17185 Leadshine Technology Co.,Ltd. 深圳市雷赛智能控制股份有限公司 424DF8010000000000003600000028000000100000000E0000000100100000000000C201000010170000101700000000000000000000FF7FFF7FFF7FFF7FFF7F7D6B9A3E3826F7215D637D67DE77FF7FFF7FFF7FFF7FFF7FFF7FFF7FDF7B5C5FFB4E1301540195057D637505B6113C5BFF7FFF7FFF7FFF7FFF7FFF7F382654019E6F1722340138261B535401540154013C5BFF7FFF7FFF7FFF7FDA4634015401382A7D67340179369A3E5401750154019509BE73FF7FFF7FFF7BF71D7505540134013C5B59325932993A5401750175013401BA42FF7FFF7F9D6F583279365932B611B6117D67582EDB463401750175015401F71DFF7FFF7F1B5334015401B61179361726BA3EFB4E3C5B1726540175015401B611FF7BFF7F1B535401750154015401382A582E3C5B1B537936540175015401B611FF7FFF7F7D67540175017501550195095C5FDB4A5C5F58325501750154011722FF7FFF7FFF7BD6155401750175017505950D5932FF7FFB4E540175013401DB4AFF7FFF7FFF7F1C57540175017501750154017505F719D61155015401D615DF7BFF7FFF7FFF7FFF7F9A3A34015401750175017501540154015401950D7D67FF7FFF7FFF7FFF7FFF7FFF7FFB4E960D5401540154013401540117269E6FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FDE773C5BBA42993EDB4A7D67FF7FFF7FFF7FFF7FFF7F0000 Close Loop Stepper Drive Close Loop Stepper Drives 闭环步进驱动器 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF97000000770FFFFF977777777707FFFF970000000707FFFF97000000070777FF97000000070777FF970000000707FFFF977777777707FFFF97000000770FFFFFFF0000FFFFFFFFFFFF00007FFFFFFFFFFF00007FFFFFFFFFFFFFFFFFFFFFFFF CS3E-D507 50VDC/6.0A Close Loop Stepper Drive 50VDC/6.0A 闭环步进驱动器 http://www.leadshine.com http://www.leisai.com 2000 9000 5000 200 100 5000 false Close Loop Stepper Drive 402 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 STRING(25) 200 STRING(7) 56 STRING(5) 40 STRING(20) 160 STRING(40) 320 STRING(136) 1088 ARRAY [0..4] OF UINT UINT 80 0 5 ARRAY [0..13] OF UINT UINT 224 0 14 ARRAY [0..15] OF UINT UINT 256 0 16 ARRAY [0..2] OF UINT UINT 48 0 3 ARRAY [0..23] OF UINT UINT 384 0 24 ARRAY [0..16383] OF UINT UINT 262144 0 16384 DT1010 144 0 Number of Entries USINT 8 0 ro o 1 Save all parameters UDINT 32 16 rw o 2 Save communication parameters UDINT 32 48 rw o 3 Save application parameters UDINT 32 80 rw o 4 Save manufacturer parameters UDINT 32 112 rw o DT1011 144 0 Number of Entries USINT 8 0 ro o 1 Restore all default parameters UDINT 32 16 rw o 2 Restore communication default parameters UDINT 32 48 rw o 3 Restore application default parameters UDINT 32 80 rw o 4 Restore manufacturer default parameters UDINT 32 112 rw o DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 64 0 Number of Entries USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 272 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw DT1601 272 0 Number of Entries USINT 8 0 rw 1 RPDO 2 Mapping Information 1 UDINT 32 16 rw 2 RPDO 2 Mapping Information 2 UDINT 32 48 rw 3 RPDO 2 Mapping Information 3 UDINT 32 80 rw 4 RPDO 2 Mapping Information 4 UDINT 32 112 rw 5 RPDO 2 Mapping Information 5 UDINT 32 144 rw 6 RPDO 2 Mapping Information 6 UDINT 32 176 rw 7 RPDO 2 Mapping Information 7 UDINT 32 208 rw 8 RPDO 2 Mapping Information 8 UDINT 32 240 rw DT1602 272 0 Number of Entries USINT 8 0 rw 1 RPDO 3 Mapping Information 1 UDINT 32 16 rw 2 RPDO 3 Mapping Information 2 UDINT 32 48 rw 3 RPDO 3 Mapping Information 3 UDINT 32 80 rw 4 RPDO 3 Mapping Information 4 UDINT 32 112 rw 5 RPDO 3 Mapping Information 5 UDINT 32 144 rw 6 RPDO 3 Mapping Information 6 UDINT 32 176 rw 7 RPDO 3 Mapping Information 7 UDINT 32 208 rw 8 RPDO 3 Mapping Information 8 UDINT 32 240 rw DT1603 272 0 Number of Entries USINT 8 0 rw 1 RPDO 4 Mapping Information 1 UDINT 32 16 rw 2 RPDO 4 Mapping Information 2 UDINT 32 48 rw 3 RPDO 4 Mapping Information 3 UDINT 32 80 rw 4 RPDO 4 Mapping Information 4 UDINT 32 112 rw 5 RPDO 4 Mapping Information 5 UDINT 32 144 rw 6 RPDO 4 Mapping Information 6 UDINT 32 176 rw 7 RPDO 4 Mapping Information 7 UDINT 32 208 rw 8 RPDO 4 Mapping Information 8 UDINT 32 240 rw DT1A00 272 0 Number of Entries USINT 8 0 rw 1 TPDO 1 Mapping Information 1 UDINT 32 16 rw 2 TPDO 1 Mapping Information 2 UDINT 32 48 rw 3 TPDO 1 Mapping Information 3 UDINT 32 80 rw 4 TPDO 1 Mapping Information 4 UDINT 32 112 rw 5 TPDO 1 Mapping Information 5 UDINT 32 144 rw 6 TPDO 1 Mapping Information 6 UDINT 32 176 rw 7 TPDO 1 Mapping Information 7 UDINT 32 208 rw 8 TPDO 1 Mapping Information 8 UDINT 32 240 rw DT1A01 272 0 Number of Entries USINT 8 0 rw 1 TPDO 2 Mapping Information 1 UDINT 32 16 rw 2 TPDO 2 Mapping Information 2 UDINT 32 48 rw 3 TPDO 2 Mapping Information 3 UDINT 32 80 rw 4 TPDO 2 Mapping Information 4 UDINT 32 112 rw 5 TPDO 2 Mapping Information 5 UDINT 32 144 rw 6 TPDO 2 Mapping Information 6 UDINT 32 176 rw 7 TPDO 2 Mapping Information 7 UDINT 32 208 rw 8 TPDO 2 Mapping Information 8 UDINT 32 240 rw DT1C00 48 0 Number of Entries USINT 8 0 ro 1 Comm. Type, Sync Manager 0 USINT 8 16 rw 2 Comm. Type, Sync Manager 1 USINT 8 24 rw 3 Comm. Type, Sync Manager 2 USINT 8 32 rw 4 Comm. Type, Sync Manager 3 USINT 8 40 rw DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 480 0 Number of Entries USINT 8 0 ro 1 Sync Manager 2, Synchronization type UINT 16 16 ro 2 Sync Manager 2, Cycle time UDINT 32 32 ro 3 Sync Manager 2, Shift time UDINT 32 64 ro 4 Sync Manager 2, Sync types supported UINT 16 96 ro 5 Sync Manager 2, Minimum cycle time UDINT 32 112 ro 6 Sync Manager 2, Calc and copy time UDINT 32 144 ro 7 Sync Manager 2, Minimum hardware delay UDINT 32 176 ro 8 Sync Manager 2,Get Cycle Time UINT 16 208 ro 9 Sync Manager 2, Hardware delay time UDINT 32 224 ro 10 Sync Manager 2, Sync0 cycle time UDINT 32 256 ro 11 Sync Manager 2, SM-Event missed Counter UINT 16 288 ro 12 Sync Manager 2, Cycle Time Too Small Counter UINT 16 304 ro 13 Sync Manager 2, Shift Time Too Short Counter UINT 16 320 ro 14 Sync Manager 2, RxPDO Toggle Failed Count UINT 16 336 ro 15 Sync Manager 2, Minimum cycle distance UDINT 32 352 ro 16 Sync Manager 2, Maximum cycle distance UDINT 32 384 ro 17 Sync Manager 2, Minimum SM SYNC distance UDINT 32 416 ro 18 Sync Manager 2, Maximum SM SYNC distance UDINT 32 448 ro DT1C33 320 0 Number of Entries USINT 8 0 ro 1 Sync Manager 3, Synchronization type UINT 16 16 ro 2 Sync Manager 3, Cycle time UDINT 32 32 ro 3 Sync Manager 3, Shift time UDINT 32 64 ro 4 Sync Manager 3, Sync types supported UINT 16 96 ro 5 Sync Manager 3, Minimum cycle time UDINT 32 112 ro 6 Sync Manager 3, Calc and copy time UDINT 32 144 ro 7 Sync Manager 3, Minimum hardware delay UDINT 32 176 ro 8 Sync Manager 3,Get Cycle Time UINT 16 208 ro 9 Sync Manager 3, Hardware delay time UDINT 32 224 ro 10 Sync Manager 3, Sync0 cycle time UDINT 32 256 ro 11 Sync Manager 3, SM-Event missed Counter UINT 16 288 ro 12 Sync Manager 3, Cycle Time Too Small Counter UINT 16 304 ro DT2010 80 0 Number of Entries USINT 8 0 ro 1 FIR Filter Time DINT 32 16 rw T 2 IIR Filter Time DINT 32 48 rw T DT201A 144 0 Number of Entries USINT 8 0 ro 1 Power On Enable Current percentage DINT 32 16 rw T 2 Open Loop Standby Current percentage DINT 32 48 rw T 3 Close Loop Standby Current percentage DINT 32 80 rw T 4 Turn Off Voltage percentage DINT 32 112 rw T DT2081 80 0 Number of Entries USINT 8 0 ro 1 Weak Magnetic Coefficient 1 DINT 32 16 rw T 2 Weak Magnetic Coefficient 2 DINT 32 48 rw T DT2090 176 0 Number of Entries USINT 8 0 ro 1 Current Loop Gain DINT 32 16 rw T 2 Current Loop Integral DINT 32 48 rw T 3 Current Loop Saturation Time Constant DINT 32 80 rw T 4 Current Loop Gain Ratio DINT 32 112 rw T 5 Torque Feedforward DINT 32 144 rw T DT2091 240 0 Number of Entries USINT 8 0 ro 1 Speed Loop Gain DINT 32 16 rw T 2 Speed Loop Integral DINT 32 48 rw T 3 Speed Loop Gain 2 DINT 32 80 rw T 4 Speed Loop Integral Limit DINT 32 112 rw T 5 Speed Loop Filter Setting DINT 32 144 rw T 6 Speed Loop Sample Filter Setting DINT 32 176 rw T 7 Velocity Feedforward DINT 32 208 rw T DT2092 112 0 Number of Entries USINT 8 0 ro 1 Position Loop Gain DINT 32 16 rw T 2 Position Loop Gain 2 DINT 32 48 rw T 3 Position Loop Filter Setting DINT 32 80 rw T DT2152 240 0 Number of Entries USINT 8 0 ro 1 Input 1 Function DINT 32 16 rw T 2 Input 2 Function DINT 32 48 rw T 3 Input 3 Function DINT 32 80 rw T 4 Input 4 Function DINT 32 112 rw T 5 Input 5 Function DINT 32 144 rw T 6 Input 6 Function DINT 32 176 rw T 7 Input 7 Function DINT 32 208 rw T DT2156 208 0 Number of Entries USINT 8 0 ro 1 Output 1 Function DINT 32 16 rw T 2 Output 2 Function DINT 32 48 rw T 3 Output 3 Function DINT 32 80 rw T 4 Output 4 Function DINT 32 112 rw T 5 Output 5 Function DINT 32 144 rw T 6 Output 6 Function DINT 32 176 rw T DT3100 64 0 Number of Entries USINT 8 0 ro 1 Driver Software Version UINT 16 16 ro 2 FPGA Software Version UINT 16 32 ro 3 Slave Stack Software Version UINT 16 48 ro DT3FFE 240 0 Number of Entries USINT 8 0 ro 1 Fault Record 0 UINT 16 16 ro T 2 Fault Record 1 UINT 16 32 ro T 3 Fault Record 2 UINT 16 48 ro T 4 Fault Record 3 UINT 16 64 ro T 5 Fault Record 4 UINT 16 80 ro T 6 Fault Record 5 UINT 16 96 ro T 7 Fault Record 6 UINT 16 112 ro T 8 Fault Record 7 UINT 16 128 ro T 9 Fault Record 8 UINT 16 144 ro T 10 Fault Record 9 UINT 16 160 ro T 11 Fault Record 10 UINT 16 176 ro T 12 Fault Record 11 UINT 16 192 ro T 13 Fault Record 12 UINT 16 208 ro T 14 Fault Record 13 UINT 16 214 ro T DT4000 144 0 Number of Entries USINT 8 0 ro 1 Motor Type DINT 32 16 rw T 2 Motor Resistance DINT 32 48 rw T 3 Motor Inductance DINT 32 80 rw T 4 Motor Back EMF Coefficient DINT 32 112 rw T DT4003 112 0 Number of Entries USINT 8 0 ro 1 Break Lock Delay Time DINT 32 16 rw T 2 Break Release Delay Time DINT 32 48 rw T 3 Break Release Speed DINT 32 80 rw T DT4005 80 0 Number of Entries USINT 8 0 ro 1 Regenerative Resistance Circuit Enable DINT 32 16 rw TR 2 Regenerative Resistance Circuit Turn On Voltage DINT 32 48 rw TR DT5000 128 0 Number of Entries USINT 8 0 ro 1 Trajectory Generator Status UINT 16 16 ro T 2 Motion State Machine UINT 16 32 ro T 3 Interior Enable Status UINT 16 48 ro T 4 Target Reached Status UINT 16 64 ro T 5 Internal Response Status UINT 16 80 ro T 6 EEPROM Status UINT 16 96 ro T 7 Special Status UINT 16 112 ro T DT5002 48 0 Number of Entries USINT 8 0 ro 1 Register Address UINT 16 16 rw TR 2 Register Data UINT 16 32 ro T DT5004 272 0 Number of Entries USINT 8 0 ro 1 Outputs Size UINT 16 16 ro T 2 Inputs Size UINT 16 32 ro T 3 RPDO Count UINT 16 48 ro T 4 TPDO Count UINT 16 64 ro T 5 Sync0 Watch Dog Counter UINT 16 80 ro T 6 Sync0 Watch Dog Counter Internal UINT 16 96 ro T 7 Sync0 Watch Value UINT 16 112 ro T 8 Sync0 Drift Counter UINT 16 128 ro T 9 Sync0 Drift Value UINT 16 144 ro T 10 SM Watch Dog Counter Internal UINT 16 160 ro T 11 SM Watch Dog Value Internal UINT 16 176 ro T 12 SM Sync0 Watch Dog Counter UINT 16 144 ro T 13 SM Sync0 Watch Dog Value UINT 16 192 ro T 14 Sync0 Ratio UINT 16 208 ro T 15 Sync Function Setting UINT 16 224 ro T 16 Sync0 Interval UDINT 32 240 ro T DT5012 128 0 Number of Entries USINT 8 0 ro 1 Home Reached Position DINT 32 16 ro T 2 Home Triggered Position DINT 32 48 ro T 3 Home IO Simulator UDINT 32 80 rw TR 4 Home Setting UINT 16 96 rw T 5 Home Speed Limit UINT 16 112 rw T DT5015 192 0 Number of Entries USINT 8 0 ro 1 Internal Command Position DINT 32 16 ro T 2 Internal Command Velocity DINT 32 48 ro T 3 Internal Command Torque INT 16 80 ro T 4 Internal Reserve 1 DINT 32 96 ro T 5 Profile Mode Setting 1 UINT 16 128 rw T 6 Profile Mode Setting 2 UINT 16 144 rw T 7 Internal Reserve 2 UINT 16 160 rw T 8 Internal Reserve 3 UINT 16 176 rw T DT5400 48 0 Number of Entries USINT 8 0 ro 1 DC Period Minimux Value UINT 16 16 rw T 2 DC Period Maximux Value UINT 16 32 rw T DT5500 336 0 Number of Entries USINT 8 0 ro 1 Number of Turns of Absolute Encoder UDINT 32 16 ro 2 Single Turn Position of Absolute Encoder DINT 32 48 ro 3 Low Position of Absolute Encoder UDINT 32 80 ro 4 High Position of Absolute Encoder DINT 32 112 ro 5 Low Mechanical Position UDINT 32 144 ro 6 High Mechanical Position DINT 32 176 ro 7 Encoder Communication Error Counter UDINT 32 208 ro 8 Manufacture Reserve High DINT 32 240 ro 9 Manufacture Use Low UDINT 32 272 ro 10 Manufacture Use High DINT 32 304 ro DT5501 272 0 Number of Entries USINT 8 0 ro 1 Actual Motor Speed INT 16 16 ro 2 Command Speed INT 16 32 ro 3 Speed Command INT 16 48 ro 4 Actual Torque INT 16 64 ro 5 Command Torque INT 16 80 ro 6 Relative Position Error DINT 32 96 ro 7 Internal Position Command DINT 32 128 ro 8 Overload Rate INT 16 160 ro 9 Regenrative Resistance Load Ratio INT 16 176 ro 10 Inertia Ratio UINT 16 192 ro 11 Positive Actual Torque Limit INT 16 208 ro 12 Negative Actual Torque Limit INT 16 224 ro 13 U Phase Actual Current INT 16 240 ro 14 V Phase Actual Current INT 16 256 ro DT5502 144 0 Number of Entries USINT 8 0 ro 1 Digital Input Level UINT 16 16 ro 2 Digital Output Level UINT 16 32 ro 3 Analog Input 1 Level INT 16 48 ro 4 Analog Input 2 Level INT 16 64 ro 5 DC Link Circuit Voltage UINT 16 80 ro 6 IPM Temperature UINT 16 96 ro 7 Operation Time UDINT 32 116 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Negative software limit position DINT 32 16 rw TR 2 Positive software limit position DINT 32 48 rw TR DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro TR 2 Motor revolutions UDINT 32 48 ro TR DT6091 80 0 Number of Entries USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw TR 2 Shaft revolutions UDINT 32 48 rw TR DT6092 80 0 Number of Entries USINT 8 0 ro 1 Feed increments UDINT 32 16 ro TR 2 Shaft revolutions UDINT 32 48 ro TR DT6099 80 0 Number of Entries USINT 8 0 ro 1 Homing Velocity (fast) UDINT 32 16 rw TR 2 Homing Velocity (slow) UDINT 32 48 rw TR DT60A4 80 0 Number of Entries USINT 8 0 ro 1 Profile Jerk 1 UDINT 32 16 rw TR 2 Profile Jerk 2 UDINT 32 48 rw TR DT60C1 88 0 Number of Entries USINT 8 0 ro 1 Interpolated position value DINT 32 16 rw TR 2 Interpolated time value USINT 8 48 rw TR 3 Interpolated velocity value DINT 32 56 rw TR DT60C2 32 0 Number of Entries USINT 8 0 ro 1 Interpolation Time Value USINT 8 16 ro 2 Interpolation Time Units SINT 8 24 ro DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro T #x1008 Device Name STRING(7) 56 ro #x1009 Hardware Version STRING(5) 40 ro #x100A Software Version STRING(5) 40 ro #x1010 Store Parameters DT1010 144 rw #x1011 Restore Parameters DT1011 144 rw #x1018 Identity Object DT1018 144 rw #x10F1 Error Settings DT10F1 64 #x1600 RXPDO 1 Mapping Parameter DT1600 272 rw #x1601 RXPDO 2 Mapping Parameter DT1601 272 rw #x1602 RXPDO 3 Mapping Parameter DT1602 272 rw #x1603 RXPDO 4 Mapping Parameter DT1603 272 rw #x1A00 TXPDO 1 Mapping Parameter DT1A00 272 rw #x1A01 TXPDO 2 Mapping Parameter DT1A01 272 rw #x1C00 SM Communication Type DT1C00 48 ro #x1C12 SM2(Outputs) PDO Assignment DT1C12 80 rw #x1C13 SM3(Inputs) PDO Assignment DT1C13 48 rw #x1C32 Output Sync Manager Parameter DT1C32 480 ro #x1C33 Input Sync Manager Parameter DT1C33 320 ro #x2000 Peak Current DINT 32 rw TR #x2001 Motor Resolution DINT 32 rw T #x2007 Disable Mode DINT 32 rw T #x2010 Filter Time DT2010 80 rw T #x2012 Soft Start Time DINT 32 rw TR #x201A Percentage Parameters DT201A 144 rw T #x201B Lock Axis Time When Power On DINT 32 rw T #x201D Zero Speed Threshold DINT 32 rw T #x201E Low Bridge Short Circuit Enable DINT 32 rw T #x2024 Run Mode Select DINT 32 rw T #x2029 Encoder Resolution DINT 32 rw T #x2030 Position Loop Control Effort Limit DINT 32 rw T #x2032 Position Reached Bound DINT 32 rw T #x2033 Position Reached Delay Time DINT 32 rw T #x2047 Over Voltage Level DINT 32 rw T #x2048 Bus Voltage DINT 32 ro T #x2051 Polarity DINT 32 rw T #x2056 Fault Detect Configure DINT 32 rw T #x2081 Weak Magnetic Coefficient DT2081 80 rw T #x2090 Current Loop Parameters DT2090 176 rw T #x2091 Speed Loop Parameters DT2091 240 rw T #x2092 Position Loop Parameters DT2092 112 rw T #x214A Slave ID Selector Data DINT 32 ro T #x214B HMI Display Select DINT 32 ro T #x2150 Slave Alias DINT 32 rw T #x2151 Slave Alias Source DINT 32 rw T #x2152 Inputs Function DT2152 240 rw T #x2155 Physical Inputs Level DINT 32 ro T #x2156 Outputs Function DT2156 208 rw T #x2226 Torque Limit Level DINT 32 rw T #x2232 Sync Compensation Threshold 1 DINT 32 rw T #x2233 Sync Compensation Threshold 2 DINT 32 rw T #x225C Special Function Register DINT 32 rw T #x2298 Torque Mode Speed Limit Level DINT 32 rw T #x22BF Torque Detection Saturation Time DINT 32 rw T #x22C1 Torque Limit Level of Homing DINT 32 rw T #x3100 Firmware Version DT3100 48 ro T #x3FFE Fault Record DT3FFE 240 ro T #x4000 Motor Parameters DT4000 144 rw T #x4003 Motor Break Parameters DT4003 112 rw T #x4005 Regenerative Resistance Parameters DT4005 80 rw T #x4500 Current Error ID UINT 16 ro T #x5000 Internal States DT5000 128 #x5002 ESC Register Interface DT5002 48 #x5004 Sync Interface Parameters DT5004 272 #x5005 DC Compensate Base Value UINT 16 rw T #x5006 Sync Error Detect Setting UINT 16 rw #x5010 Valid Outputs/Inputs Watch Dog Time UINT 16 rw TR #x5011 Internal Actual Position DINT 32 ro T #x5012 Home Interface DT5012 128 #x5013 Motor Not Work Code UINT 16 ro T #x5400 DC Period Setting DT5400 80 #x5500 Absolute Encoder Monitors DT5500 336 ro #x5501 Motion Monitors DT5501 336 ro #x5502 Miscellaneous Monitors DT5502 144 ro #x603f Last Error Code UINT 16 ro T #x6040 Control Word UINT 16 rw TR #x6041 Status Word UINT 16 ro T #x605A Quick Stop Option Code INT 16 rw TR #x605B Shutdown option code INT 16 rw TR #x605C Disable operation option code INT 16 rw TR #x605D Halt option code INT 16 rw TR #x605E Fault reaction option code INT 16 rw TR #x6060 Modes of Operation USINT 8 rw TR #x6061 Modes of Operation Display USINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Actual Position DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x6073 Max Current UINT 16 rw R #x6077 Actual motor torque INT 16 ro T #x607A Profile Target Position DINT 32 rw TR #x607C Homing Offset DINT 32 rw TR #x607E Polarity USINT 8 rw R #x607F Max Profile velocity UDINT 32 rw R #x6080 Max motor speed UDINT 32 rw R #x6081 Profile Velocity UDINT 32 rw TR #x6082 End Velocity UDINT 32 rw TR #x6083 Profile Acceleration UDINT 32 rw TR #x6084 Profile Deceleration UDINT 32 rw TR #x6085 Quick Stop Deceleration UDINT 32 rw TR #x608F Position encoder resolution DT608F 80 #x6092 Feed constant DT6092 80 #x6098 Homing Method SINT 8 rw TR #x6099 Homing Velocity DT6099 80 rw TR #x609A Homing Acceleration UDINT 32 rw TR #x60B0 Position Offset DINT 32 rw TR #x60B8 Touch Probe Function UINT 16 rw TR #x60B9 Touch Probe Status UINT 16 ro T #x60BA Touch Probe 1 Positive Value DINT 32 ro T #x60BB Touch Probe 1 Negative Value DINT 32 ro T #x60BC Touch Probe 2 Positive Value DINT 32 ro T #x60BD Touch Probe 2 Negative Value DINT 32 ro T #x60C2 InterPolation Time Period DT60C2 32 ro #x60D5 Touch Probe 1 Positive Counter UINT 16 ro o T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro o T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro o T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro o T #x60f4 Position loop error DINT 32 ro T #x60FD Digital Inputs UDINT 32 ro T #x60FE Digital Outputs DT60FE 72 rw TR #x60FF Target Velocity DINT 32 rw TR #x6502 Supported Drive Modes UDINT 32 ro T MBoxState Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Receive PDO 1 #x1601 #x1602 #x1603 #x6040 0 16 Control Word UINT #x607A 0 32 Profile Target Position DINT #x60B8 0 16 Touch Probe Function UINT #x1601 Receive PDO 2 #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Profile Target Position DINT #x6081 0 32 Profile Velocity UDINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x6060 0 8 Modes of Operation USINT #x1602 Receive PDO 3 #x1600 #x1601 #x1603 #x6040 0 16 Control Word UINT #x60FF 0 32 Target Velocity DINT #x6083 0 32 Profile Acceleration UDINT #x6084 0 32 Profile Deceleration UDINT #x6060 0 8 Modes of Operation USINT #x1603 Receive PDO 4 #x1600 #x1601 #x1602 #x6040 0 16 Control Word UINT #x6098 0 8 Homing Method SINT #x6099 1 32 Homing Velocity (fast) UDINT #x6099 2 32 Homing Velocity (slow) UDINT #x609a 0 32 Homing Acceleration UDINT #x607C 0 32 Homing Offset DINT #x6060 0 8 Modes of Operation USINT #x1a00 Transmit PDO 1 #x1A01 #x603F #x00 16 Last Error Code UINT #x6041 #x00 16 Status Word UINT #x6061 #x00 8 Modes of Operation display SINT #x6064 #x00 32 Position Actual Value DINT #x60B9 #x00 16 Touch Probe Status UINT #x60BA #x00 32 Touch Probe 1 Positive Value DINT #x60FD #x00 32 Digital Inputs UDINT #x1a01 Transmit PDO 2 #x1A00 PS #x6060 0 08 Modes of Operation DC DC-Synchron #x0300 0 0 Free Run Free-Run #x0000 2498 6000 2048 003c0000640000000000 0010800000118000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFF00FFFFFFFFFFFFF0F70FFFFFFFFFFFF07F0FFFFFFFFFFFFF00FFFFFFFFF7777F0FFFFFFFFFF7667F0FFFFFFFFFF766700FFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7967FFFFFFFFFFFF7777FFFFFFFFFFFFFFFFFFFFFFFFFFF CS3E-D1008 80VAC/8.0A Close Loop Stepper Drive 80VAC/8.0A 闭环步进驱动器 http://www.leadshine.com http://www.leisai.com 2000 9000 5000 200 100 5000 false Close Loop Stepper Drive 402 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 STRING(25) 200 STRING(7) 56 STRING(5) 40 STRING(20) 160 STRING(40) 320 STRING(136) 1088 ARRAY [0..4] OF UINT UINT 80 0 5 ARRAY [0..13] OF UINT UINT 224 0 14 ARRAY [0..15] OF UINT UINT 256 0 16 ARRAY [0..2] OF UINT UINT 48 0 3 ARRAY [0..23] OF UINT UINT 384 0 24 ARRAY [0..16383] OF UINT UINT 262144 0 16384 DT1010 144 0 Number of Entries USINT 8 0 ro o 1 Save all parameters UDINT 32 16 rw o 2 Save communication parameters UDINT 32 48 rw o 3 Save application parameters UDINT 32 80 rw o 4 Save manufacturer parameters UDINT 32 112 rw o DT1011 144 0 Number of Entries USINT 8 0 ro o 1 Restore all default parameters UDINT 32 16 rw o 2 Restore communication default parameters UDINT 32 48 rw o 3 Restore application default parameters UDINT 32 80 rw o 4 Restore manufacturer default parameters UDINT 32 112 rw o DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 64 0 Number of Entries USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 272 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw DT1601 272 0 Number of Entries USINT 8 0 rw 1 RPDO 2 Mapping Information 1 UDINT 32 16 rw 2 RPDO 2 Mapping Information 2 UDINT 32 48 rw 3 RPDO 2 Mapping Information 3 UDINT 32 80 rw 4 RPDO 2 Mapping Information 4 UDINT 32 112 rw 5 RPDO 2 Mapping Information 5 UDINT 32 144 rw 6 RPDO 2 Mapping Information 6 UDINT 32 176 rw 7 RPDO 2 Mapping Information 7 UDINT 32 208 rw 8 RPDO 2 Mapping Information 8 UDINT 32 240 rw DT1602 272 0 Number of Entries USINT 8 0 rw 1 RPDO 3 Mapping Information 1 UDINT 32 16 rw 2 RPDO 3 Mapping Information 2 UDINT 32 48 rw 3 RPDO 3 Mapping Information 3 UDINT 32 80 rw 4 RPDO 3 Mapping Information 4 UDINT 32 112 rw 5 RPDO 3 Mapping Information 5 UDINT 32 144 rw 6 RPDO 3 Mapping Information 6 UDINT 32 176 rw 7 RPDO 3 Mapping Information 7 UDINT 32 208 rw 8 RPDO 3 Mapping Information 8 UDINT 32 240 rw DT1603 272 0 Number of Entries USINT 8 0 rw 1 RPDO 4 Mapping Information 1 UDINT 32 16 rw 2 RPDO 4 Mapping Information 2 UDINT 32 48 rw 3 RPDO 4 Mapping Information 3 UDINT 32 80 rw 4 RPDO 4 Mapping Information 4 UDINT 32 112 rw 5 RPDO 4 Mapping Information 5 UDINT 32 144 rw 6 RPDO 4 Mapping Information 6 UDINT 32 176 rw 7 RPDO 4 Mapping Information 7 UDINT 32 208 rw 8 RPDO 4 Mapping Information 8 UDINT 32 240 rw DT1A00 272 0 Number of Entries USINT 8 0 rw 1 TPDO 1 Mapping Information 1 UDINT 32 16 rw 2 TPDO 1 Mapping Information 2 UDINT 32 48 rw 3 TPDO 1 Mapping Information 3 UDINT 32 80 rw 4 TPDO 1 Mapping Information 4 UDINT 32 112 rw 5 TPDO 1 Mapping Information 5 UDINT 32 144 rw 6 TPDO 1 Mapping Information 6 UDINT 32 176 rw 7 TPDO 1 Mapping Information 7 UDINT 32 208 rw 8 TPDO 1 Mapping Information 8 UDINT 32 240 rw DT1A01 272 0 Number of Entries USINT 8 0 rw 1 TPDO 2 Mapping Information 1 UDINT 32 16 rw 2 TPDO 2 Mapping Information 2 UDINT 32 48 rw 3 TPDO 2 Mapping Information 3 UDINT 32 80 rw 4 TPDO 2 Mapping Information 4 UDINT 32 112 rw 5 TPDO 2 Mapping Information 5 UDINT 32 144 rw 6 TPDO 2 Mapping Information 6 UDINT 32 176 rw 7 TPDO 2 Mapping Information 7 UDINT 32 208 rw 8 TPDO 2 Mapping Information 8 UDINT 32 240 rw DT1C00 48 0 Number of Entries USINT 8 0 ro 1 Comm. Type, Sync Manager 0 USINT 8 16 rw 2 Comm. Type, Sync Manager 1 USINT 8 24 rw 3 Comm. Type, Sync Manager 2 USINT 8 32 rw 4 Comm. Type, Sync Manager 3 USINT 8 40 rw DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 480 0 Number of Entries USINT 8 0 ro 1 Sync Manager 2, Synchronization type UINT 16 16 ro 2 Sync Manager 2, Cycle time UDINT 32 32 ro 3 Sync Manager 2, Shift time UDINT 32 64 ro 4 Sync Manager 2, Sync types supported UINT 16 96 ro 5 Sync Manager 2, Minimum cycle time UDINT 32 112 ro 6 Sync Manager 2, Calc and copy time UDINT 32 144 ro 7 Sync Manager 2, Minimum hardware delay UDINT 32 176 ro 8 Sync Manager 2,Get Cycle Time UINT 16 208 ro 9 Sync Manager 2, Hardware delay time UDINT 32 224 ro 10 Sync Manager 2, Sync0 cycle time UDINT 32 256 ro 11 Sync Manager 2, SM-Event missed Counter UINT 16 288 ro 12 Sync Manager 2, Cycle Time Too Small Counter UINT 16 304 ro 13 Sync Manager 2, Shift Time Too Short Counter UINT 16 320 ro 14 Sync Manager 2, RxPDO Toggle Failed Count UINT 16 336 ro 15 Sync Manager 2, Minimum cycle distance UDINT 32 352 ro 16 Sync Manager 2, Maximum cycle distance UDINT 32 384 ro 17 Sync Manager 2, Minimum SM SYNC distance UDINT 32 416 ro 18 Sync Manager 2, Maximum SM SYNC distance UDINT 32 448 ro DT1C33 320 0 Number of Entries USINT 8 0 ro 1 Sync Manager 3, Synchronization type UINT 16 16 ro 2 Sync Manager 3, Cycle time UDINT 32 32 ro 3 Sync Manager 3, Shift time UDINT 32 64 ro 4 Sync Manager 3, Sync types supported UINT 16 96 ro 5 Sync Manager 3, Minimum cycle time UDINT 32 112 ro 6 Sync Manager 3, Calc and copy time UDINT 32 144 ro 7 Sync Manager 3, Minimum hardware delay UDINT 32 176 ro 8 Sync Manager 3,Get Cycle Time UINT 16 208 ro 9 Sync Manager 3, Hardware delay time UDINT 32 224 ro 10 Sync Manager 3, Sync0 cycle time UDINT 32 256 ro 11 Sync Manager 3, SM-Event missed Counter UINT 16 288 ro 12 Sync Manager 3, Cycle Time Too Small Counter UINT 16 304 ro DT2010 80 0 Number of Entries USINT 8 0 ro 1 FIR Filter Time DINT 32 16 rw T 2 IIR Filter Time DINT 32 48 rw T DT201A 144 0 Number of Entries USINT 8 0 ro 1 Power On Enable Current percentage DINT 32 16 rw T 2 Open Loop Standby Current percentage DINT 32 48 rw T 3 Close Loop Standby Current percentage DINT 32 80 rw T 4 Turn Off Voltage percentage DINT 32 112 rw T DT2081 80 0 Number of Entries USINT 8 0 ro 1 Weak Magnetic Coefficient 1 DINT 32 16 rw T 2 Weak Magnetic Coefficient 2 DINT 32 48 rw T DT2090 176 0 Number of Entries USINT 8 0 ro 1 Current Loop Gain DINT 32 16 rw T 2 Current Loop Integral DINT 32 48 rw T 3 Current Loop Saturation Time Constant DINT 32 80 rw T 4 Current Loop Gain Ratio DINT 32 112 rw T 5 Torque Feedforward DINT 32 144 rw T DT2091 240 0 Number of Entries USINT 8 0 ro 1 Speed Loop Gain DINT 32 16 rw T 2 Speed Loop Integral DINT 32 48 rw T 3 Speed Loop Gain 2 DINT 32 80 rw T 4 Speed Loop Integral Limit DINT 32 112 rw T 5 Speed Loop Filter Setting DINT 32 144 rw T 6 Speed Loop Sample Filter Setting DINT 32 176 rw T 7 Velocity Feedforward DINT 32 208 rw T DT2092 112 0 Number of Entries USINT 8 0 ro 1 Position Loop Gain DINT 32 16 rw T 2 Position Loop Gain 2 DINT 32 48 rw T 3 Position Loop Filter Setting DINT 32 80 rw T DT2152 240 0 Number of Entries USINT 8 0 ro 1 Input 1 Function DINT 32 16 rw T 2 Input 2 Function DINT 32 48 rw T 3 Input 3 Function DINT 32 80 rw T 4 Input 4 Function DINT 32 112 rw T 5 Input 5 Function DINT 32 144 rw T 6 Input 6 Function DINT 32 176 rw T 7 Input 7 Function DINT 32 208 rw T DT2156 208 0 Number of Entries USINT 8 0 ro 1 Output 1 Function DINT 32 16 rw T 2 Output 2 Function DINT 32 48 rw T 3 Output 3 Function DINT 32 80 rw T 4 Output 4 Function DINT 32 112 rw T 5 Output 5 Function DINT 32 144 rw T 6 Output 6 Function DINT 32 176 rw T DT3100 64 0 Number of Entries USINT 8 0 ro 1 Driver Software Version UINT 16 16 ro 2 FPGA Software Version UINT 16 32 ro 3 Slave Stack Software Version UINT 16 48 ro DT3FFE 240 0 Number of Entries USINT 8 0 ro 1 Fault Record 0 UINT 16 16 ro T 2 Fault Record 1 UINT 16 32 ro T 3 Fault Record 2 UINT 16 48 ro T 4 Fault Record 3 UINT 16 64 ro T 5 Fault Record 4 UINT 16 80 ro T 6 Fault Record 5 UINT 16 96 ro T 7 Fault Record 6 UINT 16 112 ro T 8 Fault Record 7 UINT 16 128 ro T 9 Fault Record 8 UINT 16 144 ro T 10 Fault Record 9 UINT 16 160 ro T 11 Fault Record 10 UINT 16 176 ro T 12 Fault Record 11 UINT 16 192 ro T 13 Fault Record 12 UINT 16 208 ro T 14 Fault Record 13 UINT 16 214 ro T DT4000 144 0 Number of Entries USINT 8 0 ro 1 Motor Type DINT 32 16 rw T 2 Motor Resistance DINT 32 48 rw T 3 Motor Inductance DINT 32 80 rw T 4 Motor Back EMF Coefficient DINT 32 112 rw T DT4003 112 0 Number of Entries USINT 8 0 ro 1 Break Lock Delay Time DINT 32 16 rw T 2 Break Release Delay Time DINT 32 48 rw T 3 Break Release Speed DINT 32 80 rw T DT4005 80 0 Number of Entries USINT 8 0 ro 1 Regenerative Resistance Circuit Enable DINT 32 16 rw TR 2 Regenerative Resistance Circuit Turn On Voltage DINT 32 48 rw TR DT5000 128 0 Number of Entries USINT 8 0 ro 1 Trajectory Generator Status UINT 16 16 ro T 2 Motion State Machine UINT 16 32 ro T 3 Interior Enable Status UINT 16 48 ro T 4 Target Reached Status UINT 16 64 ro T 5 Internal Response Status UINT 16 80 ro T 6 EEPROM Status UINT 16 96 ro T 7 Special Status UINT 16 112 ro T DT5002 48 0 Number of Entries USINT 8 0 ro 1 Register Address UINT 16 16 rw TR 2 Register Data UINT 16 32 ro T DT5004 272 0 Number of Entries USINT 8 0 ro 1 Outputs Size UINT 16 16 ro T 2 Inputs Size UINT 16 32 ro T 3 RPDO Count UINT 16 48 ro T 4 TPDO Count UINT 16 64 ro T 5 Sync0 Watch Dog Counter UINT 16 80 ro T 6 Sync0 Watch Dog Counter Internal UINT 16 96 ro T 7 Sync0 Watch Value UINT 16 112 ro T 8 Sync0 Drift Counter UINT 16 128 ro T 9 Sync0 Drift Value UINT 16 144 ro T 10 SM Watch Dog Counter Internal UINT 16 160 ro T 11 SM Watch Dog Value Internal UINT 16 176 ro T 12 SM Sync0 Watch Dog Counter UINT 16 144 ro T 13 SM Sync0 Watch Dog Value UINT 16 192 ro T 14 Sync0 Ratio UINT 16 208 ro T 15 Sync Function Setting UINT 16 224 ro T 16 Sync0 Interval UDINT 32 240 ro T DT5012 128 0 Number of Entries USINT 8 0 ro 1 Home Reached Position DINT 32 16 ro T 2 Home Triggered Position DINT 32 48 ro T 3 Home IO Simulator UDINT 32 80 rw TR 4 Home Setting UINT 16 96 rw T 5 Home Speed Limit UINT 16 112 rw T DT5015 192 0 Number of Entries USINT 8 0 ro 1 Internal Command Position DINT 32 16 ro T 2 Internal Command Velocity DINT 32 48 ro T 3 Internal Command Torque INT 16 80 ro T 4 Internal Reserve 1 DINT 32 96 ro T 5 Profile Mode Setting 1 UINT 16 128 rw T 6 Profile Mode Setting 2 UINT 16 144 rw T 7 Internal Reserve 2 UINT 16 160 rw T 8 Internal Reserve 3 UINT 16 176 rw T DT5400 48 0 Number of Entries USINT 8 0 ro 1 DC Period Minimux Value UINT 16 16 rw T 2 DC Period Maximux Value UINT 16 32 rw T DT5500 336 0 Number of Entries USINT 8 0 ro 1 Number of Turns of Absolute Encoder UDINT 32 16 ro 2 Single Turn Position of Absolute Encoder DINT 32 48 ro 3 Low Position of Absolute Encoder UDINT 32 80 ro 4 High Position of Absolute Encoder DINT 32 112 ro 5 Low Mechanical Position UDINT 32 144 ro 6 High Mechanical Position DINT 32 176 ro 7 Encoder Communication Error Counter UDINT 32 208 ro 8 Manufacture Reserve High DINT 32 240 ro 9 Manufacture Use Low UDINT 32 272 ro 10 Manufacture Use High DINT 32 304 ro DT5501 272 0 Number of Entries USINT 8 0 ro 1 Actual Motor Speed INT 16 16 ro 2 Command Speed INT 16 32 ro 3 Speed Command INT 16 48 ro 4 Actual Torque INT 16 64 ro 5 Command Torque INT 16 80 ro 6 Relative Position Error DINT 32 96 ro 7 Internal Position Command DINT 32 128 ro 8 Overload Rate INT 16 160 ro 9 Regenrative Resistance Load Ratio INT 16 176 ro 10 Inertia Ratio UINT 16 192 ro 11 Positive Actual Torque Limit INT 16 208 ro 12 Negative Actual Torque Limit INT 16 224 ro 13 U Phase Actual Current INT 16 240 ro 14 V Phase Actual Current INT 16 256 ro DT5502 144 0 Number of Entries USINT 8 0 ro 1 Digital Input Level UINT 16 16 ro 2 Digital Output Level UINT 16 32 ro 3 Analog Input 1 Level INT 16 48 ro 4 Analog Input 2 Level INT 16 64 ro 5 DC Link Circuit Voltage UINT 16 80 ro 6 IPM Temperature UINT 16 96 ro 7 Operation Time UDINT 32 116 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Negative software limit position DINT 32 16 rw TR 2 Positive software limit position DINT 32 48 rw TR DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro TR 2 Motor revolutions UDINT 32 48 ro TR DT6091 80 0 Number of Entries USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw TR 2 Shaft revolutions UDINT 32 48 rw TR DT6092 80 0 Number of Entries USINT 8 0 ro 1 Feed increments UDINT 32 16 ro TR 2 Shaft revolutions UDINT 32 48 ro TR DT6099 80 0 Number of Entries USINT 8 0 ro 1 Homing Velocity (fast) UDINT 32 16 rw TR 2 Homing Velocity (slow) UDINT 32 48 rw TR DT60A4 80 0 Number of Entries USINT 8 0 ro 1 Profile Jerk 1 UDINT 32 16 rw TR 2 Profile Jerk 2 UDINT 32 48 rw TR DT60C1 88 0 Number of Entries USINT 8 0 ro 1 Interpolated position value DINT 32 16 rw TR 2 Interpolated time value USINT 8 48 rw TR 3 Interpolated velocity value DINT 32 56 rw TR DT60C2 32 0 Number of Entries USINT 8 0 ro 1 Interpolation Time Value USINT 8 16 ro 2 Interpolation Time Units SINT 8 24 ro DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro T #x1008 Device Name STRING(7) 56 ro #x1009 Hardware Version STRING(5) 40 ro #x100A Software Version STRING(5) 40 ro #x1010 Store Parameters DT1010 144 rw #x1011 Restore Parameters DT1011 144 rw #x1018 Identity Object DT1018 144 rw #x10F1 Error Settings DT10F1 64 #x1600 RXPDO 1 Mapping Parameter DT1600 272 rw #x1601 RXPDO 2 Mapping Parameter DT1601 272 rw #x1602 RXPDO 3 Mapping Parameter DT1602 272 rw #x1603 RXPDO 4 Mapping Parameter DT1603 272 rw #x1A00 TXPDO 1 Mapping Parameter DT1A00 272 rw #x1A01 TXPDO 2 Mapping Parameter DT1A01 272 rw #x1C00 SM Communication Type DT1C00 48 ro #x1C12 SM2(Outputs) PDO Assignment DT1C12 80 rw #x1C13 SM3(Inputs) PDO Assignment DT1C13 48 rw #x1C32 Output Sync Manager Parameter DT1C32 480 ro #x1C33 Input Sync Manager Parameter DT1C33 320 ro #x2000 Peak Current DINT 32 rw TR #x2001 Motor Resolution DINT 32 rw T #x2007 Disable Mode DINT 32 rw T #x2010 Filter Time DT2010 80 rw T #x2012 Soft Start Time DINT 32 rw TR #x201A Percentage Parameters DT201A 144 rw T #x201B Lock Axis Time When Power On DINT 32 rw T #x201D Zero Speed Threshold DINT 32 rw T #x201E Low Bridge Short Circuit Enable DINT 32 rw T #x2024 Run Mode Select DINT 32 rw T #x2029 Encoder Resolution DINT 32 rw T #x2030 Position Loop Control Effort Limit DINT 32 rw T #x2032 Position Reached Bound DINT 32 rw T #x2033 Position Reached Delay Time DINT 32 rw T #x2047 Over Voltage Level DINT 32 rw T #x2048 Bus Voltage DINT 32 ro T #x2051 Polarity DINT 32 rw T #x2056 Fault Detect Configure DINT 32 rw T #x2081 Weak Magnetic Coefficient DT2081 80 rw T #x2090 Current Loop Parameters DT2090 176 rw T #x2091 Speed Loop Parameters DT2091 240 rw T #x2092 Position Loop Parameters DT2092 112 rw T #x214A Slave ID Selector Data DINT 32 ro T #x214B HMI Display Select DINT 32 ro T #x2150 Slave Alias DINT 32 rw T #x2151 Slave Alias Source DINT 32 rw T #x2152 Inputs Function DT2152 240 rw T #x2155 Physical Inputs Level DINT 32 ro T #x2156 Outputs Function DT2156 208 rw T #x2226 Torque Limit Level DINT 32 rw T #x2232 Sync Compensation Threshold 1 DINT 32 rw T #x2233 Sync Compensation Threshold 2 DINT 32 rw T #x225C Special Function Register DINT 32 rw T #x2298 Torque Mode Speed Limit Level DINT 32 rw T #x22BF Torque Detection Saturation Time DINT 32 rw T #x22C1 Torque Limit Level of Homing DINT 32 rw T #x3100 Firmware Version DT3100 48 ro T #x3FFE Fault Record DT3FFE 240 ro T #x4000 Motor Parameters DT4000 144 rw T #x4003 Motor Break Parameters DT4003 112 rw T #x4005 Regenerative Resistance Parameters DT4005 80 rw T #x4500 Current Error ID UINT 16 ro T #x5000 Internal States DT5000 128 #x5002 ESC Register Interface DT5002 48 #x5004 Sync Interface Parameters DT5004 272 #x5005 DC Compensate Base Value UINT 16 rw T #x5006 Sync Error Detect Setting UINT 16 rw #x5010 Valid Outputs/Inputs Watch Dog Time UINT 16 rw TR #x5011 Internal Actual Position DINT 32 ro T #x5012 Home Interface DT5012 128 #x5013 Motor Not Work Code UINT 16 ro T #x5400 DC Period Setting DT5400 80 #x5500 Absolute Encoder Monitors DT5500 336 ro #x5501 Motion Monitors DT5501 336 ro #x5502 Miscellaneous Monitors DT5502 144 ro #x603f Last Error Code UINT 16 ro T #x6040 Control Word UINT 16 rw TR #x6041 Status Word UINT 16 ro T #x605A Quick Stop Option Code INT 16 rw TR #x605B Shutdown option code INT 16 rw TR #x605C Disable operation option code INT 16 rw TR #x605D Halt option code INT 16 rw TR #x605E Fault reaction option code INT 16 rw TR #x6060 Modes of Operation USINT 8 rw TR #x6061 Modes of Operation Display USINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Actual Position DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x6073 Max Current UINT 16 rw R #x6077 Actual motor torque INT 16 ro T #x607A Profile Target Position DINT 32 rw TR #x607C Homing Offset DINT 32 rw TR #x607E Polarity USINT 8 rw R #x607F Max Profile velocity UDINT 32 rw R #x6080 Max motor speed UDINT 32 rw R #x6081 Profile Velocity UDINT 32 rw TR #x6082 End Velocity UDINT 32 rw TR #x6083 Profile Acceleration UDINT 32 rw TR #x6084 Profile Deceleration UDINT 32 rw TR #x6085 Quick Stop Deceleration UDINT 32 rw TR #x608F Position encoder resolution DT608F 80 #x6092 Feed constant DT6092 80 #x6098 Homing Method SINT 8 rw TR #x6099 Homing Velocity DT6099 80 rw TR #x609A Homing Acceleration UDINT 32 rw TR #x60B0 Position Offset DINT 32 rw TR #x60B8 Touch Probe Function UINT 16 rw TR #x60B9 Touch Probe Status UINT 16 ro T #x60BA Touch Probe 1 Positive Value DINT 32 ro T #x60BB Touch Probe 1 Negative Value DINT 32 ro T #x60BC Touch Probe 2 Positive Value DINT 32 ro T #x60BD Touch Probe 2 Negative Value DINT 32 ro T #x60C2 InterPolation Time Period DT60C2 32 ro #x60D5 Touch Probe 1 Positive Counter UINT 16 ro o T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro o T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro o T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro o T #x60f4 Position loop error DINT 32 ro T #x60FD Digital Inputs UDINT 32 ro T #x60FE Digital Outputs DT60FE 72 rw TR #x60FF Target Velocity DINT 32 rw TR #x6502 Supported Drive Modes UDINT 32 ro T MBoxState Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Receive PDO 1 #x1601 #x1602 #x1603 #x6040 0 16 Control Word UINT #x607A 0 32 Profile Target Position DINT #x60B8 0 16 Touch Probe Function UINT #x1601 Receive PDO 2 #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Profile Target Position DINT #x6081 0 32 Profile Velocity UDINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x6060 0 8 Modes of Operation USINT #x1602 Receive PDO 3 #x1600 #x1601 #x1603 #x6040 0 16 Control Word UINT #x60FF 0 32 Target Velocity DINT #x6083 0 32 Profile Acceleration UDINT #x6084 0 32 Profile Deceleration UDINT #x6060 0 8 Modes of Operation USINT #x1603 Receive PDO 4 #x1600 #x1601 #x1602 #x6040 0 16 Control Word UINT #x6098 0 8 Homing Method SINT #x6099 1 32 Homing Velocity (fast) UDINT #x6099 2 32 Homing Velocity (slow) UDINT #x609a 0 32 Homing Acceleration UDINT #x607C 0 32 Homing Offset DINT #x6060 0 8 Modes of Operation USINT #x1a00 Transmit PDO 1 #x1A01 #x603F #x00 16 Last Error Code UINT #x6041 #x00 16 Status Word UINT #x6061 #x00 8 Modes of Operation display SINT #x6064 #x00 32 Position Actual Value DINT #x60B9 #x00 16 Touch Probe Status UINT #x60BA #x00 32 Touch Probe 1 Positive Value DINT #x60FD #x00 32 Digital Inputs UDINT #x1a01 Transmit PDO 2 #x1A00 PS #x6060 0 08 Modes of Operation DC DC-Synchron #x0300 0 0 Free Run Free-Run #x0000 2498 6000 2048 003c0000640000000000 0010800000118000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFF00FFFFFFFFFFFFF0F70FFFFFFFFFFFF07F0FFFFFFFFFFFFF00FFFFFFFFF7777F0FFFFFFFFFF7667F0FFFFFFFFFF766700FFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7967FFFFFFFFFFFF7777FFFFFFFFFFFFFFFFFFFFFFFFFFF CS3E-D503 50VDC/3.0A Close Loop Stepper Drive 50VDC/3.0A 闭环步进驱动器 http://www.leadshine.com http://www.leisai.com 2000 9000 5000 200 100 5000 false Close Loop Stepper Drive 402 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 STRING(25) 200 STRING(7) 56 STRING(5) 40 STRING(20) 160 STRING(40) 320 STRING(136) 1088 ARRAY [0..4] OF UINT UINT 80 0 5 ARRAY [0..13] OF UINT UINT 224 0 14 ARRAY [0..15] OF UINT UINT 256 0 16 ARRAY [0..2] OF UINT UINT 48 0 3 ARRAY [0..23] OF UINT UINT 384 0 24 ARRAY [0..16383] OF UINT UINT 262144 0 16384 DT1010 144 0 Number of Entries USINT 8 0 ro o 1 Save all parameters UDINT 32 16 rw o 2 Save communication parameters UDINT 32 48 rw o 3 Save application parameters UDINT 32 80 rw o 4 Save manufacturer parameters UDINT 32 112 rw o DT1011 144 0 Number of Entries USINT 8 0 ro o 1 Restore all default parameters UDINT 32 16 rw o 2 Restore communication default parameters UDINT 32 48 rw o 3 Restore application default parameters UDINT 32 80 rw o 4 Restore manufacturer default parameters UDINT 32 112 rw o DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT10F1 64 0 Number of Entries USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 272 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw DT1601 272 0 Number of Entries USINT 8 0 rw 1 RPDO 2 Mapping Information 1 UDINT 32 16 rw 2 RPDO 2 Mapping Information 2 UDINT 32 48 rw 3 RPDO 2 Mapping Information 3 UDINT 32 80 rw 4 RPDO 2 Mapping Information 4 UDINT 32 112 rw 5 RPDO 2 Mapping Information 5 UDINT 32 144 rw 6 RPDO 2 Mapping Information 6 UDINT 32 176 rw 7 RPDO 2 Mapping Information 7 UDINT 32 208 rw 8 RPDO 2 Mapping Information 8 UDINT 32 240 rw DT1602 272 0 Number of Entries USINT 8 0 rw 1 RPDO 3 Mapping Information 1 UDINT 32 16 rw 2 RPDO 3 Mapping Information 2 UDINT 32 48 rw 3 RPDO 3 Mapping Information 3 UDINT 32 80 rw 4 RPDO 3 Mapping Information 4 UDINT 32 112 rw 5 RPDO 3 Mapping Information 5 UDINT 32 144 rw 6 RPDO 3 Mapping Information 6 UDINT 32 176 rw 7 RPDO 3 Mapping Information 7 UDINT 32 208 rw 8 RPDO 3 Mapping Information 8 UDINT 32 240 rw DT1603 272 0 Number of Entries USINT 8 0 rw 1 RPDO 4 Mapping Information 1 UDINT 32 16 rw 2 RPDO 4 Mapping Information 2 UDINT 32 48 rw 3 RPDO 4 Mapping Information 3 UDINT 32 80 rw 4 RPDO 4 Mapping Information 4 UDINT 32 112 rw 5 RPDO 4 Mapping Information 5 UDINT 32 144 rw 6 RPDO 4 Mapping Information 6 UDINT 32 176 rw 7 RPDO 4 Mapping Information 7 UDINT 32 208 rw 8 RPDO 4 Mapping Information 8 UDINT 32 240 rw DT1A00 272 0 Number of Entries USINT 8 0 rw 1 TPDO 1 Mapping Information 1 UDINT 32 16 rw 2 TPDO 1 Mapping Information 2 UDINT 32 48 rw 3 TPDO 1 Mapping Information 3 UDINT 32 80 rw 4 TPDO 1 Mapping Information 4 UDINT 32 112 rw 5 TPDO 1 Mapping Information 5 UDINT 32 144 rw 6 TPDO 1 Mapping Information 6 UDINT 32 176 rw 7 TPDO 1 Mapping Information 7 UDINT 32 208 rw 8 TPDO 1 Mapping Information 8 UDINT 32 240 rw DT1A01 272 0 Number of Entries USINT 8 0 rw 1 TPDO 2 Mapping Information 1 UDINT 32 16 rw 2 TPDO 2 Mapping Information 2 UDINT 32 48 rw 3 TPDO 2 Mapping Information 3 UDINT 32 80 rw 4 TPDO 2 Mapping Information 4 UDINT 32 112 rw 5 TPDO 2 Mapping Information 5 UDINT 32 144 rw 6 TPDO 2 Mapping Information 6 UDINT 32 176 rw 7 TPDO 2 Mapping Information 7 UDINT 32 208 rw 8 TPDO 2 Mapping Information 8 UDINT 32 240 rw DT1C00 48 0 Number of Entries USINT 8 0 ro 1 Comm. Type, Sync Manager 0 USINT 8 16 rw 2 Comm. Type, Sync Manager 1 USINT 8 24 rw 3 Comm. Type, Sync Manager 2 USINT 8 32 rw 4 Comm. Type, Sync Manager 3 USINT 8 40 rw DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C32 480 0 Number of Entries USINT 8 0 ro 1 Sync Manager 2, Synchronization type UINT 16 16 ro 2 Sync Manager 2, Cycle time UDINT 32 32 ro 3 Sync Manager 2, Shift time UDINT 32 64 ro 4 Sync Manager 2, Sync types supported UINT 16 96 ro 5 Sync Manager 2, Minimum cycle time UDINT 32 112 ro 6 Sync Manager 2, Calc and copy time UDINT 32 144 ro 7 Sync Manager 2, Minimum hardware delay UDINT 32 176 ro 8 Sync Manager 2,Get Cycle Time UINT 16 208 ro 9 Sync Manager 2, Hardware delay time UDINT 32 224 ro 10 Sync Manager 2, Sync0 cycle time UDINT 32 256 ro 11 Sync Manager 2, SM-Event missed Counter UINT 16 288 ro 12 Sync Manager 2, Cycle Time Too Small Counter UINT 16 304 ro 13 Sync Manager 2, Shift Time Too Short Counter UINT 16 320 ro 14 Sync Manager 2, RxPDO Toggle Failed Count UINT 16 336 ro 15 Sync Manager 2, Minimum cycle distance UDINT 32 352 ro 16 Sync Manager 2, Maximum cycle distance UDINT 32 384 ro 17 Sync Manager 2, Minimum SM SYNC distance UDINT 32 416 ro 18 Sync Manager 2, Maximum SM SYNC distance UDINT 32 448 ro DT1C33 320 0 Number of Entries USINT 8 0 ro 1 Sync Manager 3, Synchronization type UINT 16 16 ro 2 Sync Manager 3, Cycle time UDINT 32 32 ro 3 Sync Manager 3, Shift time UDINT 32 64 ro 4 Sync Manager 3, Sync types supported UINT 16 96 ro 5 Sync Manager 3, Minimum cycle time UDINT 32 112 ro 6 Sync Manager 3, Calc and copy time UDINT 32 144 ro 7 Sync Manager 3, Minimum hardware delay UDINT 32 176 ro 8 Sync Manager 3,Get Cycle Time UINT 16 208 ro 9 Sync Manager 3, Hardware delay time UDINT 32 224 ro 10 Sync Manager 3, Sync0 cycle time UDINT 32 256 ro 11 Sync Manager 3, SM-Event missed Counter UINT 16 288 ro 12 Sync Manager 3, Cycle Time Too Small Counter UINT 16 304 ro DT2010 80 0 Number of Entries USINT 8 0 ro 1 FIR Filter Time DINT 32 16 rw T 2 IIR Filter Time DINT 32 48 rw T DT201A 144 0 Number of Entries USINT 8 0 ro 1 Power On Enable Current percentage DINT 32 16 rw T 2 Open Loop Standby Current percentage DINT 32 48 rw T 3 Close Loop Standby Current percentage DINT 32 80 rw T 4 Turn Off Voltage percentage DINT 32 112 rw T DT2081 80 0 Number of Entries USINT 8 0 ro 1 Weak Magnetic Coefficient 1 DINT 32 16 rw T 2 Weak Magnetic Coefficient 2 DINT 32 48 rw T DT2090 176 0 Number of Entries USINT 8 0 ro 1 Current Loop Gain DINT 32 16 rw T 2 Current Loop Integral DINT 32 48 rw T 3 Current Loop Saturation Time Constant DINT 32 80 rw T 4 Current Loop Gain Ratio DINT 32 112 rw T 5 Torque Feedforward DINT 32 144 rw T DT2091 240 0 Number of Entries USINT 8 0 ro 1 Speed Loop Gain DINT 32 16 rw T 2 Speed Loop Integral DINT 32 48 rw T 3 Speed Loop Gain 2 DINT 32 80 rw T 4 Speed Loop Integral Limit DINT 32 112 rw T 5 Speed Loop Filter Setting DINT 32 144 rw T 6 Speed Loop Sample Filter Setting DINT 32 176 rw T 7 Velocity Feedforward DINT 32 208 rw T DT2092 112 0 Number of Entries USINT 8 0 ro 1 Position Loop Gain DINT 32 16 rw T 2 Position Loop Gain 2 DINT 32 48 rw T 3 Position Loop Filter Setting DINT 32 80 rw T DT2152 240 0 Number of Entries USINT 8 0 ro 1 Input 1 Function DINT 32 16 rw T 2 Input 2 Function DINT 32 48 rw T 3 Input 3 Function DINT 32 80 rw T 4 Input 4 Function DINT 32 112 rw T 5 Input 5 Function DINT 32 144 rw T 6 Input 6 Function DINT 32 176 rw T 7 Input 7 Function DINT 32 208 rw T DT2156 208 0 Number of Entries USINT 8 0 ro 1 Output 1 Function DINT 32 16 rw T 2 Output 2 Function DINT 32 48 rw T 3 Output 3 Function DINT 32 80 rw T 4 Output 4 Function DINT 32 112 rw T 5 Output 5 Function DINT 32 144 rw T 6 Output 6 Function DINT 32 176 rw T DT3100 64 0 Number of Entries USINT 8 0 ro 1 Driver Software Version UINT 16 16 ro 2 FPGA Software Version UINT 16 32 ro 3 Slave Stack Software Version UINT 16 48 ro DT3FFE 240 0 Number of Entries USINT 8 0 ro 1 Fault Record 0 UINT 16 16 ro T 2 Fault Record 1 UINT 16 32 ro T 3 Fault Record 2 UINT 16 48 ro T 4 Fault Record 3 UINT 16 64 ro T 5 Fault Record 4 UINT 16 80 ro T 6 Fault Record 5 UINT 16 96 ro T 7 Fault Record 6 UINT 16 112 ro T 8 Fault Record 7 UINT 16 128 ro T 9 Fault Record 8 UINT 16 144 ro T 10 Fault Record 9 UINT 16 160 ro T 11 Fault Record 10 UINT 16 176 ro T 12 Fault Record 11 UINT 16 192 ro T 13 Fault Record 12 UINT 16 208 ro T 14 Fault Record 13 UINT 16 214 ro T DT4000 144 0 Number of Entries USINT 8 0 ro 1 Motor Type DINT 32 16 rw T 2 Motor Resistance DINT 32 48 rw T 3 Motor Inductance DINT 32 80 rw T 4 Motor Back EMF Coefficient DINT 32 112 rw T DT4003 112 0 Number of Entries USINT 8 0 ro 1 Break Lock Delay Time DINT 32 16 rw T 2 Break Release Delay Time DINT 32 48 rw T 3 Break Release Speed DINT 32 80 rw T DT4005 80 0 Number of Entries USINT 8 0 ro 1 Regenerative Resistance Circuit Enable DINT 32 16 rw TR 2 Regenerative Resistance Circuit Turn On Voltage DINT 32 48 rw TR DT5000 128 0 Number of Entries USINT 8 0 ro 1 Trajectory Generator Status UINT 16 16 ro T 2 Motion State Machine UINT 16 32 ro T 3 Interior Enable Status UINT 16 48 ro T 4 Target Reached Status UINT 16 64 ro T 5 Internal Response Status UINT 16 80 ro T 6 EEPROM Status UINT 16 96 ro T 7 Special Status UINT 16 112 ro T DT5002 48 0 Number of Entries USINT 8 0 ro 1 Register Address UINT 16 16 rw TR 2 Register Data UINT 16 32 ro T DT5004 272 0 Number of Entries USINT 8 0 ro 1 Outputs Size UINT 16 16 ro T 2 Inputs Size UINT 16 32 ro T 3 RPDO Count UINT 16 48 ro T 4 TPDO Count UINT 16 64 ro T 5 Sync0 Watch Dog Counter UINT 16 80 ro T 6 Sync0 Watch Dog Counter Internal UINT 16 96 ro T 7 Sync0 Watch Value UINT 16 112 ro T 8 Sync0 Drift Counter UINT 16 128 ro T 9 Sync0 Drift Value UINT 16 144 ro T 10 SM Watch Dog Counter Internal UINT 16 160 ro T 11 SM Watch Dog Value Internal UINT 16 176 ro T 12 SM Sync0 Watch Dog Counter UINT 16 144 ro T 13 SM Sync0 Watch Dog Value UINT 16 192 ro T 14 Sync0 Ratio UINT 16 208 ro T 15 Sync Function Setting UINT 16 224 ro T 16 Sync0 Interval UDINT 32 240 ro T DT5012 128 0 Number of Entries USINT 8 0 ro 1 Home Reached Position DINT 32 16 ro T 2 Home Triggered Position DINT 32 48 ro T 3 Home IO Simulator UDINT 32 80 rw TR 4 Home Setting UINT 16 96 rw T 5 Home Speed Limit UINT 16 112 rw T DT5015 192 0 Number of Entries USINT 8 0 ro 1 Internal Command Position DINT 32 16 ro T 2 Internal Command Velocity DINT 32 48 ro T 3 Internal Command Torque INT 16 80 ro T 4 Internal Reserve 1 DINT 32 96 ro T 5 Profile Mode Setting 1 UINT 16 128 rw T 6 Profile Mode Setting 2 UINT 16 144 rw T 7 Internal Reserve 2 UINT 16 160 rw T 8 Internal Reserve 3 UINT 16 176 rw T DT5400 48 0 Number of Entries USINT 8 0 ro 1 DC Period Minimux Value UINT 16 16 rw T 2 DC Period Maximux Value UINT 16 32 rw T DT5500 336 0 Number of Entries USINT 8 0 ro 1 Number of Turns of Absolute Encoder UDINT 32 16 ro 2 Single Turn Position of Absolute Encoder DINT 32 48 ro 3 Low Position of Absolute Encoder UDINT 32 80 ro 4 High Position of Absolute Encoder DINT 32 112 ro 5 Low Mechanical Position UDINT 32 144 ro 6 High Mechanical Position DINT 32 176 ro 7 Encoder Communication Error Counter UDINT 32 208 ro 8 Manufacture Reserve High DINT 32 240 ro 9 Manufacture Use Low UDINT 32 272 ro 10 Manufacture Use High DINT 32 304 ro DT5501 272 0 Number of Entries USINT 8 0 ro 1 Actual Motor Speed INT 16 16 ro 2 Command Speed INT 16 32 ro 3 Speed Command INT 16 48 ro 4 Actual Torque INT 16 64 ro 5 Command Torque INT 16 80 ro 6 Relative Position Error DINT 32 96 ro 7 Internal Position Command DINT 32 128 ro 8 Overload Rate INT 16 160 ro 9 Regenrative Resistance Load Ratio INT 16 176 ro 10 Inertia Ratio UINT 16 192 ro 11 Positive Actual Torque Limit INT 16 208 ro 12 Negative Actual Torque Limit INT 16 224 ro 13 U Phase Actual Current INT 16 240 ro 14 V Phase Actual Current INT 16 256 ro DT5502 144 0 Number of Entries USINT 8 0 ro 1 Digital Input Level UINT 16 16 ro 2 Digital Output Level UINT 16 32 ro 3 Analog Input 1 Level INT 16 48 ro 4 Analog Input 2 Level INT 16 64 ro 5 DC Link Circuit Voltage UINT 16 80 ro 6 IPM Temperature UINT 16 96 ro 7 Operation Time UDINT 32 116 ro DT607D 80 0 Number of Entries USINT 8 0 ro 1 Negative software limit position DINT 32 16 rw TR 2 Positive software limit position DINT 32 48 rw TR DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro TR 2 Motor revolutions UDINT 32 48 ro TR DT6091 80 0 Number of Entries USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw TR 2 Shaft revolutions UDINT 32 48 rw TR DT6092 80 0 Number of Entries USINT 8 0 ro 1 Feed increments UDINT 32 16 ro TR 2 Shaft revolutions UDINT 32 48 ro TR DT6099 80 0 Number of Entries USINT 8 0 ro 1 Homing Velocity (fast) UDINT 32 16 rw TR 2 Homing Velocity (slow) UDINT 32 48 rw TR DT60A4 80 0 Number of Entries USINT 8 0 ro 1 Profile Jerk 1 UDINT 32 16 rw TR 2 Profile Jerk 2 UDINT 32 48 rw TR DT60C1 88 0 Number of Entries USINT 8 0 ro 1 Interpolated position value DINT 32 16 rw TR 2 Interpolated time value USINT 8 48 rw TR 3 Interpolated velocity value DINT 32 56 rw TR DT60C2 32 0 Number of Entries USINT 8 0 ro 1 Interpolation Time Value USINT 8 16 ro 2 Interpolation Time Units SINT 8 24 ro DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro T #x1008 Device Name STRING(7) 56 ro #x1009 Hardware Version STRING(5) 40 ro #x100A Software Version STRING(5) 40 ro #x1010 Store Parameters DT1010 144 rw #x1011 Restore Parameters DT1011 144 rw #x1018 Identity Object DT1018 144 rw #x10F1 Error Settings DT10F1 64 #x1600 RXPDO 1 Mapping Parameter DT1600 272 rw #x1601 RXPDO 2 Mapping Parameter DT1601 272 rw #x1602 RXPDO 3 Mapping Parameter DT1602 272 rw #x1603 RXPDO 4 Mapping Parameter DT1603 272 rw #x1A00 TXPDO 1 Mapping Parameter DT1A00 272 rw #x1A01 TXPDO 2 Mapping Parameter DT1A01 272 rw #x1C00 SM Communication Type DT1C00 48 ro #x1C12 SM2(Outputs) PDO Assignment DT1C12 80 rw #x1C13 SM3(Inputs) PDO Assignment DT1C13 48 rw #x1C32 Output Sync Manager Parameter DT1C32 480 ro #x1C33 Input Sync Manager Parameter DT1C33 320 ro #x2000 Peak Current DINT 32 rw TR #x2001 Motor Resolution DINT 32 rw T #x2007 Disable Mode DINT 32 rw T #x2010 Filter Time DT2010 80 rw T #x2012 Soft Start Time DINT 32 rw TR #x201A Percentage Parameters DT201A 144 rw T #x201B Lock Axis Time When Power On DINT 32 rw T #x201D Zero Speed Threshold DINT 32 rw T #x201E Low Bridge Short Circuit Enable DINT 32 rw T #x2024 Run Mode Select DINT 32 rw T #x2029 Encoder Resolution DINT 32 rw T #x2030 Position Loop Control Effort Limit DINT 32 rw T #x2032 Position Reached Bound DINT 32 rw T #x2033 Position Reached Delay Time DINT 32 rw T #x2047 Over Voltage Level DINT 32 rw T #x2048 Bus Voltage DINT 32 ro T #x2051 Polarity DINT 32 rw T #x2056 Fault Detect Configure DINT 32 rw T #x2081 Weak Magnetic Coefficient DT2081 80 rw T #x2090 Current Loop Parameters DT2090 176 rw T #x2091 Speed Loop Parameters DT2091 240 rw T #x2092 Position Loop Parameters DT2092 112 rw T #x214A Slave ID Selector Data DINT 32 ro T #x214B HMI Display Select DINT 32 ro T #x2150 Slave Alias DINT 32 rw T #x2151 Slave Alias Source DINT 32 rw T #x2152 Inputs Function DT2152 240 rw T #x2155 Physical Inputs Level DINT 32 ro T #x2156 Outputs Function DT2156 208 rw T #x2226 Torque Limit Level DINT 32 rw T #x2232 Sync Compensation Threshold 1 DINT 32 rw T #x2233 Sync Compensation Threshold 2 DINT 32 rw T #x225C Special Function Register DINT 32 rw T #x2298 Torque Mode Speed Limit Level DINT 32 rw T #x22BF Torque Detection Saturation Time DINT 32 rw T #x22C1 Torque Limit Level of Homing DINT 32 rw T #x3100 Firmware Version DT3100 48 ro T #x3FFE Fault Record DT3FFE 240 ro T #x4000 Motor Parameters DT4000 144 rw T #x4003 Motor Break Parameters DT4003 112 rw T #x4005 Regenerative Resistance Parameters DT4005 80 rw T #x4500 Current Error ID UINT 16 ro T #x5000 Internal States DT5000 128 #x5002 ESC Register Interface DT5002 48 #x5004 Sync Interface Parameters DT5004 272 #x5005 DC Compensate Base Value UINT 16 rw T #x5006 Sync Error Detect Setting UINT 16 rw #x5010 Valid Outputs/Inputs Watch Dog Time UINT 16 rw TR #x5011 Internal Actual Position DINT 32 ro T #x5012 Home Interface DT5012 128 #x5013 Motor Not Work Code UINT 16 ro T #x5400 DC Period Setting DT5400 80 #x5500 Absolute Encoder Monitors DT5500 336 ro #x5501 Motion Monitors DT5501 336 ro #x5502 Miscellaneous Monitors DT5502 144 ro #x603f Last Error Code UINT 16 ro T #x6040 Control Word UINT 16 rw TR #x6041 Status Word UINT 16 ro T #x605A Quick Stop Option Code INT 16 rw TR #x605B Shutdown option code INT 16 rw TR #x605C Disable operation option code INT 16 rw TR #x605D Halt option code INT 16 rw TR #x605E Fault reaction option code INT 16 rw TR #x6060 Modes of Operation USINT 8 rw TR #x6061 Modes of Operation Display USINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Actual Position DINT 32 ro T #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x6073 Max Current UINT 16 rw R #x6077 Actual motor torque INT 16 ro T #x607A Profile Target Position DINT 32 rw TR #x607C Homing Offset DINT 32 rw TR #x607E Polarity USINT 8 rw R #x607F Max Profile velocity UDINT 32 rw R #x6080 Max motor speed UDINT 32 rw R #x6081 Profile Velocity UDINT 32 rw TR #x6082 End Velocity UDINT 32 rw TR #x6083 Profile Acceleration UDINT 32 rw TR #x6084 Profile Deceleration UDINT 32 rw TR #x6085 Quick Stop Deceleration UDINT 32 rw TR #x608F Position encoder resolution DT608F 80 #x6092 Feed constant DT6092 80 #x6098 Homing Method SINT 8 rw TR #x6099 Homing Velocity DT6099 80 rw TR #x609A Homing Acceleration UDINT 32 rw TR #x60B0 Position Offset DINT 32 rw TR #x60B8 Touch Probe Function UINT 16 rw TR #x60B9 Touch Probe Status UINT 16 ro T #x60BA Touch Probe 1 Positive Value DINT 32 ro T #x60BB Touch Probe 1 Negative Value DINT 32 ro T #x60BC Touch Probe 2 Positive Value DINT 32 ro T #x60BD Touch Probe 2 Negative Value DINT 32 ro T #x60C2 InterPolation Time Period DT60C2 32 ro #x60D5 Touch Probe 1 Positive Counter UINT 16 ro o T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro o T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro o T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro o T #x60f4 Position loop error DINT 32 ro T #x60FD Digital Inputs UDINT 32 ro T #x60FE Digital Outputs DT60FE 72 rw TR #x60FF Target Velocity DINT 32 rw TR #x6502 Supported Drive Modes UDINT 32 ro T MBoxState Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Receive PDO 1 #x1601 #x1602 #x1603 #x6040 0 16 Control Word UINT #x607A 0 32 Profile Target Position DINT #x60B8 0 16 Touch Probe Function UINT #x1601 Receive PDO 2 #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Profile Target Position DINT #x6081 0 32 Profile Velocity UDINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x6060 0 8 Modes of Operation USINT #x1602 Receive PDO 3 #x1600 #x1601 #x1603 #x6040 0 16 Control Word UINT #x60FF 0 32 Target Velocity DINT #x6083 0 32 Profile Acceleration UDINT #x6084 0 32 Profile Deceleration UDINT #x6060 0 8 Modes of Operation USINT #x1603 Receive PDO 4 #x1600 #x1601 #x1602 #x6040 0 16 Control Word UINT #x6098 0 8 Homing Method SINT #x6099 1 32 Homing Velocity (fast) UDINT #x6099 2 32 Homing Velocity (slow) UDINT #x609a 0 32 Homing Acceleration UDINT #x607C 0 32 Homing Offset DINT #x6060 0 8 Modes of Operation USINT #x1a00 Transmit PDO 1 #x1A01 #x603F #x00 16 Last Error Code UINT #x6041 #x00 16 Status Word UINT #x6061 #x00 8 Modes of Operation display SINT #x6064 #x00 32 Position Actual Value DINT #x60B9 #x00 16 Touch Probe Status UINT #x60BA #x00 32 Touch Probe 1 Positive Value DINT #x60FD #x00 32 Digital Inputs UDINT #x1a01 Transmit PDO 2 #x1A00 PS #x6060 0 08 Modes of Operation DC DC-Synchron #x0300 0 0 Free Run Free-Run #x0000 2498 6000 2048 003c0000640000000000 0010800000118000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFF00FFFFFFFFFFFFF0F70FFFFFFFFFFFF07F0FFFFFFFFFFFFF00FFFFFFFFF7777F0FFFFFFFFFF7667F0FFFFFFFFFF766700FFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7667FFFFFFFFFFFF7967FFFFFFFFFFFF7777FFFFFFFFFFFFFFFFFFFFFFFFFFF