 for Deceleration DINT 32 208 rw DT3081 112 0 SubIndex 000 USINT 8 0 ro 1 Profile Velocity For Position Trajectory Generator(RPM) DINT 32 16 rw 2 Profile Acceleration For Position Trajectory Generator(RPM/ms) DINT 32 48 rw 3 Profile Deceleration For Position Trajectory Generator(RPM/ms) DINT 32 80 rw DT3082 144 0 SubIndex 000 USINT 8 0 ro 1 Homing Method DINT 32 16 rw 2 Homing Offset DINT 32 48 rw 3 Speed for Home_switch DINT 32 80 rw 4 Speed For Home_zero DINT 32 112 rw DT3083 80 0 SubIndex 000 USINT 8 0 ro 1 Quick Stop Option Code DINT 32 16 rw 2 Quick Stop Deceleration DINT 32 48 rw DT3090 144 0 SubIndex 000 USINT 8 0 ro 1 Control Mode Setting DINT 32 16 rw 2 Debug Mode Setting DINT 32 48 rw 3 Parameters Initialization Command DINT 32 80 wo 4 Drive Error Reset DINT 32 112 wo DT30A0 432 0 SubIndex 000 USINT 8 0 ro o 1 Rated power of servo(0.01kw) DINT 32 16 ro 1 2 Rated current of servo(0.1A) DINT 32 48 ro 1 3 Rated voltage of servo(1V) DINT 32 112 ro 1 4 Maximum sampling current(0.1A) DINT 32 144 ro 1 5 Encoder position angle compensation coefficient DINT 32 176 ro 1 6 Reserved 1 DINT 32 208 ro 1 7 Software release time DINT 32 240 ro 1 8 Rated current of module(0.1A) DINT 32 272 ro 1 9 Three phase current balance coefficient(0.001) DINT 32 304 ro 1 10 Servo power ID DINT 32 336 ro 1 11 Software version DINT 32 368 ro 1 12 Hardware version DINT 32 400 ro 1 DT5000 48 0 largest sub-index supported USINT 8 0 ro o 1 Analog Input1 Value INT 16 16 o T 2 Analog Input2 Value INT 16 32 o T DT5003 48 0 largest sub-index supported USINT 8 0 ro o 1 Analog Onput1 Value INT 16 16 rw o R 2 Analog Onput2 Value INT 16 32 rw o DT500c 64 0 largest sub-index supported USINT 8 0 ro o 1 Auxiliary Encoder Offset DINT 32 16 rw o R 2 Auxiliary Encoder Config UINT 16 48 rw o R DT500E 96 0 largest sub-index supported USINT 8 0 ro o 1 Flying shot Config UINT 16 16 rw o RT 2 Position window threshold DINT 32 32 rw o RT 3 Reference position DINT 32 64 rw o RT DT500F 64 0 largest sub-index supported USINT 8 0 ro o 1 Virtual Encoder Div Out Config UINT 16 16 rw o RT 2 Virtual Encoder Div Out Pos UDINT 32 32 rw o RT DT605F 128 0 largest sub-index supported USINT 8 0 1 Encoder Muti-turn Value DINT 32 16 ro o T 2 Encoder Single-turn Value DINT 32 48 ro o T 3 Encoder Mutil-Turn Original Value INT 16 80 ro o T 4 Encoder Offset Value DINT 32 96 ro o T DT607B 80 0 largest sub-index supported USINT 8 0 1 Minimum position limit DINT 32 16 rw o 2 Maximum position limit DINT 32 48 rw o DT607D 80 0 largest sub-index supported USINT 8 0 ro o 1 Minimum position limit DINT 32 16 rw o 2 Muximum position limit DINT 32 48 rw o DT608F 80 0 largest sub-index supported USINT 8 0 ro o 1 Encoder increments DINT 32 16 rw o 2 Motor revolutions DINT 32 48 rw o DT6090 80 0 largest sub-index supported USINT 8 0 ro o 1 Encoder increments per second DINT 32 16 rw o 2 Motor revolutions per second DINT 32 48 rw o DT6091 80 0 largest sub-index supported USINT 8 0 ro o 1 Motor revolutions DINT 32 16 rw o 2 Shaft revolutions DINT 32 48 rw o DT6092 80 0 largest sub-index supported USINT 8 0 ro o 1 Feed DINT 32 16 rw o 2 Shaft revolutions DINT 32 48 rw o DT6093 80 0 largest sub-index supported USINT 8 0 ro o 1 Numerator DINT 32 16 rw o 2 Feed constant DINT 32 48 rw o DT6099 80 0 largest sub-index supported USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw o RT 2 Speed during search for zero UDINT 32 48 rw o RT DT60A4 208 0 largest sub-index supported USINT 8 0 1 Profile jerk 1 UDINT 32 16 rw o RT 2 Profile jerk 2 UDINT 32 48 rw o RT 3 Profile jerk 3 UDINT 32 80 rw o RT 4 Profile jerk 4 UDINT 32 112 rw o RT 5 Profile jerk 5 UDINT 32 144 rw o RT 6 Profile jerk 6 UDINT 32 176 rw o RT DT60C1 342 0 largest sub-index supported USINT 8 0 1 Interp_data_1 UDINT 32 16 rw o 2 Interp_data_2 UDINT 32 48 rw o 3 Interp_data_3 UDINT 32 80 rw o 4 Interp_data_4 UDINT 32 112 rw o 5 Interp_data_5 UDINT 32 144 rw o 6 Interp_data_6 UDINT 32 176 rw o 7 Interp_data_7 UDINT 32 208 rw o 8 Interp_data_8 UDINT 32 240 rw o 9 Interp_data_9 UDINT 32 272 rw o 10 Interp_data_10 UDINT 32 304 rw o DT60C2 32 0 largest sub-index supported USINT 8 0 ro o 1 Interpolation time period value USINT 8 16 rw o 2 Interpolation time index SINT 8 24 rw o DT60C3 32 0 largest sub-index supported USINT 8 0 ro o 1 Synchronize on group USINT 8 16 rw o 2 ip sync every n event SINT 8 24 rw o DT60C4 120 0 largest sub-index supported USINT 8 0 1 Maximum buffer size UDINT 32 16 ro o 2 Actual buffer size UDINT 32 48 rw o 3 Interp_data_3 USINT 8 80 rw o 4 Interp_data_4 UINT 16 88 rw o 5 Interp_data_5 USINT 8 104 wo o 6 Interp_data_6 USINT 8 112 wo o DT60F6 144 0 largest sub-index supported USINT 8 0 1 Parameter_1 DINT 32 16 rw o 2 Parameter_2 DINT 32 48 rw o 3 Parameter_3 DINT 32 80 rw o 4 Parameter_4 DINT 32 112 rw o DT60F9 96 0 largest sub-index supported USINT 8 0 ro o 1 Gain UINT 16 16 rw o 2 integration time constant UINT 16 32 rw o 3 manufacturer_specific_a UINT 16 48 rw o 4 manufacturer_specific_b UINT 16 64 rw o 5 manufacturer_specific_c UINT 16 80 rw o DT60FB 210 0 largest sub-index supported USINT 8 0 1 Position_control_parameter_1 DINT 32 16 rw o 2 Position_control_parameter_2 DINT 32 48 rw o 3 Position_control_parameter_3 DINT 32 80 rw o 4 Position_control_parameter_4 DINT 32 112 rw o 5 Position_control_parameter_5 DINT 32 144 rw o 6 Position_control_parameter_6 DINT 32 176 rw o DT60FE 80 0 largest sub-index supported USINT 8 0 ro o 1 Physical outputs UDINT 32 16 rw o RT 2 Bit mask UDINT 32 48 rw o RT DT6410 1040 0 largest sub-index supported USINT 8 0 1 Motor_data_1 DINT 32 16 rw o 2 Motor_data_2 DINT 32 48 rw o 3 Motor_data_3 DINT 32 80 rw o 4 Motor_data_4 DINT 32 112 rw o 5 Motor_data_5 DINT 32 144 rw o 6 Motor_data_6 DINT 32 176 rw o 7 Motor_data_7 DINT 32 208 rw o 8 Motor_data_8 DINT 32 240 rw o 9 Motor_data_9 DINT 32 272 rw o 10 Motor_data_10 DINT 32 304 rw o 11 Motor_data_11 DINT 32 336 rw o 12 Motor_data_12 DINT 32 368 rw o 13 Motor_data_13 DINT 32 400 rw o 14 Motor_data_14 DINT 32 432 rw o 15 Motor_data_15 DINT 32 464 rw o 16 Motor_data_16 DINT 32 496 rw o 17 Motor_data_17 DINT 32 528 rw o 18 Motor_data_18 DINT 32 560 rw o 19 Motor_data_19 DINT 32 592 rw o 20 Motor_data_20 DINT 32 624 rw o 21 Motor_data_21 DINT 32 656 rw o 22 Motor_data_22 DINT 32 688 rw o 23 Motor_data_23 DINT 32 720 rw o 24 Motor_data_24 DINT 32 752 rw o 25 Motor_data_25 DINT 32 784 rw o 26 Motor_data_26 DINT 32 816 rw o 27 Motor_data_27 DINT 32 848 rw o 28 Motor_data_28 DINT 32 880 rw o 29 Motor_data_29 DINT 32 912 rw o 30 Motor_data_30 DINT 32 944 rw o 31 Motor_data_31 DINT 32 976 rw o 32 Motor_data_32 DINT 32 1008 rw o DT6510 1040 0 largest sub-index supported USINT 8 0 1 Drive_data_1 DINT 32 16 rw o 2 Drive_data_2 DINT 32 48 rw o 3 Drive_data_3 DINT 32 80 rw o 4 Drive_data_4 DINT 32 112 rw o 5 Drive_data_5 DINT 32 144 rw o 6 Drive_data_6 DINT 32 176 rw o 7 Drive_data_7 DINT 32 208 rw o 8 Drive_data_8 DINT 32 240 rw o 9 Drive_data_9 DINT 32 272 rw o 10 Drive_data_10 DINT 32 304 rw o 11 Drive_data_11 DINT 32 336 rw o 12 Drive_data_12 DINT 32 368 rw o 13 Drive_data_13 DINT 32 400 rw o 14 Drive_data_14 DINT 32 432 rw o 15 Drive_data_15 DINT 32 464 rw o 16 Drive_data_16 DINT 32 496 rw o 17 Drive_data_17 DINT 32 528 rw o 18 Drive_data_18 DINT 32 560 rw o 19 Drive_data_19 DINT 32 592 rw o 20 Drive_data_20 DINT 32 624 rw o 21 Drive_data_21 DINT 32 656 rw o 22 Drive_data_22 DINT 32 688 rw o 23 Drive_data_23 DINT 32 720 rw o 24 Drive_data_24 DINT 32 752 rw o 25 Drive_data_25 DINT 32 784 rw o 26 Drive_data_26 DINT 32 816 rw o 27 Drive_data_27 DINT 32 848 rw o 28 Drive_data_28 DINT 32 880 rw o 29 Drive_data_29 DINT 32 912 rw o 30 Drive_data_30 DINT 32 944 rw o 31 Drive_data_31 DINT 32 976 rw o 32 Drive_data_32 DINT 32 1008 rw o #x1000 Device type UDINT 32 92010200 ro m #x1001 Error register USINT 8 00 ro m #x1008 Manufacturer device name STRING(0) 0 ELCO EtherCAT Servo Drives ro o #x1009 Manufacturer hardware version STRING(0) 0 ro o #x100a Manufacturer software version STRING(0) 0 ro o #x1018 Identity object DT1018 32 largest sub-index supported 04 Vendor ID 2F000000 Product code 01000200 Revision 00000100 Serial number 00000000 ro m #x1600 1st receive PDO mapping DT1600 112 largest sub-index supported 01 1st mapping data 10004060 2nd mapping data 20007a60 3rd mapping data 2000ff60 rw o #x1601 2nd receive PDO mapping DT1600 16 largest sub-index supported 00 rw o #x1602 3rd receive PDO mapping DT1600 16 largest sub-index supported 00 rw o #x1603 4th receive PDO mapping DT1600 16 largest sub-index supported 00 rw o #x1a00 1st transmit PDO-Mapping DT1600 112 largest sub-index supported 03 1st mapping data 10004160 2nd mapping data 20006460 3rd mapping data 20006c60 rw o #x1a01 2nd transmit PDO mapping DT1600 16 largest sub-index supported 00 rw o #x1a02 3rd transmit PDO mapping DT1600 16 largest sub-index supported 00 rw o #x1a03 4th transmit PDO mapping DT1600 16 largest sub-index supported 00 rw o #x1c00 Sync manager type DT1C00 80 largest sub-index supported 08 SyncManager0 communication type 01 SyncManager1 communication type 02 SyncManager2 communication type 03 SyncManager3 communication type 04 SyncManager4 communication type 00 SyncManager5 communication type 00 SyncManager6 communication type 00 SyncManager7 communication type 00 ro o #x1c12 RxPDO assign DT1C12 32 largest sub-index supported 01 Assign1 0016 Assign2 0116 Assign3 0216 Assign4 0316 rw o #x1c13 TxPDO assign DT1C12 32 largest sub-index supported 01 Assign1 001A Assign2 011A Assign3 021A Assign4 031A rw o #x1c32 SM output parameter DT1C32 337 largest sub-index supported 32 Sync mode 0200 Cycle time 20A10700 Shift time 00000000 Sync modes supported 1F00 Minimum cycle time 20A10700 Calc and copy time 24F40000 Command 0000 Delay time 30750000 Sync0 cycle time 20A10700 Cycle Time Too Small 0000 SM-Event Missed 0000 Shift too short counter 00000000 RxPDO Toggle Failed 00000000 Sync error 00 rw o #x1c33 SM input parameter DT1C32 337 largest sub-index supported 32 Sync mode 0200 Cycle time 20A10700 Shift time 00000000 Sync modes supported 1F00 Minimum cycle time 20A10700 Calc and copy time 24F40000 Command 0000 Delay time 30750000 Sync0 cycle time 20A10700 Cycle Time Too Small 0000 SM-Event Missed 0000 Shift too short counter 00000000 RxPDO Toggle Failed 00000000 Sync error 00 rw o #x3000 Parameters Of Command Channel Selection 命令通道参数 DT3000 80 SubIndex 000 #x02 Pass Word of Operate #x00000000 Ctrl Command Select #x00000000 #x00000004 #x00000001 SubIndexAccess #x3001 Parameters Of EtherCAT Communication EtherCAT通信参数 DT3001 240 SubIndex 000 #x7 Communiction Protocol Support #x00000000 #x00000003 #x00000001 Node ID of the Drive #x00000000 #x000000F0 #x00000001 Communication Cycle of us #x0064 #x000F4240 #x000003E8 Checking EtherCAT Frame Lost #x00000000 #x00000001 #x00000000 NodeAddress Configuration Select #x00000000 Reserved 1 #x00000000 Reserved 2 #x00000000 SubIndexAccess #x3010 Parameters Of Motor Identification 电机型号参数 DT3010 112 SubIndex 000 #x3 Motor Brand Option #x00000000 #x00000006 #x00000000 Motor Catalog Number #x00000000 #x0000002A #x00000000 Motor Type Option #x0000 #x00000002 #x00000000 SubIndexAccess #x3011 Parameters Of Motor Model 电机模型参数 DT3011 432 SubIndex 000 #x0D Motor Rated Power(0.01kw) #x00000001 #x00004E20 #x00000028 Motor Rated Current(0.1A) #x00000001 #x00000FA0 #x0000001C Motor Quiescent Current(0.1A) #x00000001 #x00000FA0 #x00000022 Motor Rated speed(RPM) #x00000001 #x00007530 #x00000BB8 Motor Max speed(RPM) #x00000001 #x00007530 #x00001388 Motor Pole pairs(Pn) #x00000001 #x00000050 #x00000005 Motor rated torque(0.001Nm) #x00000001 #x000004F6 Motor stator phase resistance(0.01ohm) #x00000001 #x000186A0 #x000000B2 Motor D-axis inductance(0.01mH) #x00000001 #x000186A0 #x0000028A Motor Q-axis inductance(0.01mH) #x00000001 #x000186A0 #x0000028A Motor Inertia(0.01kgcm2) #x00000001 #x000186A0 #x0000001A Motor Ke Constant(v/1000rpm) #x00000001 #x000007D0 #x00000020 Motor Auto Tune Pole pairs(Pn) #x00000001 #x00000050 #x00000001 SubIndexAccess #x3020 Parameters Of Encoder 编码器参数 DT3020 624 SubIndex 000 #x13 Encoder type #x00000000 #x00000006 #x00000000 Encoder resolution Per single turn(bit) #x0000000A #x00000018 #x00000017 Encoder resolution of Muti-turn Part(bit) #x0000 #x00000063 #x00000010 Pulse count Per revolution of ABZ encoder(ppr) #x00000000 #x00200000 #x000009C4 Frequency-division pulses per revolution(ppr) #x00000000 #x00200000 #x000009C4 Output pulse phase #x00000000 #x00000001 #x00000001 Encoder Position Angle(inc) #x00000000 #x20000000 #x00005FF7 Resolver Pole Pairs #x00000001 #x0000000A #x00000001 Selection of pulse output source #x00000000 #x00000003 #x00000000 Selection of z-phase output polarity #x00000000 #x00000001 #x00000000 Selection of z-phase output polarity #x00000000 #x00000001 #x00000000 Reserved 1 #x00000000 Reserved 2 #x00000000 Reserved 3 #x00000000 Reserved 4 #x00000000 Reserved 5 #x00000000 Auxiliary Encoder Configuration #x00000000 #x00000003 #x00000000 Type of auxiliary Encoder #x00000000 #x00000001 #x00000000 Resolution of auxiliary encoder(ppr) #x00000000 #x00200000 #x000009C4 Auxiliary encoder direction #x00000000 #x00000001 #x00000000 SubIndexAccess #x3021 Parameters For Encoder Adjust 编码器参数 DT3021 304 SubIndex 000 #x09 Absolute encoder alarm enable #x00000000 #x00000001 #x00000001 Encoder position deviation threshold(inc) #x00000032 #x00001388 #x00000032 Encoder position deviation alarm enable #x0000 #x00000001 #x00000001 Auto Tune Current(%1) #x0000000A #x0000012C #x00000064 Mini Motion Tune Kp #x00000000 #x000186A0 #x0000000A Mini Motion Tune Ti(0.01ms) #x00000000 #x000186A0 #x00000064 Auto Run Mini Motion Tune #x00000000 #x00000001 #x00000000 Absolute encoder alarm reset enable #x00000000 #x00000001 #x00000000 Encoder alarm enable #x00000000 #x00000001 #x00000001 SubIndexAccess #x3030 Parameters For Break Control 编码器控制参数 DT3030 304 SubIndex 000 #x09 Reserved 0 #x00000000 Delay from brake output off to command received(ms) #x00000001 #x000003E8 #x00000064 Delay from brake output on to motor deenergized in static state(ms) #x00000001 #x000003E8 #x00000064 Brake Timing Control #x00000000 #x00000001 #x00000001 Starting speed of holding brake(RPM) #x00000000 #x00000BB8 #x0000001E reserved 2 #x00000000 reserved 3 #x00000000 reserved 4 #x00000000 reserved 5 #x00000000 SubIndexAccess #x3031 Parameters For Motor Adjust DT3031 560 SubIndex 000 #x11 150% OverLoad Allow time(ms) #x00000001 #x000F4240 #x00004E20 250% OverLoad Allow time(ms) #x00000001 #x000F4240 #x00001388 Maximum OverLoad Allow Threshold(%) #x0000012C #x000003E8 #x00000190 Maximum OverLoad Allow Time(ms) #x00000001 #x00002710 #x00000014 Overload protection gain(%) #x00000032 #x00000096 #x00000064 reserve1 #x00000000 reserve2 #x00000000 Power Input Phase Loss Protection Enable #x00000000 #x00000002 #x00000001 Power Output Phase Loss Protection Enable #x00000000 #x00000001 #x00000001 Power phase loss protection current Threshold(%) #x00000005 #x00000064 #x0000000A Motro Rotating direction #x00000000 #x00000001 #x00000000 Filter Fuction Enable #x00000000 #x00000001 #x00000001 PWM Carrier Frequency #x000003E8 #x00004E20 #x00002710 Pwm Control Mode #x00000000 #x00000001 #x00000000 reserve3 #x00000000 Brake Resistance(ohm) #x00000000 #x00002710 #x00000050 Braking Resistor Power(w) #x00000000 #x00002710 #x00000028 SubIndexAccess #x3040 Parameters For Current Control DT3040 496 SubIndex 000 #x0F Current Loop Gain(Kp 0.01) #x00000000 #x000000C8 #x00000036 Current Loop Integral Time(Ti 0.1) #x00000001 #x0001869F #x000003E8 Current Loop Td(Td 0.001) #x00000000 #x0000270F #x00000000 Pwm Dead Time(ns) #x07D0 #x00004E20 #x00000FA0 Dead Time Compensation Factor(0.1%) #x00000000 #x000007D0 #x000001F4 Dead Time Compensation Threshold(0.1%) #x00000000 #x000003E8 #x00000064 Flux-Weaken Kp(0.01As) #x00000001 #x0000270F #x00000064 Flux-Weaken Ti(0.1ms) #x00000001 #x0001869F #x00000096 Maximum Torque reference(%) #x00000000 #x000003E8 #x0000012C Minimum Torque Reference(%) #xFFFFFC18 #x00000000 #xFFFFFED4 Positive Torque Limit For Ai Reference #x00000000 #x000003E8 #x0000012C Negative Torque Limit For Ai Reference #xFFFFFC18 #x00000000 #xFFFFFED4 Maximum Jerk(%) #x00000005 #x000003E8 #x00000032 Velocity Limit For Torque Control(RPM) #x00000000 #x00000BB8 #x00000BB8 reserve0 #x00000000 SubIndexAccess #x3041 Parameters For Current Reference Fliter DT3041 528 SubIndex 000 #x10 Filter1 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF1 #x000000C8 #x00001388 #x00000DAC Filter1 Notch Frequency #x00000003 #x00001388 #x00000064 Filter1 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter2 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF2 #x000000C8 #x00001388 #x00000DAC Filter2 Notch Frequency #x00000003 #x00001388 #x00000064 Filter2 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter3 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF3 #x000000C8 #x00001388 #x00000DAC Filter3 Notch Frequency #x00000003 #x00001388 #x00000064 Filter3 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter4 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF4 #x000000C8 #x00001388 #x00000DAC Filter4 Notch Frequency #x00000003 #x00001388 #x00000064 Filter4 Notch Attenuation #x00000003 #x00000032 #x00000005 SubIndexAccess #x3042 Parameters For Current Feedback Fliter DT3041 528 SubIndex 000 #x10 Filter1 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF1 #x000000C8 #x00001388 #x00000DAC Filter1 Notch Frequency #x00000003 #x00001388 #x00000064 Filter1 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter2 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF2 #x000000C8 #x00001388 #x00000DAC Filter2 Notch Frequency #x00000003 #x00001388 #x00000064 Filter2 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter3 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF3 #x000000C8 #x00001388 #x00000DAC Filter3 Notch Frequency #x00000003 #x00001388 #x00000064 Filter3 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter4 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF4 #x000000C8 #x00001388 #x00000DAC Filter4 Notch Frequency #x00000003 #x00001388 #x00000064 Filter4 Notch Attenuation #x00000003 #x00000032 #x00000005 SubIndexAccess #x3050 Parameters For Speed Control DT3050 944 SubIndex 000 #x1D Speed Loop Gain1(Kp 0.1Hz) #x00000001 #x0000270F #x0000010E Speed Loop Integral Time1(Ti 0.1ms) #x00000001 #x0001869F #x000000D2 Speed Loop Td1(Td 0.1) #x00000000 #x0000270F #x00000000 Speed Loop Gain2(Kp 0.1Hz) #x00000001 #x0000270F #x0000010E Speed Loop Integral Time2(Ti 0.1ms) #x00000001 #x0001869F #x00000190 Speed Loop Td2(Td 0.1) #x00000000 #x0000270F #x00000000 reserve0 #x00000000 reserve1 #x00000000 reserve2 #x00000000 reserve3 #x00000000 reserve4 #x00000000 reserve5 #x00000000 reserve6 #x00000000 Torque feedforward coefficient(0.1%) #x00000000 #x000007D0 #x00000000 Torque feedforward filtering time(0.01ms) #x00000000 #x00001900 #x00000000 Speed Feedforward Command Selection #x00000000 #x00000002 #x00000000 Speed Loop of PWM Cycles #x00000002 #x00000028 #x00000004 Maximum Reference Speed #x00000000 #x000003E8 #x000000C8 Minimum Reference Speed #xFFFFFC18 #x00000000 #xFFFFFF38 Speed Lag Error Threshold(0.1%) #x00000000 #x000003E8 #x000001F4 Time constant of Speed Lag Error filter #x00000000 #x000007D0 #x000001F4 Speed Stall Detection Threshold(0.1%) #x00000000 #x000007D0 #x000003E8 Time constant of Speed Stall Detection Filter #x00000000 #x000007D0 #x00000064 Speed Stall Detection Enable #x00000000 #x00000001 #x00000001 Time constant of Overspeed Detection Filter #x00000000 #x000007D0 #x00000064 reserve9 #x00000000 Sweep resonance frequency1(Hz) #x00000000 #x000007D0 #x00000000 Sweep resonance frequency2(Hz) #x00000000 #x000007D0 #x00000000 Sweep resonance frequency3(Hz) #x00000000 #x000007D0 #x00000000 SubIndexAccess #x3051 Parameters For Speed Reference Fliter DT3051 528 SubIndex 000 #x10 Filter1 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF1 #x000000C8 #x00001388 #x000009C4 Filter1 Notch Frequency #x00000003 #x00001388 #x00000064 Filter1 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter2 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF2 #x000000C8 #x00001388 #x000009C4 Filter2 Notch Frequency #x00000003 #x00001388 #x00000064 Filter2 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter3 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF3 #x000000C8 #x00001388 #x000009C4 Filter3 Notch Frequency #x00000003 #x00001388 #x00000064 Filter3 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter4 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF4 #x000000C8 #x00001388 #x000009C4 Filter4 Notch Frequency #x00000003 #x00001388 #x00000064 Filter4 Notch Attenuation #x00000003 #x00000032 #x00000005 SubIndexAccess #x3052 Parameters For Speed Feedback Fliter DT3051 528 SubIndex 000 #x10 Filter1 Type #x00000000 #x00000004 #x00000001 Cut-off Frequency of LPF1 #x000000C8 #x00001388 #x00000320 Filter1 Notch Frequency #x00000003 #x00001388 #x00000064 Filter1 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter2 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF2 #x000000C8 #x00001388 #x000009C4 Filter2 Notch Frequency #x00000003 #x00001388 #x00000064 Filter2 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter3 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF3 #x000000C8 #x00001388 #x000009C4 Filter3 Notch Frequency #x00000003 #x00001388 #x00000064 Filter3 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter4 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF4 #x000000C8 #x00001388 #x000009C4 Filter4 Notch Frequency #x00000003 #x00001388 #x00000064 Filter4 Notch Attenuation #x00000003 #x00000032 #x00000005 SubIndexAccess #x3060 Parameters For Position Control DT3060 624 SubIndex 000 #x13 Position Loop Gain1(Kp 0.1Hz) #x00000000 #x00002710 #x000001E0 Position Loop Output Feedforward Gain1(Kpre0.1%) #x00000000 #x00002710 #x0000012C Position Loop Gain2(Kp 0.1Hz) #x00000000 #x00002710 #x000001E0 Position Loop Output Feedforward Gain2(Kpre0.1%) #x00000000 #x00002710 #x0000012C reserve0 #x00000000 reserve1 #x00000000 reserve2 #x00000000 reserve3 #x00000000 reserve4 #x00000000 reserve5 #x00000000 Position Follow Error Detection Enabled #x00000000 #x00000001 #x00000001 Position Follow Error Threshold #x00000000 #x40000000 #x00800000 Absolute Position Limit Enable #x00000000 #x00000001 #x00000001 Max Position limit #x00000000 #x7FFFFFFF #x7FFFFFFF Min Position limit #x80000000 #x00000000 #x80000001 Command Position abnormal Check Enable #x00000000 #x00000001 #x00000001 Allowed Min Acc Time(us) #x000000C8 #x00001388 #x000007D0 reserve6 #x00000000 PosRef FIR Fltr Time Constant(0.1ms) #x00000000 #x000001F4 #x00000050 SubIndexAccess #x3061 Parameters For Position Reference Fliter DT3061 528 SubIndex 000 #x10 Filter1 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF1 #x000000C8 #x00001388 #x000005DC Filter1 Notch Frequency #x00000003 #x00001388 #x00000064 Filter1 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter2 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF2 #x000000C8 #x00001388 #x000005DC Filter2 Notch Frequency #x00000003 #x00001388 #x00000064 Filter2 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter3 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF3 #x000000C8 #x00001388 #x000005DC Filter3 Notch Frequency #x00000003 #x00001388 #x00000064 Filter3 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter4 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF4 #x000000C8 #x00001388 #x000005DC Filter4 Notch Frequency #x00000003 #x00001388 #x00000064 Filter4 Notch Attenuation #x00000003 #x00000032 #x00000005 SubIndexAccess #x3062 Parameters For Position Feedback Fliter DT3061 528 SubIndex 000 #x10 Filter1 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF1 #x000000C8 #x00001388 #x000005DC Filter1 Notch Frequency #x00000003 #x00001388 #x00000064 Filter1 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter2 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF2 #x000000C8 #x00001388 #x000005DC Filter2 Notch Frequency #x00000003 #x00001388 #x00000064 Filter2 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter3 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF3 #x000000C8 #x00001388 #x000005DC Filter3 Notch Frequency #x00000003 #x00001388 #x00000064 Filter3 Notch Attenuation #x00000003 #x00000032 #x00000005 Filter4 Type #x00000000 #x00000004 #x00000000 Cut-off Frequency of LPF4 #x000000C8 #x00001388 #x000005DC Filter4 Notch Frequency #x00000003 #x00001388 #x00000064 Filter4 Notch Attenuation #x00000003 #x00000032 #x00000005 SubIndexAccess #x3063 Parameters For Rigidity Autotune DT3063 144 SubIndex 000 #x03 Inertia Ratio(%1) #x00000000 #x00001388 #x000000FA Stiff Factor Setting #x00000001 #x0000001F #x0000000D Inertia Autotune Frequency #x00000001 #x000007D0 #x000000C8 SubIndexAccess #x3070 Parameters For Digital Input DT3070 336 SubIndex 000 #x0A Di1 Fuction Setting #x00000000 #x00000078 #x00000002 Di2 Fuction Setting #x00000000 #x00000078 #x00000003 Di3 Fuction Setting #x00000000 #x00000078 #x00000009 Di4 Fuction Setting #x00000000 #x00000078 #x0000000A Di5 Fuction Setting #x00000000 #x00000078 #x0000000A Safety Stop Fuction Setting(6:NO;106:NC) #x00000006 #x0000006A #x00000006 Di Fliter Time #x00000000 #x000001F4 #x00000005 Di Inputs Status #x00000000 #x0000001F #x00000000 Di Inputs Simulation Enable #x00000000 #x00000001 #x00000000 Di Inputs Simulated values #x00000000 #x0000001F #x00000000 SubIndexAccess #x3071 Parameters For Digital Output DT3071 496 SubIndex 000 #x0F Do1 Fuction Setting #x00000000 #x0000006B #x00000002 Do2 Fuction Setting #x00000000 #x0000006B #x00000003 Do3 Fuction Setting #x00000000 #x0000006B #x00000006 Do4 Fuction Setting #x00000000 #x0000006B #x00000006 Do1 Turn On Fliter Time #x00000000 #x000001F4 #x00000000 Do2 Turn On Fliter Time #x00000000 #x000001F4 #x00000000 Do3 Turn On Fliter Time #x00000000 #x000001F4 #x00000000 Do4 Turn On Fliter Time #x00000000 #x000001F4 #x00000000 Do1 Turn Off Fliter Time #x00000000 #x000001F4 #x00000000 Do2 Turn Off Fliter Time #x00000000 #x000001F4 #x00000000 Do3 Turn Off Fliter Time #x00000000 #x000001F4 #x00000000 Do4 Turn Off Fliter Time #x00000000 #x000001F4 #x00000000 Do Outputs Values #x00000000 #x0000000F #x00000000 Do Forced Outputs Enable #x00000000 #x00000001 #x00000000 Do Forced Output values #x00000000 #x0000000F #x00000000 SubIndexAccess #x3072 Parameters For Analog Input DT3072 464 SubIndex 000 #x0E Ai1 Fuction Setting #x00000000 #x00000004 #x00000003 Ai1 Offset(0.001v) #xFFFFD8F0 #x00002710 #x00000000 Ai1 Gain(0.1%) #x00000000 #x00000BB8 #x000003E8 Ai1 Fliter Time(0.1ms) #x00000000 #x00000140 #x00000000 Ai1 Maximum Limit(0.001v) #x00000000 #x00002904 #x000003E8 Ai1 Minimum Limit(0.001v) #xFFFFD6FC #x00000000 #xFFFFFC18 Ai1 Input Value #xFFFFD6FC #x00002904 #x00000000 Ai2 Fuction Setting #x00000000 #x00000004 #x00000004 Ai2 Offset(0.001v) #xFFFFD8F0 #x00002710 #x00000000 Ai2 Gain(0.1%) #x00000000 #x00000BB8 #x000003E8 Ai2 Fliter Time(0.1ms) #x00000000 #x00000140 #x00000000 Ai2 Maximum Limit(0.001v) #x00000000 #x00002904 #x000003E8 Ai2 Minimum Limit(0.001v) #xFFFFD6FC #x00000000 #xFFFFFC18 Ai2 Input Value #xFFFFD6FC #x00002904 #x00000000 SubIndexAccess #x3073 Parameters For Analog Output DT3073 144 SubIndex 000 #x04 Ao1 Fuction Setting #x00000000 #x00000032 #x0000001D Ao1 Offset(0.001v) #xFFFFD8F0 #x00002710 #x00000000 Ao1 Gain(0.1%) #x00000000 #x00002710 #x000003E8 Ao1 Output Value #xFFFFD6FC #x00002904 #x00000000 SubIndexAccess #x3080 Parameters For Speed Trajectory Generator DT3080 240 SubIndex 000 #x07 Speed Curve Type Setting #x00000000 #x00000003 #x00000002 Profile Acceleration For Velocity Trajectory Generator #x00000000 #x00000BB8 #x00000014 Profile Deceleration For Velocity Trajectory Generator #x00000000 #x00000BB8 #x00000014 Profile jerk0 for Acceleration #x0001 #x000003E8 #x000003E8 Profile jerk1 for Acceleration #x0001 #x000003E8 #x000003E8 Profile jerk0 for Deceleration #x0001 #x000003E8 #x000003E8 Profile jerk1 for Deceleration #x0001 #x000003E8 #x000003E8 SubIndexAccess #x3081 Parameters For Trajectory Generator DT3081 112 SubIndex 000 #x03 Profile Velocity For Position Trajectory Generator(RPM) #x00000000 #x00001388 #x00000064 Profile Acceleration For Position Trajectory Generator(RPM/ms) #x00000000 #x000003E8 #x0000000A Profile Deceleration For Position Trajectory Generator(RPM/ms) #x00000000 #x000003E8 #x0000000A SubIndexAccess #x3082 Parameters For Homing DT3082 144 SubIndex 000 #x04 Homing Method #x00000000 #x00000035 #x00000035 Homing Offset #x80000001 #x7FFFFFFF #x00000000 Speed for Home_switch #x00000000 #x00000BB8 #x00000258 Speed For Home_zero #x0000 #x000003E8 #x0000012C SubIndexAccess #x3083 Parameters For Quick Stop DT3083 80 SubIndex 000 #x02 Quick Stop Option Code #xFFFFFFE0 #x00000020 #x00000001 Quick Stop Deceleration #x00000000 #x00000BB8 #x0000012C SubIndexAccess #x3090 Parameters For Operate DT3090 144 SubIndex 000 #x04 Control Mode Setting #x00000000 #x00000002 #x00000001 Debug Mode Setting #x00000000 #x00000001 #x00000000 Parameters Initialization Command #x00000000 #x00000002 #x00000000 Drive Error Reset #x0000 #x00000001 #x00000000 SubIndexAccess #x30A0 drive information DT30A0 432 SubIndex 000 #x0C Rated power of servo(0.01kw) #x00000000 #x00004E20 #x0000004B Rated current of servo(0.1A) #x00000000 #x00001388 #x0000002B Rated voltage of servo(1V) #x00000000 #x000003E8 #x000000DC Maximum sampling current(0.1A) #x00000000 #x00004E20 #x000000D5 Encoder position angle compensation coefficient #x00000000 #x00000032 #x00000028 >Reserved 1 #x00000000 Software release time #x00000000 #xFFFFFFFF #x00000000 Rated current of module(0.1A) #x00000000 #x00004E20 #x000000C8 Three phase current balance coefficient(0.001) #x00000000 #x00002710 #x000003E8 Servo power ID #x00000000 #x00007FFF #x00000068 Software version #x00000000 #xFFFFFFFF #x00000B06 Hardware version #x00000000 #xFFFFFFFF #x00002710 SubIndexAccess #x5000 Analog Inputs DT5000 48 largest sub-index supported 02 Analog Input1 Value 0000 Analog Input2 Value 0000 ro o #x5003 Analog Outputs DT5003 48 largest sub-index supported 02 Analog Onput1 Value 0000 Analog Onput2 Value 0000 rw o #x500b Auxiliary encoder Position Actual Value DINT 32 00000000 ro o T #x500c Auxiliary Encoder Setting DT500c 64 largest sub-index supported 02 Auxiliary Encoder Offset 00000000 Auxiliary Encoder Config 0000 rw o #x500d Auxiliary encoder Velocity Actual Value DINT 32 00000000 ro o T #x500E Flying shot DT500E 96 largest sub-index supported 03 Flying shot Config 00 Position window threshold 00 Reference position 00 rw o #x500F Virtual Encoder Div Out DT500F 64 largest sub-index supported 03 Virtual Encoder Div Out Config 00 Virtual Encoder Div Out Pos 10000000 rw o #x6007 About connection option code INT 16 0000 rw o #x603F Error Code UINT 16 0000 ro o T #x6040 Control word UINT 16 0000 rw m RT #x6041 Status word UINT 16 0000 ro o RT #x605a Quick stop option code INT 16 0200 rw o #x605b Shutdown option code INT 16 0000 rw o #x605c Disable operation option code INT 16 0000 rw o #x605d Halt option code INT 16 0100 rw o #x605e Fault reaction option code INT 16 0000 rw o #x605f Absolute Encoder Value DT605F 80 largest sub-index supported 02 Encoder Muti-turn Value 00 Encoder Single-turn Value 00 Encoder Mutil-Turn Original Value 00 Encoder Offset Value 00 rw o #x6060 Modes of operation SINT 8 08 rw o RT #x6061 Modes of operation display SINT 8 00 ro o RT #x6062 Position demand value DINT 32 00000000 ro o T #x6063 Internal position actualvalue DINT 32 00000000 ro o T #x6064 Position actual value DINT 32 00000000 rw o RT #x6065 Following error window UDINT 32 0000 rw o RT #x6066 Following error time out UINT 16 0000 rw o #x6067 Position window UDINT 32 0000 rw o RT #x6068 Position window time UINT 16 0000 rw o #x6069 Velocity sensor actual value DINT 32 00000000 ro o #x606a Sensor selection code INT 16 0000 rw o #x606c Velocity actual value DINT 32 00000000 rw o RT #x606d Velocity window UINT 16 6400 rw o #x606e Velocity window time UINT 16 6400 rw o #x6071 Target torque INT 16 0000 rw o RT #x6072 Max Torque UINT 16 8813 rw o RT #x6073 Max current UINT 16 B80B rw o RT #x6074 Torque demand value INT 16 0000 ro o T #x6075 Motor rated current UDINT 32 0000 rw o RT #x6076 Motor rated torque UDINT 32 0000 rw o RT #x6077 Torque actual value INT 16 0000 ro o T #x6078 Current actual value INT 16 0000 ro o T #x607a Target position DINT 32 00000000 rw o RT #x607b Position range limit DT607B 80 largest sub-index supported 02 Min Position range limit 10B6FDFF Max Position range limit F0490200 rw o #x607c Home offset DINT 32 00000000 rw o RT #x607d Software position limit DT607D 80 largest sub-index supported 02 Minimum position limit 0000FEFF Muximum position limit 00000200 rw o #x607e Polarity USINT 8 00 rw o #x607f Max profile velocity UDINT 32 00006400 rw o RT #x6080 Max motor speed UDINT 32 88130000 rw o #x6081 Profile velocity UDINT 32 00006400 rw o RT #x6082 End velocity UDINT 32 00000000 rw o #x6083 Profile acceleration UDINT 32 80969800 rw o RT #x6084 Profile deceleration UDINT 32 80969800 rw o RT #x6085 Quick stop deceleration UDINT 32 80C3C901 rw o #x6086 Motion profile type INT 16 0300 rw o #x6087 Torque slope DINT 32 32000000 rw o RT #x6088 Torque profile type INT 16 0000 rw o RT #x6089 Position notation index USINT 8 00 rw o #x608a Position dimension index USINT 8 00 rw o #x608b Velocity notation index USINT 8 00 rw o #x608c Velocity dimension index USINT 8 00 rw o #x608d Acceleration notation index USINT 8 00 rw o #x608e Acceleration dimension index USINT 8 00 rw o #x608f Position encoder resolution DT608F 80 largest sub-index supported 02 Encoder increments 00000200 Motor revolutions 01000000 rw o #x6090 Position encoder resolution DT6090 80 largest sub-index supported 02 Encoder increments per second 00000200 Motor revolutions per second 01000000 rw o #x6091 Gear ratio DT6091 80 largest sub-index supported 02 Motor revolutions 01000000 Shaft revolutions 01000000 rw o #x6092 Feed constant DT6092 80 largest sub-index supported 02 Feed 00000200 Shaft revolutions 01000000 rw o #x6093 Position factor DT6093 80 largest sub-index supported 02 Numerator 00000000 Feed constant 00000000 rw o #x6094 Velocity encoder factor DT6093 80 largest sub-index supported 02 Numerator 00000000 Feed constant 00000000 rw o #x6095 Velocity factor 1 DT6093 80 largest sub-index supported 02 Numerator 00000000 Feed constant 00000000 rw o #x6096 Velocity factor 2 DT6093 80 largest sub-index supported 02 Numerator 00000000 Feed constant 00000000 rw o #x6097 Acceleration factor DT6093 80 largest sub-index supported 02 Numerator 00000000 Feed constant 00000000 rw o #x6098 Homing method SINT 8 23 rw o RT #x6099 Homing speeds DT6099 80 largest sub-index supported 02 Speed during search for switch 55550300 Speed during search for zero aaaa0100 rw o RT #x609a Homing acceleration DINT 32 aaaa0100 rw o RT #x60a3 Profile jerk_use USINT 8 01 rw o #x60a4 Profile jerk DT60A4 80 largest sub-index supported 06 Profile jerk 1 F4010000 Profile jerk 2 F4010000 Profile jerk 3 F4010000 Profile jerk 4 F4010000 Profile jerk 5 F4010000 Profile jerk 6 F4010000 rw o RT #x60b0 Profile offset DINT 32 00000000 rw o RT #x60b1 Velocity offset DINT 32 00000000 rw o RT #x60b2 Torque offset INT 16 0000 rw o RT #x60B8 Touch probe function UINT 16 0000 rw o RT #x60B9 Touch probe status UINT 16 0000 ro o T #x60ba Touch probe pos1 pos value DINT 32 00000000 ro o T #x60bb Touch probe pos1 neg value DINT 32 00000000 ro o T #x60bc Touch probe pos2 pos value DINT 32 00000000 ro o T #x60bd Touch probe pos2 neg value DINT 32 00000000 ro o T #x60c0 Interpolation sub mode select INT 16 0000 rw o RT #x60c1 Interpolation data record DT60C1 342 largest sub-index supported 10 Interp_data_1 00000000 Interp_data_2 00000000 Interp_data_3 00000000 Interp_data_4 00000000 Interp_data_5 00000000 Interp_data_6 00000000 Interp_data_7 00000000 Interp_data_8 00000000 Interp_data_9 00000000 Interp_data_10 00000000 rw o #x60c2 Interpolation time period DT60C2 32 largest sub-index supported 02 Interpolation time period value 01000000 Interpolation time index FDFFFFFF rw o #x60c3 Interpolation sync definition DT60C3 32 largest sub-index supported 02 Synchronize on group 00000000 ip sync every n event 00000000 rw o #x60c4 Interpolation data configuration DT60C4 120 largest sub-index supported 06 Maximum buffer size 00000000 Actual buffer size 0A000000 Buffer organization 00000000 Buffer position 00000000 Size of data record 04000000 Buffer clear 00000000 rw o #x60c5 Max acceleration UDINT 32 00879303 rw o RT #x60c6 Max deceleration UDINT 32 00879303 rw o RT #x60E0 Positive Torque Limit UINT 16 8813 rw m R #x60E1 Nagetive Torque Limit UINT 16 8813 rw m R #x60f2 Positioning option code INT 16 0000 rw o TR #x60f4 Following error actualvalue DINT 32 00000000 ro o T #x60f6 Torque control parameters DT60F6 144 largest sub-index supported 04 Parameter_1 00000000 Parameter_2 00000000 Parameter_3 00000000 Parameter_4 00000000 rw o #x60f7 Power stage parameters DT60F6 144 largest sub-index supported 04 Parameter_1 00000000 Parameter_2 00000000 Parameter_3 00000000 Parameter_4 00000000 rw o #x60f8 Max slippage DINT 32 00000000 ro o T #x60f9 Velocity control parameter set DT60F9 96 largest sub-index supported 05 Gain 00000000 integration time constant 0000 manufacturer_specific_a 0000 manufacturer_specific_b 0000 manufacturer_specific_c 0000 rw o #x60fa Control effort DINT 32 00000000 ro o T #x60fb Position control parameter set DT60FB 210 largest sub-index supported 06 Position_control_parameter_1 00000000 Position_control_parameter_2 00000000 Position_control_parameter_3 00000000 Position_control_parameter_4 00000000 rw o #x60fc Position demand value inc DINT 32 00000000 ro o T #x60FD Digital inputs UDINT 32 00000000 ro o T #x60FE Digital outputs DT60FE 80 largest sub-index supported 02 Physical outputs 00000000 Bit mask 00000000 rw o #x60ff Target Velocity DINT 32 00000000 rw o RT #x6402 Motor type INT 16 0000 rw o TR #x6403 Motor catalog number STRING(0) 0 KSD ro o #x6404 Motor manufacturer STRING(0) 0 ELCO ro o #x6405 http motor catalog address STRING(0) 0 http://www.ELCO.cn ro o #x6410 Motor data DT6410 1040 largest sub-index supported 32 Motor_data_1 00000000 Motor_data_2 00000000 Motor_data_3 00000000 Motor_data_4 00000000 Motor_data_5 00000000 Motor_data_6 00000000 Motor_data_7 00000000 Motor_data_8 00000000 Motor_data_9 00000000 Motor_data_10 00000000 Motor_data_11 00000000 Motor_data_12 00000000 Motor_data_13 00000000 Motor_data_14 00000000 Motor_data_15 00000000 Motor_data_16 00000000 Motor_data_17 00000000 Motor_data_18 00000000 Motor_data_19 00000000 Motor_data_20 00000000 Motor_data_21 00000000 Motor_data_22 00000000 Motor_data_23 00000000 Motor_data_24 00000000 Motor_data_25 00000000 Motor_data_26 00000000 Motor_data_27 00000000 Motor_data_28 00000000 Motor_data_29 00000000 Motor_data_30 00000000 Motor_data_31 00000000 Motor_data_32 00000000 rw o #x6502 Supported drive mode UDINT 32 ED030000 ro o #x6510 Motor data DT6510 1040 largest sub-index supported 32 Drive_data_1 00000000 Drive_data_2 00000000 Drive_data_3 00000000 Drive_data_4 00000000 Drive_data_5 00000000 Drive_data_6 00000000 Drive_data_7 00000000 Drive_data_8 00000000 Drive_data_9 00000000 Drive_data_10 00000000 Drive_data_11 00000000 Drive_data_12 00000000 Drive_data_13 00000000 Drive_data_14 00000000 Drive_data_15 00000000 Drive_data_16 00000000 Drive_data_17 00000000 Drive_data_18 00000000 Drive_data_19 00000000 Drive_data_20 00000000 Drive_data_21 00000000 Drive_data_22 00000000 Drive_data_23 00000000 Drive_data_24 00000000 Drive_data_25 00000000 Drive_data_26 00000000 Drive_data_27 00000000 Drive_data_28 00000000 Drive_data_29 00000000 Drive_data_30 00000000 Drive_data_31 00000000 Drive_data_32 00000000 rw o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 receive pdo1 #x6040 0 16 controlword UINT #x607A 0 32 target position DINT #x60ff 0 32 target velocity DINT #x6071 0 16 target torque INT #x60B8 0 16 Touch probe function UINT #x6060 0 8 modes of operation SINT #x1A00 transmit pdo1 #x6041 0 16 statusword UINT #x6064 0 32 position actual value DINT #x606C 0 32 velocity actual value DINT #x6077 0 16 torque actual value INT #x60B9 0 16 touch probe status UINT #x60BA 0 32 touch probe pos1 pos value DINT #x603F 0 16 Error Code UINT #x60FD 0 32 digital input UDINT #x6061 0 8 modes of operation display SINT PS #x6060 0 08 DcSync DC for synchronization #x0300 0 0 DcOff DC unused #x0000 2048 080E0866000100000100 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