#x000116c7 HCFA Co.,Ltd 424dd6020000000000003600000028000000100000000e00000001001800000000000000000000000000000000000000000000000000fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefeffe1efdef2f7f0f2f8f1eaf3e9fafcf9cee5c9d6e8d2d8ead5f9fbf8fffffffbfcfbdaebd5c3ddbcecf6ecfffffffffeff8fc2878fc388b8dab07bbe7275b86790c386b5d7ac56a549b7d9b2eff6ed9bc99772b46761aa4e90c485ffffffffffffa5cf9e3b9a2b6daa5886a76b359622dff0ddffffff87be7c449c32aad1a1bddcba9fcd9893c58658a646f7faf6ffffffd6e8d05cac4dbbd6b5c3918c81a86685c37e89c17db8d9b14ba0387dba6fb6d8ada6d09d77b769489d35f3f9f3fffffffbfdfbd3e7ceeff9f0f0e5e3fff7fbc2e0bd9ac890dfeedbd2e7cea4ce9bc3dfbcbcdbb6aad2a1cce4c9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff Stepper Driver Stepper Driver 424dd6020000000000003600000028000000100000000e00000001001800000000000000000000000000000000000000000000000000fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefeffe1efdef2f7f0f2f8f1eaf3e9fafcf9cee5c9d6e8d2d8ead5f9fbf8fffffffbfcfbdaebd5c3ddbcecf6ecfffffffffeff8fc2878fc388b8dab07bbe7275b86790c386b5d7ac56a549b7d9b2eff6ed9bc99772b46761aa4e90c485ffffffffffffa5cf9e3b9a2b6daa5886a76b359622dff0ddffffff87be7c449c32aad1a1bddcba9fcd9893c58658a646f7faf6ffffffd6e8d05cac4dbbd6b5c3918c81a86685c37e89c17db8d9b14ba0387dba6fb6d8ada6d09d77b769489d35f3f9f3fffffffbfdfbd3e7ceeff9f0f0e5e3fff7fbc2e0bd9ac890dfeedbd2e7cea4ce9bc3dfbcbcdbb6aad2a1cce4c9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff AMD520B-2D784_0000_V30 2000 9000 5000 200 100 5000 false Stepper Driver 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 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 DT2000 288 0 SubIndex 000 USINT 8 0 ro 1 01 DrvDir UINT 16 16 rw o 2 02 Motor Resolution UINT 16 32 rw o 3 03 HalfCurTimes UINT 16 48 rw o 4 04 HalfCurRatio UINT 16 64 rw o 6 06 PowerOnAutoRunEnable UINT 16 80 rw o 7 07 Initial phase sequence of motor UINT 16 96 rw o 8 08 ServoOFFPwmMode UINT 16 112 rw o 9 09 System Initialize UINT 16 128 rw o 11 11 CloseRunCurrentRatio UINT 16 144 rw o 13 13 PowerOnRampTime UINT 16 160 rw o 14 14 CloopAutoPIEnable UINT 16 176 rw o 15 15 ControlModeCloseOrOpen UINT 16 192 rw o 17 17 OpenRunCurrentRatio UINT 16 208 rw o 20 20 FaultDetectSelect UINT 16 224 rw o 21 21 EncoderLine UINT 16 240 rw o 22 22 PeerOverRange UINT 16 256 rw o 24 24 SlaveAlias ID UINT 16 272 rw o DT2001 192 0 SubIndex 000 USINT 8 0 ro 1 1 Maximum output current UINT 16 16 rw o 2 2 MotorResUse UINT 16 32 ro o 3 3 MotorInduUse UINT 16 48 ro o 4 4 MotorTimeConsUse UINT 16 64 ro o 5 5 MotorDataSel UINT 16 80 rw o 6 6 MotorResSet UINT 16 96 rw o 7 7 MotorInduSet UINT 16 112 rw o 8 8 MtrEncOption UINT 16 128 rw o 9 9 MotorRunMaxId UINT 16 144 rw o 10 10 MotorRunMaxCurrent UINT 16 160 rw o 11 11 FW_SpeedFactor UINT 16 176 rw o DT2002 256 0 SubIndex 000 USINT 8 0 ro 1 01 Di1Fun UINT 16 16 rw o 2 02 Di2Fun UINT 16 32 rw o 3 03 Di3Fun UINT 16 48 rw o 4 04 Di4Fun UINT 16 64 rw o 5 05 Di5Fun UINT 16 80 rw o 10 10 DiLogic UINT 16 96 rw o 21 21 Di1FltTime UINT 16 112 rw o 22 22 Di2FltTime UINT 16 128 rw o 23 23 Di3FltTime UINT 16 144 rw o 24 24 Di4FltTime UINT 16 160 rw o 25 25 Di5FltTime UINT 16 176 rw o 29 29 Do1Fun UINT 16 192 rw o 30 30 Do2Fun UINT 16 208 rw o 31 31 Do3Fun UINT 16 224 rw o 32 32 Dologic UINT 16 240 rw o DT2003 176 0 SubIndex 000 USINT 8 0 ro 1 01 SpdAccTime UINT 16 16 rw o 2 02 SpdDecTime UINT 16 32 rw o 3 03 FirEnable UINT 16 48 rw o 4 04 FirTime UINT 16 64 rw o 7 07 HomeTimeLmt UINT 16 80 rw o 8 08 HomeBlockPosErrorThreshold UINT 16 96 rw o 9 09 HomeBlockTorqueThreshold UINT 16 112 rw o 10 10 HomeBlockHoldTime UINT 16 128 rw o 11 11 HomeArvTime UINT 16 144 rw o 13 13 HomeRunCurrentRatio UINT 16 160 rw o DT2004 64 0 SubIndex 000 USINT 8 0 ro 3 03 S_ON wait time UINT 16 16 rw o 4 04 S_OFF delay time UINT 16 32 rw o 5 05 OC value UINT 16 48 rw o DT2012 256 0 SubIndex 000 USINT 8 0 ro 1 01 SpdFdbDisp INT 16 16 ro o 3 03 SpdRefDisp INT 16 32 ro o 4 04 ToqRefDisp UINT 16 48 ro T 5 05 IphaseDisp UINT 16 64 ro T 6 06 UdcDisp UINT 16 80 ro o 9 09 CtrlMode UINT 16 96 ro T 21 21 DiStateDisp UINT 16 112 ro T 29 29 Kp_CurLoop UINT 16 128 ro o 30 30 Ki_CurLoop UINT 16 144 ro o 31 31 Software Version UINT 16 160 ro o 35 35 EcatSync0WdCounter UINT 16 176 ro o 36 36 EcatState UINT 16 192 ro o 37 37 EcatError UINT 16 208 ro o 38 38 ECATCycleTimDisplay UINT 16 224 ro o 39 39 Coe402State UINT 16 240 ro o 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 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 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 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 #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 DT2000 400 SubIndex 000 15 01 DrvDir 0 8000 2000 02 Motor Resolution 200 51200 50000 03 HalfCurTimes 50 10000 300 04 HalfCurRatio 0 100 50 06 PowerOnAutoRunEnable 0 3 2 07 Initial phase sequence of motor 0 1 2 08 ServoOFFPwmMode 0 1 0 09 System Initialize 0 1 0 11 CloseRunCurrentRatio 0 100 50 13 PowerOnRampTime 0 0xffff 1000 14 CloopAutoPIEnable 0 1 1 15 ControlModeCloseOrOpen 0 1 1 17 OpenRunCurrentRatio 0 100 75 20 FaultDetectSelect 200 65535 1000 21 EncoderLine 0 65535 2000 22 PeerOverRange 0 1 1 24 SlaveAlias ID 0 65535 3203 #x2001 P01 Motor Parameters DT2001 176 SubIndex 000 10 1 Maximum output current 0 8000 2000 2 MotorResUse 200 51200 50000 3 MotorInduUse 50 10000 300 4 MotorTimeConsUse 0 100 50 5 MotorDataSel 1 3 1 6 MotorResSet 1 3 2 7 MotorInduSet 1 3 3 8 MtrEncOption 0 65535 0 9 MotorRunMaxId 0 7 0 10 MotorRunMaxCurrent 0 1 1 11 FW_SpeedFactor 0 1 1 #x2002 P02 DI/DO input and output parameters DT2002 544 SubIndex 000 33 01 Di1Fun 0 65535 0 02 Di2Fun 0 65535 0 03 Di3Fun 50 10000 300 04 Di4Fun 0 100 50 05 Di5Fun 1 3 1 10 DiLogic 0 1 1 21 Di1FltTime 0 65535 2000 22 Di2FltTime 0 1 1 23 Di3FltTime 0 1 1 24 Di4FltTime 0 65535 3203 25 Di5FltTime 0 1 0 29 Do1Fun 0 65535 0 30 Do2Fun 0 65535 0 31 Do3Fun 0 65535 0 32 Dologic 0 65535 0 #x2003 P03 Motion Parameters DT2003 224 SubIndex 000 13 01 SpdAccTime 0 65535 2000 02 SpdDecTime 0 65535 50000 03 FirEnable 0 65535 50000 04 FirTime 0 65535 50000 07 HomeTimeLmt 0 65535 50000 08 HomeBlockPosErrorThreshold 0 65535 50000 09 HomeBlockTorqueThreshold 0 65535 300 10 HomeBlockHoldTime 0 65535 1000 11 HomeArvTime 0 65535 50000 13 HomeRunCurrentRatio 0 65535 50000 #x2004 P04 Gain Parameters DT2004 48 SubIndex 000 2 03 S_ON wait time 0 65535 50000 04 S_OFF delay time 0 65535 50000 05 OC value 0 65535 50000 #x2012 P18 Display Parameters DT2012 672 SubIndex 000 41 01 SpdFdbDisp 0 8000 2000 03 SpdRefDisp 50 10000 300 04 ToqRefDisp 0 100 50 05 IphaseDisp 1 3 1 06 UdcDisp 1 3 2 09 CtrlMode 0 7 0 21 DiStateDisp 0 65535 2000 29 Kp_CurLoop 0 65535 0 30 Ki_CurLoop 0 65535 0 31 Software Version 0 65535 0 35 EcatSync0WdCounter 0 65535 0 36 EcatState 0 65535 0 37 EcatError 0 65535 0 38 ECATCycleTimDisplay 0 65535 0 39 Coe402State 0 65535 0 #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 #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 #x6067 Position window UDINT 32 0100 rw R #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 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 #x6083 Profile Acceleration UDINT 32 rw TR #x6084 Profile Deceleration UDINT 32 rw TR #x6085 Quick Stop Deceleration UDINT 32 rw TR #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 #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 #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 #x606C #x00 32 Actual Velocity DINT #x60FD #x00 32 Digital Inputs UDINT PS #x6060 0 08 Modes of Operation DC DC-Synchron #x0300 0 0 Free Run Free-Run #x0000 2048 003c0000640000000000 0010800080108000